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6.4. Communication disconnection detection function
VF-S15 CANopen
®
supports Heartbeat service and Node Guarding service to detect the communication
disconnection.
Heartbeat service and Node Guarding service function can not be active at the same time.
･ Heartbeat service
･ Heartbeat Consumer
Watching the heartbeat message of the specific Node-ID, and checking the interval time, the
inverter can detect the network abnormal condition.
･ Heartbeat Producer
Sending the heartbeat message of own Node-ID, the inverter can inform its node status.
･ Node Guarding service
NMT master polling the Guarding message, NMT master can detect each mode state and network
abnormal condition.
Recommend to use Heartbeat service to reduce the network traffic.
6.4.1. Heartbeat Consumer
Heartbeat consumer node can detect abnormal condition by watching the heartbeat message configured
specific Node-ID and interval time of Object #1016.
When the inverter detects the network abnormal condition, the inverter changes the drive condition
according to the parameter setting (c100 ~ c103)
6.4.2. Heartbeat producer
Heartbeat producer function sends the heartbeat message with object #1017 interval setting.
Heartbeat message send data
COB-ID RTR DLC Data0 Data1 Data2 Data3 Data4 Data5 Data6 Data7
0x700+
Node-ID
0 1 State
--- --- --- --- --- --- ---
State Comments
0 Boot up
4 Stooped
5 Operational
127 Pre-operational
6.4.3. Node Guarding
When received the Node Guarding message, the inverter send the Node Guarding message with the node
state.
When the inverter does not receive the Node Guard message in the interval time (=Guard Time x Time
Factor, Max time is limited internally 1 hour.) set by Object #100C (Guard Time) and #100D (Time Factor),
the inverter detect the network error and changes the drive condition according to the parameter setting
(c709).
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