Owner's manual
Table Of Contents
- KHB 13.0003-EN
- Document history
- Contents
- 1 Preface
- 2 Safety instructions
- 3 Technical data
- 4 Electrical installation
- 5 CANopen communication
- 6 Commissioning
- 7 Parameter setting
- 7.1 Loading and saving of parameter sets
- 7.2 Conversion factors ( factor group)
- 7.3 Power stage parameters
- 7.4 Motor adaptation
- 7.5 Speed controller
- 7.6 Position controller ( position control function)
- 7.7 Digital inputs and outputs
- 7.8 Device information
- 7.9 Manufacturer-specific information parameters
- 7.10 Manufacturer-specific driving records
- 8 Device control
- 9 Operating modes
- 10 Appendix
- 11 Index
CANopen communication
Heartbeat telegram
Telegram structure
5
54
KHB 13.0003-EN 2.0
COB-ID = 1792 + Node-ID
Heartbeat
Consumer
Heartbeat
Producer
indication
indication
indication
indication
indication
indication
indication
indication
Heartbeat Event
request
request
Heartbeat
Producer
Time
Heartbeat
Consumer
Time
Heartbeat
Consumer
Time
0
0
1
1
r
r
s
s
7
7
6…0
6…0
epm-t134
Fig. 5 Heartbeat telegram
r Reserved
s State of the Heartbeat Producer
Heartbeat consumer
The consumers monitor i f the heartbeat message is received within the ”heartbeat
consumer” time. The time must be longer than the corresponding ”heartbeat producer”
time.
Heartbeat producer
The drive controller transmits a state telegram on the fieldbus and can thus be monitored
by other bus devices.
The settings are made under index 1017
h
.
ƒ The producer heartbeat is automatically started if a time > 0 is entered under index
1017
h
and the drive controller changes to the operational state.
ƒ When the cycle time has expired, the drive controller transmits the state telegram
on the fieldbus.
ƒ A reset changes the state to operational.
Device state (bits 1 ... 6) of the heartbeat producer:
Command (hex) State
00 Boot-up
05 Operational
04 Stopped
7F Pre-operational