Lenze S94CAN01A - Manual (Page 9)

7 ENGLISH
Communication Objects
4 CANopen DS301 Communication Profile Support
4.1 Supported NMT (Network Management) services:
The E94 Drive automatically goes to an Operational state upon reset without waiting for the
Start Node command from the NMT master.
• Start Node – Upon receiving this service request from the NMT master the drive will
resume operation. This only is applicable when the drive is in the Stopped state. The
drive resumes its move and its CANopen SDO and PDO services are operational again.
• Stop Node – Upon receiving this service request the drive stops its motion and holds its
position. (Note: power is still applied to the motor) The drive also disables its CANopen
SDO and PDO services.
• Reset Node – Upon receiving this service request the drive will reset. If the drive is in
motion it executes a quick stop before it resets.
• Reset Communication – Resets the CAN communication driver.
4.2 The Heartbeat Error Control Service
The E94 Drive can be set up as a heartbeat producer. In this mode the drive will periodically
send out a heartbeat requests. The heartbeat producer time is stored in index 0x1017 in the
object dictionary as a multiple of 1 millisecond.
Value of 0 for the heartbeat producer time disables the heartbeat service.