Lenze i510 - Canopen Emergency Telegram; Canopen Heartbeat Protocol

Parameter Name / value range / [default seng] Info
Bit 31
0x2308
(PAR 516)
CANopen status
(CANopen s
tatus)
•
Read only
Display of the current CAN bus state.
0 Inialisaon CAN bus inialisaon acve.
•
The inialisaon is started automacally at mains connecon. During
this phase, the inverter us not involved in the data exchange process
on the CAN bus.
•
The standard values are re-wrien to all CAN-relevant parameters.
•
When the inialisaon process has been completed, the inverter
automacally adopts the "Pre-Operaonal" state.
1 Reset node "Reset Node" NMT command acve.
•
Inialisaon of all CAN-relevant parameters with the values stored.
2 Reset communicaon "Reset Communicaon" NMT command acve.
•
Inialisaon of all CAN-relevant parameters with the values stored.
4 Stopped Only network management telegrams can be received.
5 Operaonal Parameter data and process data can be received.
127 Pre-Operaonal Parameter data can be received, process data are ignored.
0x2309
(PAR 517)
CANopen controller status
(Controller status)
•
Read only
Status display of the internal CANopen controller.
1 Error acve The inverter is a fully-edged communicaon node at the CANopen net-
work. It is able to transmit and receive data and to report faults.
2 Error passive The inverter can only passively indicate faulty recepon via the ACK
eld.
3 Bus o The inverter is electrically separated from the CANopen network. In
order to exit this state, the CANopen interface must be reset.
8.4.6 CANopen emergency telegram
If the error status changes when an internal device error occurs or is remedied, an emergency
telegram is sent to the NMT mas
ter once.
Details
•
The idener for the emergency telegram is xedly dened and is shown in 0x1014.
•
In 0x1015, a blocking me can be set, in order to limit the bus load in the case of emergency
telegrams following quickly in succession.
Parameter Name / value range / [default seng] Info
0x1014 COB-ID EMCY
•
Read only
Display of the idener for emerg
ency telegrams.
0x1015 Inhibit me EMCY
0.0 ... [0.0] ... 6553.5 ms
Blocking me which can be set in order to limit the bus load in the case
of emergency telegrams following quickly in succession.
8.4.7 CANopen heartbeat protocol
The heartbeat protocol can be used for node monitoring purposes within a CAN network.
Details
Basic procedure:
1.
A heartbeat producer cyclically sends a heartbea
t telegram to one or several receivers (con-
sumers).
2.
The consumer(s) monitor(s) the heartbeat telegram for arrival on a regular basis.
The inverter can be congured as producer or as consumer to monitor up to four other nodes.
Parameter Name / value range / [default seng] Info
0x1016:000
(P
AR 520/000)
Consumer heartbea
t
me: Highes
t subinde
x
(Cons heartbeat: Highest subindex)
•
Read only
Number of nodes to be monitored.
0x1016:001
(PAR 520/001)
Consumer heartbeat me: Node 1
(Cons heartbeat: Node 1)
0x00000000 ... [0x00000000] ... 0x00FFFFFF
Node ID and heartbeat me of node 1 which is to be monitored.
•
Format: 0x00nnhhhh (nn = node ID, hhhh = heartbeat me in [ms])
Conguring the network
CANopen
CANopen emergency telegram
115
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