AXIOMATIC DSP RESOLVER, User Manual

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DSP resolver user manual User Manual Version 1.15
CAN ID length D0 D1 D2 D3 D4 D5 D6 D7
0x80 0
Table 8.13: sync message on CAN bus
8.7.3 Error Control ( Heartbeat Features)
The Heartbeat protocol provides an error control method by both monitoring states of one
or more nodes (heart beat consumer feature) and by signaling Nodes own state (heart beat
producer feature). A heartbeat error occurs if the heartbeat consumer doesn't receive a new
heartbeat message in given maximum interval or the state of the heartbeat producer node
isn't
operational . In this case heartbeat consumer module switches its state to defined error
state. For AXRES module this error state is pre-operational state. No PDOs are going the
be transmitted and module's outputs (in case it has such) are driven to safe state.
A heartbeat message is a periodic message from one node to one or more nodes. Heartbeat
message contains one byte of data and its CAN ID is 0x700 + sender's node ID.
CAN ID lenght D0 D1 D2 D3 D4 D5 D6 D7
0x707 1 0x05
Table 8.14: An example of heart beat message coming from node 7. Module is in opera­
tional state
State Description Notes
0xFF Bus off Can't really be seen on bus
0x7F Pre -operational
0x05 Operational
0x04 Stopped Only one message is send
0x00 Boot up
Table 8.15: Module's state given in heart beat message
To configure module as a heartbeat consumer the producer's node ID and maximum
heartbeat interval time have be written to the
co_consumer_heartbeat_time[1] object
(0x1016 subindex 1 in the object dictionary). The type object is a 32 bit unsigned.
•
Bits 0-15: Heartbeat maximum interval time in milliseconds (unsigned 16 bits)
•
Bits 16-23: Node ID to be listened (unsigned 8 bits)
•
Bits 24-31: Reserved
To configure the AXINC as a heartbeat producer a non zero heartbeat producing time has to
be written to the
co_producer_heartbeat_time (0x1017 in the object dictionary). The type
of the object is 16 bit unsigned.
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