Lenze 9400 Manual de usuario descargar pdf (Pagina 337)

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06 337

9 "CAN on board" system bus

9.9 Monitoring

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9.9.2.3 Commissioning example

Task

A 9400 controller (node 2) configured as a heartbeat consumer is to monitor another 9400

controller (Heartbeat Producer; node 1).

• The heartbeat producer is to transmit a heartbeat telegram to the heartbeat consumer every

10 ms.

• The heartbeat consumer monitors the heartbeat telegram for arrival. A response is to be

activated in the event of an error.

Parameterising the heartbeat producer (node 1)

1. Set the heartbeat producer time (C00381

) to 10 ms.

Parameterising the heartbeat consumer (node 2)

1. Configure monitoring for the heartbeat in C00385

.

• Note: The heartbeat consumer time must be greater than the heartbeat producer time of the

node to be monitored set in C00381

.

• The value to be entered into a free subcode (1 ... 32) is "0x0001000F". It consists of the

following:

2. Go to C00613/1...32

and set the response required for the monitoring functions parameterised

in C00385/1...32

which are to take place in case of a "Heartbeat Event" in the consumer.

 Tip!

• C00346

displays the activity of every monitoring function parameterised in C00385/

1...32 in a bit-coded form.

• C00347/1...32

displays the node guarding status of the monitored NMT slaves.

• C00625

serves to set which status change is to occur in case of a "Heartbeat Event".

Heartbeat telegram

• The heartbeat telegram of the producer has the following identifier:

Identifier (COB-ID) = 1792 + producer's node address = 1792 + 1 = 1793 = 0x701

Bit 31 ... bit 24

Reserved

Bit23...bit16

Node address

of the producer

Bit 15 ... bit 0

Heartbeat consumer time

(integer multiple of 5 ms)

0x00 0x01 15 [ms] = 0x000F

1 2 ... 332 333 334 335 336 337 338 339 340 341 342 ... 953 954

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