BECKHOFF AX2000 CANopen communication profile - Manual (Page 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
indication
indication
NMT Slave(s)
cs
NODE
ID
1 0