CANopen gateway
Wieland Electric GmbH | BA000970 | 07/2019 [9855]
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The following table provides an overview of the supported guarding protocols, depending on the
configuration of SDO 1016 and SDO 1017 (heartbeat), SDO 100C (guard time) and SDO 100D (life time
factor).
Table 115: Overview and comparison of the guarding protocols
SDO
1016
SDO
1017
SDO
100C × 1
00D
Heartbeat gateway Life Guarding
Gateway
Node guarding
NMT master
0
0
0
Not permitted: Always make use of either node
guarding or heartbeat!
0
0
> 0
Deactivated
Cable break detec-
tion
Required
> 0
0
0
Cyclic
heartbeat
(consumer)
Cable break detec-
tion
Possible for
other slaves
0
> 0
0
Cyclic
heartbeat
(producer)
Not possible
Not possible,
but guarding as
a heartbeat
consumer is
possible
> 0
> 0
0
Cyclic
heartbeat
(producer und
consumer)
Cable break detec-
tion
Not possible
> 0
> 0
> 0
Not permitted
NOTICE
It does not make sense to use heartbeat and life guarding simultaneously.
