Wachendorff WDGA CANopen, Техническое руководство

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Technical Manual
WDGA with CANopen-Interface
7 - Object description
© Wachendorff Automation GmbH & Co. KG 31 Rev.1.24
7.2 Heartbeat protocol
By default the heartbeat protocol is disabled.
The encoder can either send a heartbeat (producer heartbeat) or monitor the heartbeat
of other nodes (consumer heartbeat):
Producer heartbeat (Encoder sends its heartbeat)
The producer heartbeat can be enabled by setting the producer heartbeat time in
milliseconds respectively can be disabled by setting the producer heartbeat time to
00h. This is done by object 1017h, sub-index 0 (00h=OFF, time in milliseconds =
0..9999h).
Consumer Heartbeat (Encoder monitors an external heartbeat)
The object 1016h, sub-Index=01h, defines the consumer heartbeat time. The encoder
uses this time to monitor another heartbeat producer. If the monitored heartbeat does
not occur within this time (e.g. device broken), the encoder sends an EMCY message
with error code 8130h (Life guard or heartbeat error).
The object also defines the node-ID to be monitored.
Bit 31-24 Bit 23 -16 Bit 15 – 0
reserved (00h) Node-ID Heartbeat Producer time
Table 7.4: monitor external heartbeat
A time value of 0 or a node value 0 or higher than 127 disables the function.
Example for monitoring the node 127d =7Fh with a heartbeat consumer time of 10000
milliseconds (=2710h). The WDGA is assumed to be node 1:
601h 8 23h 16h 10h 01h 10h 27h 7Fh
CAN-ID DLC Command Object
L
Object
H Sub-
Index Time L Time H Producer Node-
ID
Table 7.5: Example configuration of a consumer heartbeat