Omron C200HW-CORT21-V1, Operation Manual

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Setting up a network
Section 3-3
42
The variable at sub-index 01h is a 32 bit variable that has the following
structure:
Reserved (8 bit) Node ID (8 bit) Heartbeat Time (16 bit)
Heartbeat error
The Node ID section of the variable indicates from which node produces the
Heartbeat to be consumed. The Heartbeat Time specifies the expected
Heartbeat cycle time and thus has to be higher than the corresponding
producer heartbeat time. The Heartbeat time is a multiple of 1 ms. A value of
0 means that the Heartbeat monitoring for the indicated Node ID is disabled.
If the C200HW-CORT21-V1 does not receive the Heartbeat within the
Heartbeat Time, the Unit indicates this error by IR n+3.11 and on the 7-
segment display. It is up to the user to take any further action. When the Unit
starts receiving heartbeats again, the error indication will disappear.
Producer Heartbeat Time
The figure below shows the structure of the Producer Heartbeat Time for
C200HW-CORT21-V1.
Index Sub-index Object Default value
1017h -
Producer Heartbeat Time
0
The simple variable is a 16 bit variable that contains the Producer Heartbeat
Time in milliseconds. The value 0 means that the Producer Heartbeat time is
disabled.
When this variable is set unequal to zero at boot-up, the Heartbeat service
will be active. Node / Life guarding can not be active if the Producer
Heartbeat Time and/or Consumer Heartbeat Time are set unequal to 0.
3-3-2-4 Guard Time / Life Time Factor
Condition
Remote transmission request
Guard Time
Node guarding can only be started when Heartbeat is not activated.
Heartbeat is inactive when both the producer heartbeat time and consumer
heartbeat time are set to 0.
Node guarding will start after receiving the first remote transmission request
(RTR) on COB-ID 700h + Node ID. After receiving the RTR, the C200HW-
CORT21-V1 responds with the current CANopen state. The RTRs are
transmitted at a fixed time interval called the guard time.
The figure below shows the structure of the guard time.
Index Sub-index Object Default value
100Ch - Guard Time 0
Node Life Time
The simple variable is a 16 bit variable that contains the Guard Time in
milliseconds. The value 0 means that the Guard Time is not used.
The Node Life Time is the Guard Time multiplied with the Life Time Factor.
The figure below shows the structure of the Life Time Factor.