COMMUNICATION OBJECTS DESCRIPTION
Node-ID: it allows programming the Node-ID for the heartbeat producer to be monitored.
Heartbeat time: it allows programming the time, in 1 millisecond multiples, until the error detection if no message
of the producer is received. The value 0 (zero) in this field disables the consumer.
Once configured, the heartbeat consumer initiates the monitoring after the reception of the first telegram sent by the
producer. In case that an error is detected because the consumer stopped receiving messages from the heartbeat
producer, it will turn automatically to the preoperational state and indicate with the LED of error.
As a producer, the SCW100 starter manager has an object for the configuration of that service:
Index
Sub-
index
Name
Type
Access
PDO
Mapping
Value
1017h
0
Producer Heartbeat Time
UNSIGNED16
RW
No
0
The 1017h object allows programming the time in milliseconds during which the producer has to send a heartbeat
telegram to the network. Once programmed, the device initiates the transmission of messages with the following
format:
Identifier
byte 1
bit 7
bit 6 ... 0
700h + Node ID
Always 0
Slave State
✓
NOTE!
This object is active even in the stopped state (see table 8.11).
The value 0 (zero) in any of these two objects will disable this function.
If after the error detection the service is enabled again, then the error indication will be removed.
The minimum value accepted by the SCW100 starter manager is 2 ms. But considering the
transmission rate and the number of nodes in the network, the times programmed for this function
must be consistent, so that there is enough time for the transmission of the telegrams and also that
the rest of the communication be able to be processed.
For any slave only one of the two services - Heartbeat or Node Guarding – can be enabled.
8.6 INITIALIZATION PROCEDURE
Once the operation of the objects available for the SCW100 starter manager is known, then it becomes necessary
to program the different objects to operate combined in the network. In a general manner, the procedure for the
initialization of the objects in a CANopen network follows the description of the next flowchart:
Configuration of all device
parameters via SDO
Initiates the transmission of the
SYNC object (optional)
Initiates the Guarding or Heartbeat
error control protocol (optional)
Commands the network devices
to the operational state
Figure 8.7:
Initialization process flowchart
SCW100 | 32
