Toshiba TOSVERT VF-S15 Series Manual

Also see for TOSVERT VF-S15 series: Function manual Quick start manual Instruction manual Instruction manual Instruction manual

E6581911- 39 -7.4. Communication disconnection detection functionVF-S15 / VF-AS3 CANopen supports Heartbeat service and Node Guarding service to detect thecommunication disconnection.Heartbeat service and Node Guarding service function can not be active at the same time.･ Heartbeat service･ Heartbeat ConsumerWatching the heartbeat message of the specific Node-ID, and checking the interval time, the drivecan detect the network abnormal condition.･ Heartbeat ProducerSending the heartbeat message of own Node-ID, the drive can inform its node status.･ Node Guarding serviceNMT master polling the Guarding message, NMT master can detect each mode state and networkabnormal condition.Recommend to use Heartbeat service to reduce the network traffic.7.4.1. Heartbeat ConsumerHeartbeat consumer node can detect abnormal condition by watching the heartbeat message configuredspecific Node-ID and interval time of Object 0x1016.When the drive detects the network abnormal condition, the drive changes the drive condition according tothe parameter setting (c100 ~ c103)7.4.2. Heartbeat producerHeartbeat producer function sends the heartbeat message with object 0x1017 interval setting.Heartbeat message send dataCOB-ID RTR DLC Data0 Data1 Data2 Data3 Data4 Data5 Data6 Data70x700+Node-ID 0 1 State --- --- --- --- --- --- ---State Comments0 Boot up4 Stooped5 Operational127 Pre-operational