Siemens SINAMICS G120 Original Instructions Manual page 222

Configuring the fieldbus
7.7 Communication over CANopen
Heartbeat
Principle of operation
The slave periodically sends heartbeat messages. Other slaves and the master can monitor
this signal. In the master, set the responses for the case that the heartbeat does not come.
Setting value for heartbeat
Set in p8606 the cycle time for the heartbeat in milliseconds.
Converter behavior with a bus fault
With a bus fault, the CAN master goes to the "Bus OFF" status. In the converter set the
response via the p8641 parameter. Factory setting: p8641 = 3 (AUS3). When you have
resolved the bus fault, you can confirm the error as follows:
● via OFF/ON: this enables you to remove the Bus OFF state and start communication
again.
● via the DI 2 or direct via p3981: the converter remains in the Bus OFF state. To start the
communication again, set p8608 = 1.
Stopping the motor after a bus error
If the converter does not enter into a fault for a bus fault (p8641 = 0), the motor cannot be
stopped via the controller.
For this case, wire an additional OFF command via terminals.
To stop the motor from the controller, you must resolve the bus fault and restart the
communication via p8608 = 1.
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WARNING
Inverter with CU230P-2 Control Units
Operating Instructions, 11/2013, FW V4.6.6, A5E02430659B AG