Heartbeat Packet (Heartbeat Producer); Start Packet (Nmt Boot-Up) - INVT Goodrive350 Series Operation Manual

Communication extension card
value of bit 7 is alternated to 0.

3.4.5 Heartbeat packet (Heartbeat Producer)

In some cases, the master station requires that a slave station automatically transmits a frame
of heartbeat packets at an interval, so that it can learn the state of the slave station in real time.
The interval parameter (data length: 16 bits; unit: ms) is defined in the object dictionary
0x1017. If the interval is set to 0, the slave station does not transmit heartbeat packets. For
this CANopen communication card, the interval is set to 0 by default.

Command
Slave station -> master station
COB-ID
0x700 + Node-ID

Description
The heartbeat packets are in the same format with the node protection response frames. The
difference between them is that no triggering bit alternation is performed for heartbeat packets
(the triggering bit is always 0). Table 3-5 describes the state values.

Example
For example, if slave station 3 is in the operation state and the interval parameter in 0x1017 is
set to 100, slave station 3 transmits a frame of heartbeat packets every 100 ms.
COB-ID
0x703
SDOs can be used to disable heartbeat packets, transmitting 2B 17 10 00 00 00 00 00 (setting
the interval to 0).
Note: On the communication card, node protection and heartbeat packets cannot be used
simultaneously.

3.4.6 Start packet (NMT Boot-up)

After being initialized (booted up), the communication card transmits a start packet.

Command
Slave station -> master station
COB-ID
0x700 +Node-ID

Example
For example, after being initialized, the communication card whose node ID is 3 transmits the
following start packet.
COB-ID
0x703
CANopen communication card
Byte0
State value
Byte0
0x05
Byte0
0x00
Byte0
0x00
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