Lenze 931K - Manual (Page 50)

CANopen communication
Heartbeat telegram
Boot−up telegram
5
l
50 KHB 13.0002−EN 4.1
5.8 Boot−up telegram
After the supply voltage has been switched on or after a reset, the drive controller sends
the boot−up telegram indicating that the initialisation phase is completed. The controller
then is in the NMT state pre−operational.
5.8.1 Telegram structure
11 bits 4 bits User data (1 byte)
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Identifier
Data
length
0
The structure of the boot−up telegram is almost identical to the structure of the heartbeat
telegram.
The boot−up telegram is also sent with the identifier 700
h
+ node address. The data length
is 1.
The only difference is that a zero is sent instead of the NMT state. For boot−up telegrams,
too, the sending device expects – depending on the error management setting – the
receipt of the telegram to be acknowledged by the other bus devices.