Nodeguarding (Error Control Protocol) - Festo CiA 402 Manual

3 CANopen access procedure
Identifier: 700
h
701 1
h
Data length
N Meaning
00 Boot-up
h
04 Stopped
h
05 Operational
h
7F Pre-Operational
h
Description of the objects
Object 1017 : producer_heartbeat_time
h
To activate the Heartbeat function, the time between two Heartbeat telegrams can be established via
the object producer_heartbeat_time.
Index
Name
Object Code
Data Type
Access
PDO
Units
Value Range
Default Value
The producer_heartbeat_time can be stored in the parameter record. If the motor controller starts with
a producer_heartbeat_time not equal to 0, the boot-up message is considered to be the first Heart-
beat.
The motor controller can only be used as a so-called heartbeat producer. The object 1016
(consumer_heartbeat_time) is therefore implemented only for compatibility reasons and always
returns 0.
3.6.8

Nodeguarding (Error Control Protocol)

Overview
The so-called Nodeguarding protocol can alternatively be used to monitor communication between the
slave (drive) and master. In contrast to the Heartbeat protocol, master and slave monitor each other:
The master queries the drive cyclically about its NMT status. In every response of the motor controller,
42
+ node ID (example node ID 1)
NMT status
N
1017
h
producer_heartbeat_time
VAR
UINT16
rw
no
ms
0 ... 65535
0
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
h