9.2 CANopen Communication
9-24
9.2.7 Other services
(1) Network management (NMT)
Controls the DS 301 state machine. The Table 9.2-14 lists the behavior upon reception of each service.
Table 9.2-14 Behavior Upon reception of NMT Services
Services Behavior on reception Remarks
Start_Remote_Node Enters into Operational state PDO communication is valid only in
Operational state.
Stop_Remote_Node Enters into the Stop state. Only the NMT service is available in the Stop
state.
Enter_Pre-Operational Enters into Pre-Operational
state.
PDO communication is unavailable in the
Pre-Operational state.
Reset_Communication
Reset_Node Same as the power restart Reflects the node ID, y25 to y32/ o40 to o51
in the operation.
For more information on NMT, refer to the master’s user’s manual or CANopen specifications DS 301 issued
by CiA.
(2) Heartbeat and Node Guarding
A service for the disconnect detection. We recommend you to use either one.
For information about Heartbeat and Node Guarding, refer to “9.2.11 Heartbeat and Node Guarding”.
The setting for detecting disconnection in the CANopen device is invalid by default. Unless the setting is
enabled, the CANopen network including inverter cannot detect a disconnection even if the disconnection
occurs. We strongly recommend to enable the setting.
(3) Emergency (EMCY)
This service enables the inverter to automatically transmit the alarm occurred in the inverter. The format of the
transmission data is as follows:
COB-ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
0x80 + node ID
Error field
(L byte) (H byte)
Error
register
0 0 0 0 0
Error field: Indicates the contents of alarm.
Error register: 1: alarm occurring, 0: no alarm. (same as Index 1001.)
For more information on the alarm code, refer to “9.2.13 Alarm code list”.
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