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Kinco FD5 系列伺服驱动器使用手册 第十章 通讯连接
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3 、 Node guard
The master station periodically sends a remote request message to the slave station with the
"supervision time", and the slave station responds after receiving it. If the master station has not
received the response message from the slave station after the time of "supervision time * life
factor", the master station judges that the slave station has an error. At the same time, the slave
station can also monitor the remote request status of the master station, and start
communication protection from the first remote frame received. If the remote frame of the
master station is not received after the time of "node protection time * node protection
coefficient", the slave station will judge the communication error. You need to set the
communication interruption mode (0x600700) to 1, the drive will alarm and stop when there is an
error in CAN communication.
Master request message format - (0x700+node number) (this message has no data)
Station response message format
—— (0x700+node status
Table
10-18
slave station response message
COB-ID Byte 0
0x700+Node_ID
Bit7:
trigger bit
Bit6-Bit0:
status
Table
10-19
The meaning of the status value of the response message from the slave station
Status value meaning
0
Initializing
1
Disconnnected
2
Connecting
3
Preparing
4
Stopped
5
Operational
127
Pre-operational
Status - The data part includes a trigger bit (bit7), which must be alternately set to '0' or
'1' in each node guard response. The trigger bit is set to '0' on the first node guard request.
Bits 0 to 6 (bit0 to 6) are used to indicate the node status, and the meanings of the values are
shown in Table 10-18.
Standard CAN slave stations generally only support one node protection mode,
and FD5 series servo drives support both protection modes. However, a node cannot
support node protection and heartbeat messages at the same time, and only one of
them can be selected as protection.
Bootup process description
During network initialization, CANopen supports extended boot-up as well as minimized
Attention
⚫
The generation time of the heartbeat message and the heartbeat message of
the slave station are configured by the power-on of the master station, and are
not saved by default.