Beckhoff CX1500-M510 Manual page 94

Product overview
Status transition
(9), (10), (11)
(12), (13), (14)
Example 1
The following telegram puts all the modules in the network into the error state (outputs in a safe state):
11 bit 2 bytes of user data
identifier
0x00 0x02 0x00
Example 2
The following telegram resets node 17:
11 bit 2 bytes of user data
identifier
0x00 0x81 0x11
Boot-up message
Boot-up message
After the initialization phase and the self test, the Bus Coupler sends the boot-up message, a CAN message
with no data bytes and with the identifier of the emergency message: CAN-ID = 0x700 + Node-ID. In this way
temporary failure of a module during operation (e.g. due to a voltage interruption), or a module that is
switched on at a later stage, can be reliably detected, even without Node Guarding. The sender can be
determined from the message identifier (see default identifier allocation).
It is also possible, with the aid of the boot-up message, to recognize the nodes present in the network at
start-up with a simple CAN monitor, without having to make write access to the bus (such as a scan of the
network by reading out parameter 0x1000).
Finally, the boot-up message communicates the end of the initialization phase; the Bus Coupler signals that
it can now be configured or started.
Firmware BA
Up to firmware status BA the emergency identifier was used for the boot up message.
94
Command Specifier cs Explanation
(1)
(2)
(3), (6)
(4), (7)
(5), (8)
Version: 1.0
- The initialization state is reached
automatically at power-up
- After initialization the pre-
operational state is reached
automatically - this involves
sending the boot-up message.
cs = 1 = 0x01 Start_Remote_Node.
Starts the module, enables outputs,
starts transmission of PDOs.
cs = 128 = 0x80 Enter_Pre-Operational. Stops PDO
transmission, SDO still active.
cs = 2 = 0x02 Stop_Remote_Node.
Outputs go into the fault state,
SDO and PDO switched off.
cs = 129 = 0x81 Reset_Node. Carries out a reset.
All objects are reset to their power-
on defaults.
cs = 130 = 0x82 Reset_Communication. Carries out
a reset of the communication
functions. Objects 0x1000 -
0x1FFF are reset to their power-on
defaults.
CX1500-M510, CX1500-B510