9.2 CANopen Communication
9-44
9.2.12 Behavior upon detection of CANopen network disconnection
The inverter function codes y34 / o27 y35 / o28 and y36 set up the behavior (Table 9.2-20) when the inverter
detects the disconnection of the CANopen network.
CAN communications error might not occur depending on the combination of setting values.
[ 1 ] Related object and function code list
No
CANopen object
Index (Hex)
Function
code
Description
1 1029 --
Error behavior
Setting the NMT state transition destination when a
communication error occurs.
2 6007 y36
Communication abort option code.
Setting the behavior when a communication error occurs.
3 --
y34/y35
o27/ o28
Error reaction.
Setting the behavior when a communication error occurs.
4 -- H81
Assigned minor failure.
Setting if it is treated as a minor failure when error occurs.
Note that the inverter determines under the conditions below that a disconnection occurred:
Case 1 : Consumer heartbeat or Node Guarding detect the disconnection.
Case 2 : The bus-off occurs in CAN
Case 3 : NMT state change ( Operational -> Other state )
Table 9.2-19 Selection of Case 3 by y36
No case1 case2 case3 6007h (y36) Behavior at network disconnection
1 - - - 0
[no action]
Ignoring thecommunications error.
2
error error - 1 [malfunction]
Immediately coast to a stop and trip with [
ert
]
error error error -1
3
error error - 2 [Device control command ‘Disable Voltage’]
CTW=Disable voltage (no [
ert
] trip)
error error error -2
4
error error - 3 [Device control command ‘Quick Stop’]
CTW=Quick stop (no [
ert
] trip)
error error error -3
5
error error - -4 [manufacturer specific]
(Refer to Table 9.2-20)
error error error -5
etting value of the object 1029 is other than “1”, a communication error might occur.
For more information about Heartbeat consumer or Node Guarding, refer to “9.2.11 Heartbeat and Node
Guarding”.
If a disconnection occurs, the inverter switches to Pre-Operational and PDO becomes unavailable.
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