EDS94AYCCA EN 5.0 - 06/2012
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E94AYCCA communication manual (CANopen®)
Monitoring
Heartbeat protocol
10.2.3
Commissioning example
Task
A Servo Drive 9400 configured as heartbeat consumer (node 2) is to monitor another Servo
Drive 9400 (heartbeat producer; node 1).
The heartbeat producer is to transmit every 10 seconds a heartbeat telegram to the
heartbeat consumer.
The heartbeat consumer monitors the arrival of the heartbeat telegram. In case of an
error, a response is to take place.
Parameter setting of the heartbeat producer (node 1)
1. Set heartbeat producer time (
) to 10 ms.
Parameter setting of the heartbeat consumer (node 2)
1. Configure heartbeat monitoring in
.
– Note: The heartbeat consumer time must be higher than the heartbeat producer
time set in
for the node to be monitored.
– The value to be entered into a free subcode (1 ... 32) is "0x0001000F". It consists of
the following:
2. Go to
and set the respective response required for the
monitoring functions parameterised under
. This
response will be executed if a heartbeat event occurs in the consumer.
Tip!
•
/
displays the activity of each monitoring function
in a bit-coded manner.
•
/
display the heartbeat state of the monitored
nodes.
•
/
serves to set which state change is to occur in the case of a
heartbeat event.
Heartbeat telegram
The heartbeat telegram from the producer has the following identifier:
Identifier (COB-ID) = 1792 + producer node address = 1792 + 1 = 1793 = 0x701
Bit 31 ... bit 24
Reserved
Bit 23 ... bit 16
Node address
of the producer
Bit 15 ... bit 0
Heartbeat consumer time
(integer multiple of 5 ms)
0x00
0x01
15 [ms] = 0x000F