NORD Drivesystems BU0260 - Manual (Page 78)

Supplementary Manual CANopen for NORDAC SK 20E
78 Subject to technical amendments BU 0260 GB
Option monitoring
With the parameter (P120) "Option monitoring", SK 200E series frequency inverters provide the facility for
monitoring connected technology units (SK xU4-…) with regard to their current functional status. Generally,
this function corresponds to monitoring via parameter (P513). Except for the setting { -0.1 } this parameter
(P513) therefore has no effect.
Node Guarding
The Node Guarding function enables the monitoring of the slave(s) by the master.
If after a query by the master, a response is not received from the slave after after a defined time, an error
message is triggered.
The monitoring interval is defined in parameter (P166[-01]) "Timeout control" / "Guard Time".
Life Guarding
The Life Guarding function enables the monitoring of the master by the slave.
If after the receipt of a protocol and the elapse of a defined time the slave does not receive a further protocol
from the master, an error message is triggered.
The monitoring interval is defined by the combination of parameter (P166[-01]) "Timeout control" / "Guard
time" and )P167) "Life time factor".
Heartbeat monitoring
For overriding monitoring, a "Producer Heartbeat time" can be defined. Activation of the parameter (P166 [-
02]) "Timeout control" / "Producer Heartbeat time" by a value ≠ "0" prompts the slave to the cyclic transmission
of a corresponding protocol
6.1.2 EMCY message
In case of faults with frequency inverters connected to the system, the bus module sends an error message
via the CANopen bus. The identifier of the message is 0x80 + address of the bus module. The message is
structured as follows.
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Error code Parameter
0x1001
FI-ID
0...3
Not used
The assignment of error codes can be found in Section 4.9.6 "Error messages (EMCY message)".
After the error is reset, the Emergency Object is sent with the error message null.
The Transmit ID for the error telegram is based on the following formula:
Node ID x D Transmit I
  80 0