CANo pen i n the INVEO R
Operating manual for CANopen fieldbus
| DOC01738251-0001 | 2016-12 | V2.00 EN
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4.3.1
Heartbeat producer
To activate the heartbeat producer function in the INVEOR, a value other than 0 must be written to
the object 0x1017 (data type U16).
The configured value defines a time in steps of 10 ms.
Once this time has elapsed, the INVEOR sends the following message in the specified cycle:
COB-ID :
0x700+NodeID of the INVEOR
Data
:
Status of the INVEOR
The master or another node can therefore monitor whether the INVEOR can be contacted via the
bus.
4.3.2
Heartbeat consumer
The heartbeat consumer function is used to monitor the contactability of another bus participant.
This function is available as of SW 03.85.
To activate this function, the object Consumer Heartbeat 0x1016 [Idx 01] must be configured. A
32-bit word is transferred for this object.
The lowest 2 bytes define the timeout value in ms.
The lower of the highest 2 bytes specifies the address of the monitored node (bus participant).
Example:
Timeout: 1000ms (0x3E8)
Node: 1
(0x01)
The following 32-bit word is transmitted: 0x000103E8
The number of bus participants which can be monitored by the INVEOR is limited to one.
After configuration and receipt of the first message from the monitored node (here 0x701 + status),
timeout monitoring is activated. The following message is expected:
COB-ID :
0x700+NodeID of the monitored node
Data :
Status of the monitored node
If the INVEOR then does not receive this message cyclically within the specified timeout and if "Bus
Timeout" 6.062 is activated
(value other than 0), the error "Bus Timeout" is generated and the INVEOR switches to error status.
This error can be acknowledged immediately.
A running motor is stopped!
