Delta ASDA-A3 Series User Manual page 676

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The Heartbeat mechanism is mainly to enable the producer to periodically send packets to the

consumer. The producer can be a controller or servo drive; on the other hand, a controller or

servo drive can also be the consumer.

If you use the servo drive as the consumer and the controller to send the heartbeat, you need to

set the heartbeat receiving time (OD 1016h) of the servo drive. When the servo drive does not

receive the heartbeat signal within the receiving time, the heartbeat event is triggered, meaning

AL180 is triggered. Consumer heartbeat time (OD 1016h) is defined as the time the servo drive

expects to receive a heartbeat. For the setting, consumer heartbeat time (OD 1016h) must be

greater than the producer heartbeat time. The producer time is set by the controller. Due to

delays and other uncontrollable external factors in transmitting the heartbeat, you must retain a

tolerance margin value.

producer time

The S code is described as follows:

If you want to use the servo drive as the producer, then the heartbeat is sent by the drive and

you need to set the producer heartbeat time (OD 1017h). Set the consumer heartbeat time for

the controller, which must be greater than the producer heartbeat time. When the controller

does not receive the heartbeat signal within the receiving time, it triggers the heartbeat event

which corresponds to the alarm defined by the controller.

COB-ID = 700h+Node-ID

Example for Node-ID = 1

consumer time

consumer time

Pre-operational

CANopen Mode

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Ecm-a3 series