User guide

16.2 Bootup Protocol
This protocol is used to signal that an NMT slave has entered the pre-operational node
state after the initializing state. The protocol uses the same identifier as the error control
protocols.
One data byte is transmitted with value 0.
CANopen DS 301 Implementation Guide Appendix: Little and Big Endians
MAN-CAN301IG (Ver. 2.1)
16-2
0
01
COB-ID = 1792 + Node-ID NMT SlaveNMT Master
indication
indication
Heartbeat
Consumer(s)
0
01
COB-ID = 1792 + Node-ID NMT SlaveNMT Master
indication
indication
Heartbeat
Consumer(s)