Kinco FD5P AC series servo
Status - The data part includes a trigger bit (bit7), which must be alternately set to '0' or
'1' in each node guard response. The trigger bit is set to '0' on the first node guard
request. Bits 0 to 6 (bit0 to 6) are used to indicate the node status, and the meanings of
the values are shown in Table 10-18.
Standard CAN slave stations generally only support one node protection mode,
and FD5P series servo drives support both protection modes. However, a node
cannot support node protection and heartbeat messages at the same time, and
only one of them can be selected as 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 brackets in the figure indicate the communication objects that
can be used in different states.
a: NMT d:emergency b:node guard e:PDO c:SDO f:Boot-up.
You can switch between various modes through NMT management messages. Only
the NMT-Master node can transmit NMT Module Control messages. All slave devices
must support NMT Module Control services, and NMT Module Control messages do
not need to be answered. After the device is initialized, it automatically enters the
Pre_Operational state and sends a Boot-up message. The 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
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