Heartbeat - Mitsubishi Electric MELSEC-F FX3U-CAN User Manual

FX -CAN User's Manual
3U
5.6.9

Heartbeat

The heartbeat protocol defines an error control service that does not use requests. A heartbeat producer
transmits a heartbeat message cyclically. One or more heartbeat consumers receive the indication. The
relationship between producer and consumer is configurable via the object dictionary. The heartbeat
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 FX -CAN module is configured as Flying Master, Heartbeat producing and consuming is automatically
3U
activated between it and other FX
Note
Heartbeat produces a high bus load, but only half that of node guarding.
Heartbeat producer
Request
Request
1. Object H1016 sub-index H01 to H7F: Consumer heartbeat time
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.
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.
2. Object H1017: Producer heartbeat time
The unit of 16bit producer heartbeat time is ms. The value 0 disables the producer heartbeat.
-CAN modules also set up as Flying Masters.
3U
COB-ID = 1792 + Node-ID
s
s
s: NMT slave state
4 Stopped
5 Operational
127 Pre-Operational
0 Boot-Up Event
31 ... 24 23 ... 16
H00 Node-ID
5.6 Communication Profile Area
→ For Flying Master, refer to Subsection 5.8.11
Heartbeat consumers
Indication
Indication
Indication
Indication
Indication
Indication
15 ... 0
Heartbeat time
5 Introduction of Functions
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