Baumer CiA DS-301 Manual page 50

Defining heartbeat time
In order to monitor communication capability, the heartbeat time must be defined in object 1017h with
"Producer heartbeat time". As soon as the value has been confirmed, the service begins transmission.
Example:
Every 100 ms, the encoder/converter should transmit a heartbeat (100 = 64h):
COB ID DLC Command
600h+node ID 8
Confirmation:
COB ID DLC Command
580h+node ID 8
COB ID Data/ Remote Byte 0
701h d
The heartbeat messages are made up 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
i.e. the encoder/converter is in the pre-operational modus (7Fh = 127).
BUDE_Manual-CANopen_EN.doc
23.10.2012/bja
Object L
2Bh 17h
Object L
60h 17h
7Fh
Object H Subindex Data 0 Data 1
10h 0h
Object H Subindex Data 0 Data 1
10h 0h
50/55
64h 0h
0 0
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