ElmoMC CANopen DS 301 Implementation Guide - Manual (Page 117)

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
0 1
COB-ID = 1792 + Node-ID NMT Slave NMT Master
indication
indication
Heartbeat
Consumer(s)
0
0 1
COB-ID = 1792 + Node-ID NMT Slave NMT Master
indication
indication
Heartbeat
Consumer(s)