Heartbeat / Node Guarding - Siemens SIMATIC PN/CAN LINK Operating Instructions Manual

5.1.1.6

Heartbeat / Node Guarding

The PN/CAN LINK supports the monitoring functions heartbeat and node guarding as sender
(producer) as well as receiver (consumer).
• "CANopen Manager" operating mode: The parameters for heartbeat or node guarding are
specified as part of the configuration.
• "CANopen Slave" operating mode: The settings for these two functions are written to the
OD (0x100C, 0x100D, 0x1016 and 0x1017) of the PN/CAN LINK through SDO access by
the CANopen Manager in charge of the CANopen network.
The HSP ensures that either heartbeat or node guarding is configured in "CANopen Manager"
mode.
Note
The setting of the monitoring function made in the HSP applies to the entire network with all
CANopen nodes. Mixed operation with different monitoring functions is not possible.
Nevertheless, slave nodes without the Heartbeat or Node Guarding functions can also be put
into operation.
Note
If a node does not support monitoring functions (or if Heartbeat and Node Guarding are
disabled), a failure or fault of the node is not recognized by the PN/CAN LINK as CANopen
Manager. Even when you select the "Node is mandatory on the network" option for this node,
you must ensure that the required monitoring is in place.
Fault reaction
When a monitored CANopen device fails, the PN/CAN LINK signals corresponding diagnostic
information to the S7 controller. In addition, an EMCY message is transmitted on the
CANopen side, and the fault reaction configured or specified in the OD (0x1029) is executed.
The possible fault reactions for manager / slave are available in the following sections:
• CANopen Manager: Monitoring functions (Page 52)
• CANopen Slave: Monitoring functions (Page 62)
SIMATIC PN/CAN LINK
Operating Instructions, 03/2022, A5E39895388-AC
Functions
5.1 CANopen
37