iR-COP
6
Life Time Factor
Index
Sub Index
Data Type
Default Value
Description
100Dh 00h
UNSIGNED8
00h
0:Disable
The NMT-slaves also monitor whether they have received a request from the
NMT-master within “Node Life Time”. If the request was absent for longer than the
life time, the NMT-slaves assume that the NMT-master has failed and indicates this
as a “Life Guard Event” to the host controller.
5.3
Heartbeat Protocol
Heartbeat protocol is an error control service that does not require remote frames.
According to the heartbeat principle, a Heartbeat Producer automatically transmits
its communication state at regular intervals to the Heartbeat Consumers, as an
evidence of its communication ability. The Heartbeat Consumer Time describes the
maximum time within which the arrival of a heartbeat message is expected by a
Heartbeat Consumer. Absence of the heartbeat message for longer than Heartbeat
Consumer Time will be indicated by the Heartbeat Consumer as a Heartbeat Event to
the host controller.
Producer Heartbeat Time
Index Sub Index
Data Type
Default Value
Description
1017h 00h
UNSIGNED16 00h
0:Disable (unit:ms)
Master
Slave
Remote request
indication
request
Hea
rtb
ea
t tim
e
indication
Heartbeat
CAN-ID = 1792 + Node-ID
request
indicatio
