Helmholz CAN 300 PRO, Руководство для стартапов

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master is not received, the CANopen
®
slave device can enter a safe
state.
In the case of Heartbeat , the CANopen
®
slave device
autonomously transmits frames with its status information
(“Producer Heartbeat”) in a fixed timebase. The master monitors
whether these frames are regularly received. Otherwise, the
CANopen
®
slave device is assumed to have failed.
Manual: Section 6.4.2
The monitoring times can be set both for nodeguarding and for
heartbeat.
With the Device Monitoring setting Producer Heartbeat , the time
for transmission of the heartbeat frame is defined for the
CANopen
®
slave device, in this case 200ms. The master then
automatically monitors this device with a time that is 1.5 times
longer than the set heartbeat time, that is, in this case 300ms.
With the Device Monitoring setting Nodeguard , the time base for
querying the CANopen
®
slave device is defined for the master,
every 200 ms in this case. The Lifetime Factor defines the
monitoring factor for the response by the device. If the device has
not responded after 2x200ms, we can consider it to have failed.
Please see the device manual to find out which of the two
monitoring methods you device supports. If both methods are
supported, the modern
Heartbeat method should be used.
You can monitor whether the monitored CANopen
®
slave device
is still active on the CAN bus active either in PIB 263 or, if there
are multiple devices on the bus, in detail by using the FB 22
“CANopen
®
Service” with the Livelist .
Manual: Section 7.7.3
28 Start-up Guide CAN 300 PRO