Heartbeat / Node Guarding; Sync Messages - Siemens Simatic Operating Instructions Manual

4.1.1.6

Heartbeat / Node Guarding

The PN/CAN LINK supports the monitoring functions heartbeat and node guarding as sender
(producer) as well as receiver (consumer).
● "CANopen Manager" operating mode: The parameters for heartbeat or node guarding are
specified as part of the configuration.
● "CANopen Slave" operating mode: The settings for these two functions are written to the
OD of the PN/CAN LINK through SDO access by the CANopen Manager responsible for
the CANopen network.
The HSP ensures that either heartbeat or node guarding is configured in "CANopen
Manager" mode.
Note
The setting of the monitoring function made in the HSP applies to the entire network with all
CANopen nodes. Mixed operation with different monitoring functions is not possible.
Fault reaction
When a monitored CANopen device fails, the PN/CAN LINK signals corresponding
diagnostic information to the S7 controller. In addition, an EMCY message is transmitted on
the CANopen side and the fault reaction configured or specified in the OD is executed.
The possible fault reactions for manager / slave are available in the following sections:
● CANopen Manager: Monitoring functions (Page 34)
● CANopen Slave: Monitoring functions (Page 41)
4.1.1.7

SYNC messages

The PN/CAN LINK supports the SYNC protocol as sender (producer) as well as receiver
(consumer).
The SYNC consumer function is required for PDOs with "synchronous" transmission types
(see Process data objects (PDO) (Page 21)).
In the configuration you specify whether the PN/CAN LINK is SYNC producer or SYNC
consumer as well as the send interval. In "CANopen Manager" mode, a different CANopen
slave can be configured as SYNC producer. The COB ID that must be used for this purpose
can be changed in "CANopen Slave" mode by the manager with SDO. The default value for
the COB ID is 0x80 in "CANopen Manager" mode.
Note
The SYNC function only has an effect on the CANopen side. It is not used to synchronize the
data transmission on the CANopen side and the PROFINET side.
SIMATIC PN/CAN LINK
Operating Instructions, 03/2018, A5E39895388-AB
Functions
4.1 CANopen
23