Error Control Protocols; Heartbeat Protocol; Node Guarding Protocol - Vacon OPTE6 User Manual

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3.3

Error control protocols

3.3.1

Heartbeat protocol

Heartbeat protocol defines the producer and consumer. The producer node sends its NMT status
that is then available for any consumer node. The consumer node is the receiver of heartbeat
messages. The producer node has a timing parameter that indicates how often the heartbeat
message should be sent. The consumer node has a relative parameter that indicates how often the
heartbeat message should be received. If the consumer does not receive the heartbeat message
within the time defined in the heartbeat object entry, an error event occurs.
Table 8: Heartbeat message
CAN ID
0x700 +
Node ID
3.3.2

Node guarding protocol

Node guarding protocol is a NMT master driver protocol, where the master sends a remote
transmission request, which is answered by the slave. The slave response includes one data byte
that consists of a NMT slave state, and a toggle bit that toggles every response.
NOTE! The CiA application note 802 recommends that the node guarding protocol should not be
used, because of different handling of RTR frames in CAN controllers.
OPTE6 option board does not have a hardware-triggered automatic response to the RTR frame. RTR
information is handled by software, and the response data always consists of updated information.
3
Table 7: Node status description
Value
0x0
0x4
0x5
0x7F
LENGTH DATA0 DATA1
0x1 Status
Table 9: Heartbeat-related objects in OD
Index
0x1016
0x1017
0x1029
CANopen protocol description
Description
Boot-up
Stopped
Operational
Pre-operational
DATA2 DATA3 DATA4
Description
Consumer heartbeat time
Producer heartbeat time
Error behaviour
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