Baumuller b maxx BM4400 User Manual

Data Exchange and Parameterization
Application Manual POWERLINK Controlled Node
Document no. 5.13013.04
33
of 80
5
5.3.1 Frame structure SoA
The structure of the Start of Asynchronous (SoA) frame is as follows:
Bit offset
Byte offset 7 6 5 4 3 2 1 0
0 Message Type = SoA (0x05)
1 Destination = Broadcast address (0xFF)
2 Source = Node ID of the MN (0xF0)
3 NMTStatus
4 res res res res res EA/res ER/res res
5 reserved
6 RequestedServiceID (see the following table)
7 RequestedServiceTarget
8 EPLVersion
9 ... 45 reserved
EA (Exception Acknowledge) 
ER (Exception Reset)
NoService 0x00 Asynchronous slot is not assigned to any node
IdentRequest 0x01 Identification of inactive nodes
StatusRequest 0x02 Request the status and error information of sin-
gle nodes
NMTRequestInvite 0x03 Requesting a node to send an indicated NMT
command.
Manufacturer specific 0xA0 .. 0xFE Manufacturer specific purposes
UnspecificInvite 0xFF Requesting a node to send an indicated transmit
request.
RequestedService ID Description

Baumuller b maxx BM4400 Specifications

General

Brand	Baumuller
Model	b maxx BM4400
Category	DC Drives
Language	English