Kinco CD3 Series - Page 119

Kinco FD3&CD3 User Manual
115
Format of slave response message:
（0x700+NodeID）+Status:
Status:
The bit7 of the data is triggered bit.This bit will alternately set to 0 or 1 in the response message.It will be set to 0 at
the first request of node guarding.The bit0 ~ bit6 indicate the status of node.
Status: 0:Initialization 1:No connection 2.Connection 3:Operational 4:Stop 5:Run 127:Pre-operational
Normally standard CAN slave only one protection mode,but FD2S Servo can support both.
Boot-up process
The boot-up process is shown in following figure.
Note:
►The letters in the parenthesis means the objects which can used in this status:
a. NMT ，b. Node Guard ，c. SDO ，d. Emergency ，e. PDO ，f. Boot-up
► State transition
（
1-5 are sent by NMT service
）
,NMT command as shown in the parenthesis:
1
：
Start_Remote_node (0x01)
2：Stop_Remote_Node (0x02)
3：Enter_Pre-Operational_State (0x80)
4
：
Reset_Node (0x81)
5
：
Reset_Communication (0x82)
6
：
Initialization finish,enter pre-operational status and send boot-up message.
NMT management message can be used to change the modes.Only NMT-Master node can send NMT Module
Control message,and all slave must support NMT Module Control service,meanwhile NMT Module Control message
needn’t response.The format of NMT message is as follows: