BONFIGLIOLI EM-RES-02 Betriebsanleitung PDF herunterladen (Seite 22)

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4.9 Slave functionality

4.9.1 Implement boot-up sequence, network management

4.9.1.1 Boot-up message

After the initialization, each slave on the system bus transmits its boot-up messa

(heartbeat message).

Note: The boot-up telegram has the identifier 1792 + node ID and a data byte

with contents = 0x00.

his tele

ram is of importance if a PLC/PC with CANopen functionality is used as a

master. An frequency inverter defined as a system bus master does not evaluate the

boot-up message.

4.9.1.2 Status control

he identifier used for the NMT tele

rams is "0" and may only be used by the system

bus master for NMT telegrams. The telegram contains two data bytes.

Byte 0 Byte 1

CS (Command Specifier) Node-ID

Identifier = 0

With the statement of the node ID ≠ 0, the NMT command acts on the subscriber se-

lected via the node ID. If node ID = 0, all the subscribers are addressed. If Node-ID

= 0, all nodes are addressed.

Transition Command Command Specifier

(3),(6) Start Remote Node 1

(4),(7) Enter Pre-Operational 128

(5),(8) Stop Remote Node 2

- Reset Node 129

- Reset Communication 130

Attention!

he reset node and reset communication command specified accordin

to DS 301 lead to a change to Pre-Operational via Initialization in the

frequency inverters. There is a new boot-up message.

After a slave has received the command "Start Remote Node”, it activates the PDO

channels and is ready for the exchange of process data.

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BONFIGLIOLI EM-RES-02 Betriebsanleitung Seite 22