Infranor XtrapulsGem User Manual

47
X
trapulsPac - User Guide
Chapter 3 – Reference
3.1.2.2 - Bootup Protocol
This protocol is used to signal that a NMT slave has entered the node state PRE-OPERATIONAL after the state
INITIALISING. The protocol uses the same identifier as the error control protocols.
Bootup Event
One data byte is transmitted with value 0.
CANopen Bootup configuration
Index 0x2010
Name CANopen Bootup configuration
Object Code VAR
Data Type Unsigned16
Object Class all
Access rw
PDO Mapping No
Default Value 0
This object defines the bootup behaviour of the drive.
V
alue Description
0 No Bootup message
1 Bootup message is sent when the drive goes into Pre-Op state
3.1.2.3 - Initialisation procedure
0
0 1
NMT Master NMT Slave(s)
Request
Indication
COB-ID = 1792 + Node-ID
Configuration of all device parameters,
including communication parameters (via
default SDO)
Start transmission of SYNC, wait for
synchronisation of all devices
Setting of all nodes at the operational state

Infranor XtrapulsGem Specifications

General

Brand	Infranor
Model	XtrapulsGem
Category	Controller
Language	English