Example Please read manual for i550 to find CANopen setup https://inverterdrive.com/file/Lenze-i550-45kW-Manual p.186 explaine drive settings. In the default setting, the inverter is configured as slave and waits for the NMT telegram "Start Remote Node" from the master/host system after being switched on. In example present first step that is used for Start-stop remote node.  No data transmision - only node activation. Please read Canopen chapter in visilogic