Note
The heartbeat message generaon me and the slave heartbeat message are congured by the
master staon power-on, and the default power failure is not saved.
3. Node protecon
The master sends remote request packets to the slave periodically with "supervision me", and the slave responds aer
receiving it, if the master staon has not received the slave response message aer exceeding the "supervision me * life
factor" me, the master determines that the slave is wrong. At the same me, the slave can also monitor the remote
request status of the master, start the communicaon protecon from the rst remote frame received, if the "node
protecon me * node protecon factor" me is exceeded and the master remote frame is not received, the slave will
also judge the communicaon error. The communicaon interrupon mode (0x600700) needs to be set to 1, and the drive
will alarm and stop when the CAN communicaon error occurs.
Master request packet format - (0x700 + node number) (no data in this message)
The slave response packet format - (0x700 + node number) + status
Table7-17 Slave replied message
Status – The data secon includes a trigger bit (bit7), which must alternate "0" or "1" in each node protecon
response. The trigger bit is set to "0" on the rst node protecon request. Bits 0 to 6 (bit0~6) are used to
indicate the node status, and the numerical meaning is shown in Table 7-18.
Standard CAN slaves generally support only one node protecon method, FD5 series servo drives support both protecon
methods. However, a node cannot support both node protecon and heartbeat packets, so only one of them can be
selected as protecon.
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