CANopen Boot Up / NMT Protocols
At switch-on, the Kollmorgen drives are in the Pre-Operational state and all PDOs are disabled. At switch-on, the drive send the boot-up message, which is a heartbeat message with Status = 0.
The boot-up process can take 6-7 seconds.
|
Cob_ID |
B0 |
|---|---|
|
700H+NodeId |
0 |
The master must send the NMT frame with Start Node command.
|
Cob_ID |
B0 |
B1 |
|---|---|---|
|
00H |
1 |
NodeId |
|
Cob_ID |
B0 |
B1 |
|---|---|---|
|
00H |
128 |
NodeId |
If NodeId = 0, all devices connected to CAN network will execute the command.
The NMT - Reset Node Protocol can also reset the drive:
|
Cob_ID |
B0 |
B1 |
|---|---|---|
|
00H |
129 |
NodeId |
