CANo pen i n the INVEO R
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Operating manual for CANopen fieldbus | DOC01738251-0001 | 2016-12 | V2.00 EN
Each query from the master is answered as follows:
COB-ID :
0x700+NodeID of the INVEOR
Data
:
Status of the "toggle bit" (MSB)
Status:
0x00 - Bootup
0x04 - Stopped
0x05 - Operational
0x7F – Pre-Operational
If the master queries are not received during the time [Guard Time * Life Time Factor] and if "Bus
Timeout" 6.062 is activated (value other than 0), the error "Bus Timeout" is generated. The INVEOR
switches to error status.
This error can be acknowledged immediately.
A running motor is stopped!
4.3
Timeout monitoring with heartbeat
As an alternative to node guarding, the INVEOR can also be monitored using the heartbeat
function. As of SW03.85 the heartbeat consumer function is also available.
The heartbeat producer and consumer functions can be configured and activated independently of
one another.
The object 0x100C "Guard Time" and the object 0x100D "Life Time Factor" must be 0 in order to
deactivate node guarding.
IMPORTANT INFORMATION
The INVEOR parameter "Bus timeout" (6.062) must be set to a value other than 0 to activate
timeout monitoring.
