JVL MAC050 User Manual page 169

4.4 Expansion Modules MAC00-FC2/FC4
Where r is reserved (always 0).
s: is the state of the Heartbeat producer:
s
0
4
5
7
Only one communication monitoring service may be activated. This is either Node
Guarding/Life Guarding or Heartbeat. If the Heartbeat Producer Time is configured on
a device the Heartbeat Protocol begins immediately. If a device starts with a value for the
Heartbeat Producer Time different from 0 the Heartbeat Protocol starts on the state
transition from Initialising to Pre-operational. In this case the Boot-up Message is regard-
ed as first heartbeat message. If the Heartbeat producer time is not 0 the heartbeat pro-
tocol is used.
In MAC00-FC2/FC4 none of the error control is enabled then the modules are started
up, because if there is any fault in the system it is impossible to get in contact with the
module. After the module has started up and there is communication between the mas-
ter and the slave, then turn on the wanted error control mechanism in the object Dic-
tionary, see section 4.4.20.
JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800
NMT state
Boot up
Stopped
Operational
Pre-operational
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