Typical recovery sequence after CAN error:
CAN error
error reaction as defined by object
0x6007 abort connection option code
NMT change ?
(defined by object 0x1029)
NMT state = Stopped
or Pre-Operational
YES
NO
RxPDO Length Error ? Guarding/Heartbeat Error ?
Restart Guarding/Heartbeat
Send one RxPDO with
correct number of bytes
Set NMT state Operational
Send Fault reset command
WARNING
With the setting of object 0x6007
abort connection option code
= 0 (no reaction),
the inverter does not react to any CAN error and remains in its current state (e. g.
drive running).
It is strongly recommended to use a setting for object 0x6007
option code
that forces the inverter into the Fault state
(setting = 1, -1 or -2).
04/13 CM-CAN ACU 113
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