Delta AS Series Operation Manual page 537

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The control message format for the node state:
COB-ID
0 Command specifier (CS)
The command specifiers:
Command specifier
(hex)
01
02
80
81
82
Error control services
The error control service detects the disconnection of a network node. The error control services are
classified into two types: Heartbeat and Node Guarding. The AS Series PLC only supports Heartbeat.
For example, the master can detect the disconnection of the slave only after the slave enables the
Heartbeat service.
The following illustrates the Heartbeat principle. The Heartbeat producer transmits the Heartbeat
message according to the set Heartbeat producing time. One or many Heartbeat consumers detect the
message transmitted by the Heartbeat producer. If the consumer does not receive the message
transmitted by the producer within the timeout period, there is a problem in the CANopen
communication or the producer is disconnected.
Heartbeat producer
Request
Heartbeat
producing
time
Request
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Byte 0
Function
Start the remote node
Stop the remote node
Enter the pre-operational state
Reset the application layer
Reset the communication
Byte 1
Slave address
(0: Broadcast)
Heartbeat consumer
Receiving
Receiving
Receiving
Heartbeat
timeout
period
Heartbeat
timeout
period
Heartbeat event