Danfoss CANopen VLT Midi Drive FC 280 Programming Manual page 11

Configuration
Configure the monitoring of the NMT master via the
following OD:
•
100C: Guard time in [ms].
•
100D: Life time factor.
If the time equal to (guard time) x (life time factor) has
expired, the action selected in parameter 8-04 Control Word
Timeout Function is executed.
The frequency converter can also be configured as
heartbeat producer via object 1017h (producer heartbeat
time). The frequency converter continuously transmits
heartbeats that can be monitored by, for example, an NMT
master.
NOTICE
The CANopen control card does not support the
heartbeat consumer function.
Emergency object (EMCY)
The emergency object communicates error states, and it is
sent automatically if an alarm in the frequency converter
occurs. If the alarm ceases, another emergency telegram is
sent out with the content 0, indicating the end of the
alarm state.
Configure the behavior of the EMCY object via
parameter 8-07 Diagnosis Trigger.
OD 1014h contains the COB-ID of the node's EMCY
message, the COB-ID value is set to 80h+node ID.
The EMCY always consists of 8 bytes with the full data as
described in Table 3.3.
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
OD:
1)
EMCY code
Vendor-specific information
1001h
(OD: 1003 [1])
Table 3.3 EMCY Consists of 8 Bytes with the Full Data
1) For more information on EMCY codes, refer to chapter 8 Trouble-
shooting.
Bit 0 1, alarm word 1 has an active alarm
(parameter 16-90 Alarm Word).
Bit 1 1, alarm word 2 has an active alarm
(parameter 16-91 Alarm Word 2).
Bit 2 1, alarm word 3 has an active alarm
(parameter 16-97 Alarm Word 3).
Bit 3 1, warning word 1 has an active warning
(parameter 16-92 Warning Word).
Bit 4 1, warning word 2 has an active warning
(parameter 16-93 Warning Word 2).
Bit 5–7 0, reserved.
Table 3.4 Byte 3 Description
MG07E102
Programming Guide
Bus error counters
The frequency converter contains 2 CAN bus error
counters:
•
•
These counters determine the error-state of the CANopen
node.
Illustration 3.4 Bus Error Counters
TEC is incremented with 8 if a transmit error occurs, and
decremented with 1 if a transmission is successful.
REC is incremented with 1 if a receive error occurs or with
8 if the transmitting node is in error-active state, and
decremented with 1 if a reception is successful.
In normal operation, the node is in error-active state.
If TEC or REC exceeds the value 127, the node enters error-
passive state.
In error-passive state, the error flag is transmitted
recessively. This means that an error-passive node, as a
receiver, cannot block communication for other nodes.
A node in the error-passive state has a lower-prioritized
access to the bus.
If TEC exceeds 255 (248+8), the node enters the bus-off
state.
In bus-off state, the Err indicator light turns solid red, and
the frequency converter issues warning 34, Fieldbus
communication fault.
Power cycle the frequency converter to cancel the bus-off
state.
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Parameter 10-05 Readout Transmit Error Counter
(TEC).
Parameter 10-06 Readout Receive Error Counter
(REC).
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