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CANopen Network Interface
1606218 02 08/2006 65
The "Heartbeat" Error Monitoring Protocol
Operation of
"Heartbeat"
Mechanism
The default monitoring method is "Node-Guarding". If a non-zero value is written in
the object 1017H, the "Heartbeat" mechanism is used.
If the Heartbeat error monitoring protocol is selected, the producer transmits a
"Heartbeat" message periodically, depending on the "Producer Hearbeat Time"
parameter.
The devices responsible for monitoring this message ("Heartbeat Consumer")
generate a "HeartBeat" event if the message is not received in the configured time
("Consumer Heartbeat Time").
Meaning of
Possible Values
The "Heartbeat" message indicates that the device status is one byte long and is
formatted as follows:
The most significant bit is reserved and always has a value of 0
The 7 least significant bits provide the status for the device producing the
"Heartbeat" message.
The possible values are as follows:
Note: The simultaneous use of both monitoring methods, "Guarding" and
"Heartbeat", is impossible. Should both methods be activated at once, the
equipment will only use the "Heartbeat" monitoring method.
Status of the "Heartbeat
Producer"
Value (Decimal)
Boot-Up 0
Stopped 4
Operational 5
Pre-Operational 127