Kinco FD5 AC series servo driver user manual
Chatper 10 Communication
Table 10-22 Slave station response message
Bit7:trigger bit Bit6-Bit0:status
Table 10-23 The meaning of the status value of the response message from the slave station
Status - The data section includes a trigger bit (bit7), which must be alternately set to "0" or "1" in each node protection
response. The trigger bit is set to 0 for the first node protection request. Bits 0 and 6 (bit0 to 6) indicate the node status. Table
10-18 describes the values.
The standard CAN slave station generally supports only one type of node protection, and the FD5 series servo drive supports
both types of protection. However, a node cannot support both node protection and heartbeat packets at the same time. Only one
of them can be used for protection.
Bootup process description
During network initialization, CANopen supports extended boot-up as well as minimized boot-up. This initialization process can
be represented by a node state transition diagram, as shown in Figure 10-5.
Figure 10-5 Node state transition diagram
Note: The letters in parentheses in the figure indicate communication objects that can be used in different states.
a——NMT d——Emergency b——Node Guard
e——PDO c——SDO f——Boot-up
Switching between modes can be achieved through NMT management messages, only the NMT-Master node can send NMT
Module Control messages, all slave devices must support the NMT Module Control service, and NMT Module control messages
do not need to be answered. After the initialization is complete, the device automatically enters the Pre_Operational state and
sends Boot-up messages. NMT message format is as follows: Nmt-master →NMT Slave(s)
Table 10-24 Format of NMT managing message
When Node-ID=0, all NMT slaves are addressed.CS is the command word, and its value is shown in Table 10-25.
Table 10-25 CS value table
Shut down the remote node
To Next Page
Loading...
