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Heartbeat
Heartbeat is not received within this time a Heartbeat Event will be generated "Communication error object
1029h-1h".
Example for a heartbeat protocol
COB ID
Data/Remote
701h
d
The heartbeat messages consist of the COB ID and one byte. In this byte, the NMT status is supplied.
0:
BootUp event
4:
Stopped
5:
Operational
127:
Pre-operational
In other words, the encoder is in the pre-operational mode (7Fh = 127).
Attention:
Only one each of the above node guarding mechanism can be set.
Default:
Heartbeat
Optional:
NodeGuarding (siehe Objekt 2110h)
BUDE_Manual-CANopen_EN.doc
23.10.2012/bja
Byte 0
7Fh (127d)
18/55
The optional heartbeat protocol should
substitute the life/node guarding protocol.
heartbeat is activ, when Object 2110h bit 5
is '0'. It is highly recommend to implement
for new device designs the heartbeat
protocol. A heartbeat producer transmits the
heartbeat message cyclically with the
frequency defined in heartbeat producer
time object. One or more heartbeat
consumer may receive the indication. The
relationship between producer and
consumer is configurable via Object
Dictionary entries. The heartbeat consumer
guards the reception of the heartbeat within
the heartbeat consumer time. If the
Baumer Hübner GmbH
Berlin, Germany
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