INVT Goodrive390L Series User Manual page 92

Goodrive390L Series Lift-Dedicated VFD
COB-ID
0x703
After receiving the node protection command transmitted by the master station, the
slave station transmits the following command response to the master station.
COB-ID
0x703
In the command, bit 7 of Byte0 is 1, and the state value is 0×05, indicating that slave
station 3 is in the operation state. If receiving another node protection command, the
slave station transmits a command frame in which the state value is 0×05 to the master
station, and the value of bit 7 is alternated to 0.
7.2.2.5 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 the GD390L VFD, the interval is set to 1000ms 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).
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: Node protection and heartbeat packets cannot be used simultaneously.
202403 (V1.0）
Communication protocol
No data
-
Byte0 (state value)
0x85
Byte0
State value
Table 7-5 describes the state values.
Byte0
0x05
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