3 commissioning example, 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
337
9
"CAN on board" system bus
9.9
Monitoring
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9.9.2.3
Commissioning example
Task
A 9400 controller (node 2) configured as a heartbeat consumer is to monitor another 9400
controller (Heartbeat Producer; node 1).
• The heartbeat producer is to transmit a heartbeat telegram to the heartbeat consumer every
10 ms.
• The heartbeat consumer monitors the heartbeat telegram for arrival. A response is to be
activated in the event of an error.
Parameterising the heartbeat producer (node 1)
1. Set the heartbeat producer time (
) to 10 ms.
Parameterising the heartbeat consumer (node 2)
1. Configure monitoring for the heartbeat in
.
• Note: The heartbeat consumer time must be greater than the heartbeat producer time of the
node to be monitored set in
.
• The value to be entered into a free subcode (1 ... 32) is "0x0001000F". It consists of the
following:
2. Go to
and set the response required for the monitoring functions parameterised
in
which are to take place in case of a "Heartbeat Event" in the consumer.
Tip!
•
displays the activity of every monitoring function parameterised in
in a bit-coded form.
•
displays the node guarding status of the monitored NMT slaves.
•
serves to set which status change is to occur in case of a "Heartbeat Event".
Heartbeat telegram
• The heartbeat telegram of the producer has the following identifier:
Identifier (COB-ID) = 1792 + producer's node address = 1792 + 1 = 1793 = 0x701
Bit 31 ... bit 24
Reserved
Bit 23 ... bit 16
Node address
of the producer
Bit 15 ... bit 0
Heartbeat consumer time
(integer multiple of 5 ms)
0x00
0x01
15 [ms] = 0x000F