7.4. Communication disconnection detection function
VF-S15 / VF-AS3 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 drive
can detect the network abnormal condition.
･ Heartbeat Producer
Sending the heartbeat message of own Node-ID, the drive 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.
7.4.1. Heartbeat Consumer
Heartbeat consumer node can detect abnormal condition by watching the heartbeat message configured
specific Node-ID and interval time of Object 0x1016.
When the drive detects the network abnormal condition, the drive changes the drive condition according to
the parameter setting (c100 ~ c103)
7.4.2. Heartbeat producer
Heartbeat producer function sends the heartbeat message with object 0x1017 interval setting.
Heartbeat message send data
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