3 parameterising the controller as a can master, Parameterising the controller as a can master, E94aycca communication manual (canopen®) – Lenze E94AYCCA User Manual
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E94AYCCA communication manual (CANopen®)
Data transfer
Communication phases / network management
44
L
EDS94AYCCA EN 5.0 - 06/2012
7.2.3
Parameterising the controller as a CAN master
If the initialisation of the system bus (CANopen) and the state change from "pre-
operational" to" operational" is not carried out by a higher-level control system, the
controller can be defined to be a "quasi" master to take over this task.
The controller can be configured to be a CAN master in
As a CAN master, the controller sets all nodes connected to the bus (broadcast
telegram) to the "operational" communication state using the "Start remote node"
NMT telegram. Only this communication state enables a data exchange via the process
data objects.
In
/
, a delay time can be set. This delay time must elapse after mains
switching before the controller transmits the "Start remote node" NMT telegram on the
system bus (CANopen).
Tip!
The master functionality is only required for the initialisation phase of the drive
system.
Parameter
Information
Lenze setting
Value Unit
/
CAN slave/master
Slave
/
CAN delay boot-up - Operational
3000 ms
Note!
Changing the master/slave operation in
/
will only be effective
• after switching the mains power of the controller off and then on again
or
• by sending the NMT telegram "Reset Node" or "Reset Communication" to the
controller.
As an alternative to the "Reset node" NMT telegram, the device command
C00002 = "92: CAN module: reset node" can be used to reinitialise the CAN-
specific device parameters.