Baumuller b maXX 1000 - Page 177

PLCopen motion control
Parameter manual b maXX
®
1000
Document no. 5.07004.03
177
of 208
A message frame bringing node 16 into configuration mode has the following construction:
Enter_pre-operational_state message frame structure for node 16.
These message frames are unconfirmed, i.e. no NMT slave acknowledges the correctly received message to
the NMT master
NOTE
If the CANopen address is not zero, after turning on supply voltage and a reset the bmaxx1000 CANopen slave
signals a boot up telegram the entire reset sequence lasts a few seconds. Starting with the receipt of command
reset node to the acknowledgement using boot up telegram.
m Boot up
Boot-up behavior is according to DS301 V4:
Boot-up frame with ID = 700 + node-ID, DLC = 1 byte 0 is filled with data = 0.
Boot up according with DS 301 V4,
Boot up telegram with ID = 700
hex
+ node ID, DLC = 1 byte 0 filled with the data = 0.
COB ID DLC Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
00
hex
02
hex
80
hex
10
hex
COB ID DLC Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
701
hex
01
hex
00
hex