Fuji Electric FRENIC-Ace series, User Manual

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9.2 CANopen Communication
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9.2.11 Heartbeat and Node Guarding
The Heartbeat and Node Guarding services are provided for detecting disconnection. We recommend you to use
either one.
Important: The use of either Heartbeat or Node Guarding is recommended
The setting for detecting disconnection in the CANopen device is invalid by default. Unless the setting is
enabled, the CANopen network including inverter can not detect a disconnection even if the disconnection
occurs. We strongly recommend to enable the setting.
[ 1 ] Heartbeat
Heartbeat is a mechanism to detect the disconnection in the CANopen network by monitoring the signals from the
specified node.

For more information about detailed behavior of Heartbeat, refer to the CANopen specifications DS 301.
Do not use both Heartbeat and Node Guarding at the same time. If they are used at the same time, the
disconnection is not detected properly. To use Heartbeat, make Node Guarding invalid, that is, set Index
100C=0 and Index 100D=0 (refer to Section 9.2.11 [ 2 ] ).
(1) Related object list
Index
(Hex)
Sub Name Description Data type Access
1016
- Consumer heartbeat time ARRAY -
0 Number of entries Number of configurations: 1 UNSIGNED8 R
1 Consumer heartbeat time
Upper word: Node ID to be monitored
Lower word: Heartbeat monitoring time
Default value: 0 (no operation)
UNSIGNED32 RW
1017 - Producer heartbeat time
Transmission cycle of Heartbeat message
Default value: 0 (no operation)
UNSIGNED16 RW
(2) Consumer heartbeat time
It is the preset time interval within the Heartbeat signals should be received from the specified node ID (Heartbeat
producer). The behavior is as follows: if the Heartbeat signal can not be received over monitoring time, the
disconnection is deemed to occur.

For information on the behavior upon the CANopen disconnection, refer to “9.2.12 Behavior upon detection
of CANopen network disconnection”.
Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
0000 Node ID to be monitored Heartbeat monitoring time (ms)
(3) Producer Heartbeat time
Automatically transmits the Heartbeat signals continuously at the preset interval (on a 1 ms basis). Another node
(Heartbeat consumer) monitors this Heartbeat signals.