Vacon CANopen OPTE6, User Manual

Page: 11 / 103

CANopen protocol description vacon • 11
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
3
Protocol reset communication
The reset communication message makes the node(s) apply communication reset. See Figure 1.
NMT state machine. Communication reset does not affect the object dictionary values. If the node
ID in the message is set to ‘0’, the message affects all nodes (broadcast). After the node has made
the communication reset, it will enter the pre-operational state automatically from the initialising
state. This also creates a boot-up event and the boot-up message is sent after the reset.
3.3 Error control protocols
It is not allowed to use guarding protocol and heartbeat protocol on one NMT slave at the same
time. If the heartbeat producer time is unequal 0, the heartbeat protocol is used.
3.3.1 Heartbeat protocol
Heartbeat protocol defines the producer and consumer. The producer node sends its NMT status
that is then available for any consumer node. The consumer node is the receiver of heartbeat
messages. The producer node has a timing parameter that indicates how often the heartbeat
message should be sent. The consumer node has a relative parameter that indicates how often the
heartbeat message should be received. If the consumer does not receive the heartbeat message
within the time defined in the heartbeat object entry, an error event occurs.
Table 6: Reset communication message
CAN ID LENGTH DATA0 DATA1 DATA2 DATA3 DATA4 DATA5 DATA6 DATA7
0x0 0x2 0x82
NODE
ID
Table 7: Node status description
Value Description
0x0 Boot-up
0x4 Stopped
0x5 Operational
0x7F Pre-operational
Table 8: Heartbeat message
CAN ID LENGTH DATA0 DATA1 DATA2 DATA3 DATA4 DATA5 DATA6 DATA7
0x700 +
Node ID
0x1 Status
Table 9: Heartbeat-related objects in OD
Index Description
0x1016 Consumer heartbeat time
0x1017 Producer heartbeat time
0x1029 Error behaviour