Baumer GIM500R Handbuch - Seite 17
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3.3.6.1 Heartbeat protocol
Example for a heartbeat protocol
COB-ID
Data/Remote
701h
d
The heartbeat messages consist of the COB ID and one byte. In this byte, the NMT status is supplied.
0:
BootUp-Event
4:
Stopped
5:
Operational
127:
Pre-operational
In other words, the sensor is in the pre-operational mode (7Fh = 127).
Baumer_GIM500R_CANopen_MA_EN.docx
03.19
Byte 0
7Fh (127d)
17/29
The heartbeat protocol should substitute
the life/node guarding protocol. Heartbeat
is active, if object 2110h Bit5 has the
value '0'. It is highly recommended to
implement the heartbeat protocol for new
device designs. A Heartbeat Producer
transmits the Heartbeat message
cyclically with the frequency defined in
Heartbeat producer time object. One or
more Heartbeat Consumer may receive
the indication. The relationship between
producer and consumer is configurable
via Object Dictionary entries. The
Heartbeat Consumer guards the
reception of the Heartbeat within the
Heartbeat consumer time. If the
Heartbeat is not received within this time
a Heartbeat Event will be generated
"Communication error object 1029h-1h".
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