Owner's manual
Table Of Contents
- KHB 13.0003-EN
- Document history
- Contents
- 1 Preface
- 2 Safety instructions
- 3 Technical data
- 4 Electrical installation
- 5 CANopen communication
- 6 Commissioning
- 7 Parameter setting
- 7.1 Loading and saving of parameter sets
- 7.2 Conversion factors ( factor group)
- 7.3 Power stage parameters
- 7.4 Motor adaptation
- 7.5 Speed controller
- 7.6 Position controller ( position control function)
- 7.7 Digital inputs and outputs
- 7.8 Device information
- 7.9 Manufacturer-specific information parameters
- 7.10 Manufacturer-specific driving records
- 8 Device control
- 9 Operating modes
- 10 Appendix
- 11 Index
CANopen communication
Heartbeat telegram
Boot-up telegram
5
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KHB 13.0003-EN 2.0
5.8 Boot-up telegram
After the supply voltage has been switched on or after a reset, the drive controller sends
the boot-up telegram indicating that the initialisation phase is completed. The controller
then is in the NMT state pre-operational.
5.8.1 Telegram structure
11 bits 4bits User data (1 byte)
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Identifier
Data
length
0
The structure of the boot-up telegram is almost identical to the structure of the heartbeat
telegram.
The boot-up telegram is also sent with the identifier 700
h
+ node address. The data length
is 1.
The only difference is that a zero is sent instead of the NMT state. For boot-up telegrams,
too, the sending device expects – depending on the error management setting – the
receipt of the telegram to be acknowledged by the other bus devices.