1 telegram structure, 2 parameter setting, 9"can on board" system bus – Lenze 9400 User Manual
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Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06
335
9
"CAN on board" system bus
9.9
Monitoring
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9.9.2.1
Telegram structure
• The heartbeat telegram of the producer has the following identifier:
Identifier (COB-ID) = 1792 + producer's node address
• The user data (1 byte) contain the status (s) of the producer:
9.9.2.2
Parameter setting
Short overview of the parameters for the "Heartbeat" monitoring function:
Heartbeat producer time
Time interval for the transmission of the heartbeat telegram to the consumer(s).
• Parameterisable in
or via object
. The parameterised time is rounded down to an
integer multiple of 5 ms.
• The heartbeat telegram is sent automatically as soon as a time > 0 ms is set.
Heartbeat producer status
Data
Communication status
Decimal value
(s)
(r)
Producer status (s)
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Boot-up
0
0
0
0
0
0
0
0
0
Stopped
4
0
0
0
0
0
1
0
0
Operational
5
0
0
0
0
0
1
0
1
Pre-operational
127
0
1
1
1
1
1
1
1
Parameter
Info
Lenze setting
Assignment
Value Unit
Consumer
Producer
CAN heartbeat activity
-
CAN heartbeat status
-
CAN Heartbeat producer time
0 ms
CAN heartbeat consumer time
0x00000000
Resp. to CAN Heartbeat error
No response
CAN behaviour in case of fault
Pre-operational state
Greyed out = display parameter
Note!
Heartbeat and node guarding protocols must not be used simultaneously in a CANopen
device. If the heartbeat producer time is set > 0 ms, the heartbeat protocol is used.