Siemens SINAMICS G110M Function Manual page 211

Heartbeat
Principle of operation
The slave periodically sends heartbeat messages. Other slaves and the master can monitor
this signal. In the master, set the responses for the case that the heartbeat does not come.
Setting value for heartbeat
Set in p8606 the cycle time for the heartbeat in milliseconds.
Inverter behavior with a bus fault
With a bus fault, the CAN master goes to the "Bus OFF" status. In the inverter, set the
response to the bus error using parameter p8641. Factory setting: p8641 = 3 (AUS3).
If you have resolved the bus error, then you have the following options to restart
communication:
● You switch off the inverter power supply, wait until all of the LEDs on the inverter go dark,
and then you switch on the inverter power supply again.
This means that you withdraw the bus state and restart communication.
● You acknowledge the bus error via DI 2 or directly via p3981 and start the communication
either
– Manually by setting p8608[0] = 1. After starting, p8608 is internally set back to 0.
– Automatically every two seconds. To do this, you must have set p8608[1] to 1 when
OFF command not effective as a result of a bus fault
When the bus has a fault condition, the higher-level control cannot access the inverter. If,
as a response to a bus fault p8641 = 0 (no response) is set, then the motor remains
switched-on - even if the higher-level control sends an OFF command to the inverter.
• Configure an additional OFF command via terminals.
Fieldbuses
Function Manual, 04/2018, FW V4.7 SP10, A5E34229197B AE
commissioning.
WARNING
Communication over CANopen
6.7 Integrating the inverter into CANopen
209