Inovance MD520 Series - Networking and Interfaces

CANopen & CANlink Communication
‑48‑
Table 4–5 Status word returned by the NodeGuarding slave
Data Bit Description
Bit7
0 or 1 alternative
Bit6 to bit0
State:
4: Stopped
5: Operational
127: Pre‑operational
● Heartbeat message
A node can be configured to produce periodic messages, called heartbeat
messages, as described in "
Table 4–6 Heartbeat message " on page 48 , in which
bit7 is 0, and bit6 to bit0 are the same as those of the NodeGuarding message. The
heartbeat time is defined by the standard protocol object 0x1017. A node cannot
support both the NodeGuarding and Heartbeat protocols.
Table 4–6 Heartbeat message
COB‑ID RTR Data0
0x700+Node‑ID
0
Status word
4.2 Networking and Interfaces
Communication Interface
The MD38CAN1 card is a communication expansion card designed for CANopen/
CANlink communication of the MD520 series AC drives. It enables the AC drive to
access the high‑speed CANopen/CANlink communication network and implements
control of the field bus.