Commissioning with CANopen
4.2 Commissioning
Function Manual
Function Manual, 01/2011, 6SL3097-4AB10-0BP3
81
This completes the OFFLINE configuration of the drive unit.
4.2.7 Monitoring
Introduction
SINAMICS supports the following two optional monitoring services to ensure the functionality
of CANopen network nodes:
● Heartbeat:
SINAMICS (producer) cyclically transmits (heartbeat time) its communication status on
the CAN bus to the master application.
● Node guarding:
SINAMICS waits a certain time (node lifetime) for master frames from the master
application and permits a specific number (lifetime factor) of failures within a specified
time interval (node guard time).
The node lifetime is calculated by multiplying the node guard time by the lifetime factor.
Note
Only one node monitoring service can be activated at any one time (either heartbeat or
node guarding).
If both monitoring services are activated, node guarding is effective.
Steps
On the Monitoring tab, enter the required monitoring service (heartbeat or node guarding).
1. Select the Monitoring tab.
2. The default commissioning value for the Heartbeat monitoring mechanism could be, for
example, 100 ms. Enter this value (unless it has already been entered).
3. The default commissioning values for the node guarding monitoring service could be:
– Time interval (guard time): 100 ms
– Number of failures (lifetime factor): 3
Enter these values (unless they have already been entered).
The CANopen interface is now parameterized. To load the project to the target system in
ONLINE mode, carry out the following steps.
Note
Parameter p8609 determines how the drive or CAN node will respond in the event of a CAN
communication or device error.
Factory setting:
p8609 = 1, => no change
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