Table of Contents
Advertisement
Communication Profile Area
4.6.8
Heartbeat
The heartbeat protocol defines an error control service without a request. A heartbeat producer trans-
mits a heartbeat message cyclically. One or more heartbeat consumer receives the indication. The
relationship between producer and consumer is configurable via the Object Dictionary. The heart-
beat consumer guards the reception of the heartbeat within the heartbeat consumer time. If the
heartbeat is not received within the heartbeat consumer time a heartbeat event will be generated.
If the ME3CAN1-L is configured as Flying Master, the heartbeat producing and consuming is auto-
matically activated (refer to section 4.8.10).
Heartbeat producer
Request
Request
Fig. 4-17: Heartbeat
NOTE
Heartbeat produces a high bus load, but only half that of node guarding.
Object 1016
The consumer heartbeat time object indicates the expected heartbeat cycle times. Monitoring of the
heartbeat producer starts after reception of the first heartbeat. The consumer heartbeat time should
be higher than the corresponding producer heartbeat time. Before reception of the first heartbeat,
the status of the heartbeat producer is unknown.
Bit 31 ... Bit 24
If the heartbeat time is 0 or the node-ID is 0 or greater than 127, the corresponding object entry is not
used.
The unit of heartbeat time is ms.
Object 1017
The unit of 16 bit producer heartbeat time is ms. The value 0 disables the producer heartbeat.
MELSEC-L Series – CANopen€ Module ME3CAN1-L
COB-ID = 1792 + Node-ID
, Sub-index 01
–7F
H
H
Bit 23 ... Bit 16
Bit 15 ... Bit 0
0
Node-ID
Heartbeat time
H
: Producer heartbeat time
H
s
s
s: NMT slave state
0
= Boot-Up Event
4
= Stopped
5
= Operational
127 = Pre-operational
: Consumer heartbeat time
H
Fig. 4-18:
Bit allocation for sub-index 01
heartbeat time
Functions
Heartbeat consumers
Indication
Indication
Indication
Indication
Indication
Indication
–0F
: Consumer
H
H
4 – 29
Advertisement
Table of Contents
