03/12 EM-ABS-01 for ACU 49
For synchronous PDOs, the master (PC, PLC or frequency inverter) generates the
SYNC telegram. The identifier assignment for the SYNC telegram is done by default
according to the Predefined Connection Set. This assignment can be altered by pa-
rameterization.
7.8 Master functionality
An external control or a frequency inverter defined as a master (node ID = 0) can be
used as a master. The fundamental tasks of the master are controlling the start of
the network (boot-up sequence), generating the SYNC telegram and evaluating the
emergency messages of the slaves.
Further, there can be access to the parameterization of all the frequency inverters on
the system bus by means of a field bus connection via the client SDO of the master
frequency inverter.
7.8.1 Control boot-up sequence, network management
The Minimum Capability Boot-Up method defined according to CANopen is used for
the state control of the nodes.
This method knows the pre-operational, operational and stopped states.
After the initialization phase, all the subscribers are in the pre-operational state. The
system bus master transmits the NMT command Start-Remote-Node. With this
command, individual nodes or all the nodes can be started together. A frequency
inverter defined as a master starts all the nodes with one command. After receipt of
the Start Remote Node command, the subscribers change into the Operational state.
From this time on, process data exchange via the PDO channels is activated.
A master in the form of a PLC/PC can start the subscribers on the system bus indivi-
dually and also stop them again.
As the slaves on the system bus need different lengths of time to conclude their in-
itialization phases (especially if external components exist alongside the frequency
inverters), an adjustable delay for the change to Operational is necessary. The set-
ting is done in a frequency inverter defined as a system bus master via
Boot-Up De-
lay
904.
Parameters Settings
No. Description Min. Max. Factory setting
904 Boot-up delay 3500 ms 50000 ms 3500 ms
Properties of the states:
State Properties
Pre-Operational Parameterization via SDO channel possible
Exchange of process data via PDO channel not possible
Operational Parameterization via SDO channel possible
Exchange of process data via PDO channel possible
Stopped Parameterization via SDO channel not possible
Exchange of process data via PDO channel not possible
Note: Start-Remote-Node is cyclically transmitted with the set delay time by a
frequency inverter defined as a system bus master, in order to put slaves
added with a delay or temporarily separated from the network back into
the Operational state.
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