Communication / CBC CANopen Communication Board 02.2004
6SE7087-6QX70 (Version AD) Siemens AG
8.5-28 Compendium Motion Control SIMOVERT MASTERDRIVES
Reset
Application
Reset
Communication
Initializing
(15)
power on or
hardware reset
(16)
(2)
(14)
(13)
(12) (9)
(10)
(11)
Initialization
Fig. 8.5-2 Structure of the initialization state
(2) Initialization finished – enter PRE-OPERATIONAL automatically
(12), (13), (14) Reset_Communication indication
(9), (10), (11) Reset_Node indication
(15) Application Reset performed
(16) Communication Reset performed
The pulses on the drive are disabled by an NMT command Reset
Application. This causes the motor to coast to a standstill. The CBC
then ceases to operate the heartbeat counter, causing activation of
error F81. This is acknowledged by the CBC and the drive is then re-
initialized. The re-initialization operation sets all objects specific to the
manufacturer and device to the value following "Voltage On". The drive
then switches to the Reset Communication state. All communication
objects are reset to the default value. After initialization, the drive
returns to the pre-operational state again (does not apply to general
CANopen device).
INITIALIZING PRE-OPERATIONAL OPERATIONAL STOPPED
PDO X
SDO X X
Synchronization Object X
Emergency Object X X
Boot-Up Object X
Network Management Object X X X
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