54 EM-ABS-01 for ACU 03/12
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: The boot-up telegram has the identifier 1792 + node ID and a data byte
with contents = 0x00.
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.
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
selected via the node ID. If node ID = 0, all the subscribers are addressed. If Node-
ID = 0, all subscribers 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
Atten-
tion:
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.
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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