JVL MIS17 Series User Manual page 308

11.7 More details of CANopen Theory
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 of the
Heartbeat Producer Time different from 0, the Heartbeat Protocol starts with the state
transition from Initialising to Pre-operational. In this case the Bootup Message is regarded
as the first heartbeat message. If the Heartbeat producer time is not 0, the heartbeat pro-
tocol is used.
In the MIS motors (or SMC66/85), none of the error control mechanisms is enabled
when the modules are started up, because if there is any fault in the system it is impos-
sible to contact the module. After the module has started up and there is communication
between the master and the slave, activate the required error control mechanism in the
object Dictionary. See
308 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x
Heartbeat producer
Request
Heartbeat
producer time
Request
TT1084GB
NMT state
Boot up
Stopped
Operational
Pre-operational
DS301 specified Communications
Heartbeat consumer
COB-ID = 700h + Node-ID
7 6....0
r s
7 6....0
r s
objects, page 280.
Indication
Heartbeat
consumer time
Indication
Heartbeat
consumer time
Heartbeat Event