Blink Marine CANopen PKP3500SI, Руководство пользователя

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PKP3500SI_CANopenUM_REV1.0 www.blinkmarine.com
27. Object 1017h: Producer heartbeat time
The producer heartbeat time shall indicate the configured cycle time of the heartbeat.
Identifier 600h + current CAN ID Default 615h
Byte 0
40h Read Device Register
2Bh Set device Register
Byte 1 17h
CAN Object 1017h
Byte 2 10h
Byte 3 00h Sub index
Byte 4 YYh YYh: Heartbeat time in milliseconds LSByte
Byte 5 XXh XXh: Heartbeat time in milliseconds MSByte
Byte 6,7 00h Not used
Heartbeat time: XXYYh (from 000Ah to FEFFh: from 10 to 65279 milliseconds).
When the period is set to 0000h, the producer heartbeat function is disabled.
Examples:
Direction Identifier Format Message Data
To Keypad 615 Std 40 17 10 00 00 00 00 00 Read heartbeat time
Keypad reply 595 Std 4B 17 10 00 64 00 00 00 Heartbeat time = 100ms
To Keypad 615 Std 2B 17 10 00 00 00 00 00 Switch off the heartbeat
Keypad reply 595 Std 60 17 10 00 00 00 00 00 Command accepted
To Keypad 615 Std 2B 17 10 00 32 00 00 00 Set heartbeat time = 50ms
Keypad reply 595 Std 60 17 10 00 00 00 00 00 Command accepted
To Keypad 615 Std 2B 17 10 00 F4 01 00 00 Set heartbeat time = 500ms
Keypad reply 595 Std 60 17 10 00 00 00 00 00 Command accepted
Heartbeat message
The heartbeat mechanism for a CANopen device is established by transmitting cyclically the
heartbeat message by the heartbeat producer. One or more CANopen devices in the network are
aware of this heartbeat message. If the heartbeat cycle fails for the heartbeat producer, the local
application on the heartbeat consumer will be informed about that event.
If a CANopen device starts with a value for the heartbeat producer time unequal to 0 the boot-up
message is regarded as first heartbeat message.
Identifier 700h + current CAN ID Default 715h
Byte 0
XXh XXh: State of heartbeat producer
00h: Boot-up
04h: Stop
05h: Operational
7Fh: Pre-operational
Example:
Direction Identifier Format Message Data
From Keypad 715h Std 00h Boot up
From Keypad 715h Std 7Fh Pre-operational
To Keypad 00h Std 01h 15h Start keypad with CAN ID 15h
From Keypad 715h Std 05h Operational