Danfoss VLT CANopen MCA 105 Programming Manual page 11

Configuration
The option can also be configured as heartbeat producer
via:
•
OD: 1017 Producer Heartbeat time [ms].
The MCA 105 option continuously transmits heartbeats
(RTRs with the frequency converters actual status) that can
be monitored by, for example, an NMT-master.
NOTICE
The MCA105 option does not support the heartbeat
consumer function.
Emergency object (EMCY)
The emergency object is used to signal error states, and is
sent automatically if an alarm in the frequency converter
occurs containing the data described in the following. If
the alarm is removed, another emergency telegram is sent
out with the contents 0, signalling the end of the
frequency converter's alarm state.
Configure the behaviour of the EMCY object via
parameter 8-07 Diagnosis Trigger.
If parameter 8-07 Diagnosis Trigger is set to [0] Disable, the
EMCY is not sent at all. If it is set to Trigger alarms, it is
sent if an alarm occurs. If it is set to Trigger alarms and
warnings, it is sent if an alarm or a warning occurs.
OD 1014h contains the COB-ID of the node's EMCY
message. This is fixed 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
EMCY code* OD:
Vendor-specific information
(OD: 1003 [1]) 1001h
Table 3.3 EMCY Consists of 8 Bytes with the Full Data
*= For more information on EMCY codes, refer to
chapter 8 Troubleshooting.
Bit 0 1, alarm word 1 has an active alarm (parameter 16-90)
Bit 1 1, alarm word 2 has an active alarm (parameter 16-91)
Bit 2 0, Reserved
Bit 3 1, warning word 1 has an active warning (parameter
16-92)
Bit 4 1, warning word 2 has an active warning (parameter
16-93)
Bit 5–7 0, reserved
Table 3.4 Byte 3 Description
MG92G102
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 is detected (8
if the transmitting node is in error active-mode) and
decremented with 1 if a reception is successful.
In normal operation the node is in error active state.
If the TEC or REC exceeds the value: 127, the node enters
error passive state.
In Error passive state, the error-flag is not transmitted
dominantly but recessively.
This means that an error passive node, as receiver, cannot
block communication from other nodes.
A node in error passive state has a lower prioritised access
to the bus.
If the TEC exceeds 255 (248 + 8), the node enters bus off
state.
In bus off state, the MS LED turns solid red, and a warning
34 is issued.
Power-cycle the frequency converter to leave 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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