Operating instructions

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4.9 Slave functionality
4.9.1 Implement boot-up sequence, network management
4.9.1.1 Boot-up message
After the initialization, each slave on the system bus transmits its boot-up messa
g
e
(heartbeat message).
Note: The boot-up telegram has the identifier 1792 + node ID and a data byte
with contents = 0x00.
T
his tele
g
ram is of importance if a PLC/PC with CANopen functionality is used as a
master. An frequency inverter defined as a system bus master does not evaluate the
boot-up message.
4.9.1.2 Status control
T
he identifier used for the NMT tele
g
rams is "0" and may only be used by the system
bus master for NMT telegrams. The telegram contains two data bytes.
Byte 0 Byte 1
CS (Command Specifier) Node-ID
Identifier = 0
With the statement of the node ID ≠ 0, the NMT command acts on the subscriber se-
lected via the node ID. If node ID = 0, all the subscribers are addressed. If Node-ID
= 0, all nodes are addressed.
Transition Command Command Specifier
(3),(6) Start Remote Node 1
(4),(7) Enter Pre-Operational 128
(5),(8) Stop Remote Node 2
- Reset Node 129
- Reset Communication 130
Attention!
T
he reset node and reset communication command specified accordin
g
to DS 301 lead to a change to Pre-Operational via Initialization in the
frequency inverters. There is a new boot-up message.
After a slave has received the command "Start Remote Node”, it activates the PDO
channels and is ready for the exchange of process data.