Behavior Of Sinamics When Booting With The Canopen Communications Board; Bootup Protocol - Siemens SINAMICS S120 Commissioning Manual

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1.15 Behavior of SINAMICS when booting with the CANopen communications board

1.15 Behavior of SINAMICS when booting with the CANopen
communications board
Introduction
SINAMICS only boots as a CANopen slave when the CANopen Communication Board is
inserted.
Boot-up
During boot-up, the CAN software first queries the hardware address switch. If it is set to 0 or
127, the parameter of the CAN bus address can be written.
The address can be set via parameter p8620. If the address switch is set to 1-126, this
address is copied to the CAN bus address parameters and displayed. The parameter is then
read only.
Profile velocity mode
Servo and vector drives support the velocity mode profile.
This mode allows velocity setpoints to be defined.
See also
CAN interface (Page 87)
1.16

Bootup protocol

Bootup protocol
After the boot-up of the NMT slave, this protocol signalizes that the NMT slave has taken on
the state "Pre-Operational" after having been in the "Initialization" state.
Table 1- 13
NMT Master
Display <----
44
Bootup protocol COB-ID = 700h + Node-ID
Bootup protocol
Data
0
Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3
NMT Slave
<---- Inquiry
CANopen interface