Slave Functionality; Implement Boot-Up Sequence, Network Management; Boot-Up Message; Position Control - BONFIGLIOLI Active Cube User Manual

7.9

Slave functionality

7.9.1 Implement boot-up sequence, network management

7.9.1.1

Boot-up message

After the initialization, each slave on the system bus transmits its boot-up message
(heartbeat message).
Note:
This telegram is irrelevant if a PLC/PC with CANopen functionality is used as a mas-
ter. A frequency inverter defined as a system bus master does not evaluate the
boot-up message.
7.9.1.2

Position control

The identifier used for the NMT telegrams is "0" and may only be used by the system
bus master for NMT telegrams. The telegram contains two data bytes.
CS (Command Specifier)
Identifier = 0
With the statement of the node ID ≠ 0, the NMT command acts on the subscriber
selected via the node ID. If node ID = 0, all the subscribers are addressed. If Node-
ID = 0, all subscribers are addressed.
Transition
Atten-
tion:
After a slave has received the command "Start Remote Node", it activates the PDO
channels and is ready for the exchange of process data.
54
The boot-up telegram has the identifier 1792 + node ID and a data byte
with contents = 0x00.
Byte 0
Command
(3),(6) Start Remote Node
(4),(7) Enter Pre-Operational
(5),(8) Stop Remote Node
- Reset Node
- Reset Communication
The reset node and reset communication command specified according
to DS 301 lead to a change to Pre-Operational via Initialization in the
frequency inverters. There is a new boot-up message.
EM-ABS-01 for ACU
Byte 1
Node-ID
Command Specifier
128
129
130
1
2
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