Baumer CiA DS-301, Manual

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BUDE_Manual-CANopen_EN.doc 50/55 Baumer Hübner GmbH
23.10.2012/bja Berlin, Germany
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 Object L Object H Subindex Data 0 Data 1
600h+node ID 8 2Bh 17h 10h 0h 64h 0h
Confirmation:
COB ID DLC Command Object L Object H Subindex Data 0 Data 1
580h+node ID 8 60h 17h 10h 0h 0 0
COB ID Data/ Remote Byte 0
701h d 7Fh
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).