Beckhoff AX2000 CANopen communication profile Instrukcja Użytkownika Pobierz pdf (Strona 19)

3.4.1 Network Management Objects (NMT)

The NMT telegram looks like this:

The drive supports the following network management functions:

cs = 129, reset node: causes a cold-start of the drive.

This deletes all parameters saved in the RAM and loads the

values stored in the EEPROM or the default values.

cs = 1, start remote node: starts the CAN node.

I.e. the PDOs of the drive are enabled for operation.

From this moment, transmit-PDOs will be transmitted under event-

control, and cyclical process data operation can commence.

cs = 2, stop remote node: stops the CAN node, I.e. the drive no longer responds to any

received PDOs or transmits any PDOs.

3.4.2 Synchronization Object (SYNC)

This is a periodic Broadcast Object and provides the basic clock for the bus. SYNC has a high prio-

rity, to ensure constant time intervals. The usage of this protocol is explained in the application sec-

tion of this manual.

3.4.3 Time-Stamp Object (TIME)

This communication Object is not supported by AX2xxx.

3.4.4 Emergency Object (EMCY)

EMCY is event-triggered and generated by an internal fault/error situation. This Object is transmit-

ted afresh for every error. Since the error codes are device-dependent, they are described in the

Chapter CANopen Drive Profile (Þ chapter 4).

CANopen for AX2000/2500 19

BECKHOFF 07/2007 CANopen communication profile

NMT Master

Start Remote Node

COB-ID = 0

request

Data Byte

cs = command specifier (Kommandonummer)

NODE-ID = Stationsadresse

indication

NMT Slave(s)

NODE

1 2 ... 14 15 16 17 18 19 20 21 22 23 24 ... 136 137

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Beckhoff AX2000 CANopen communication profile Instrukcja Użytkownika Strona 19