Baumer GIM700DR Manuel - Page 14

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3.3.6.1 Heartbeat protocol

Example for a heartbeat protocol

COB-ID

Data/Remote

701h

The heartbeat messages consist of the COB-ID and one byte. In this byte, the NMT status is supplied.

Boot Up-Event

Stopped

Operational

127:

Pre-operational

In other words, the sensor is in the pre-operational state (7Fh = 127).

3.3.6.2 Layer Setting Services

In 2000, CiA drafted a new protocol intended to ensure standardized occurrence. The procedure is described

under Layer Setting Services and Protocol, CiA Draft Standard Proposal 305 (LSS).

The sensor is supplied as standard with node-ID 1 and baud rate 50 kbits/s. Several sensors can be con-

nected to the bus system with the same node-ID. To allow individual sensors to be addressed, LSS is used.

Each sensor is fitted with its own unique serial number and is addressed using this number. In other words,

an optional number of sensors with the same node-ID can be connected to one bus system, and then initial-

ized via LSS. Both the Node-ID and also the baud rate can be reset. LSS can only be executed in the

Stopped state.

Message structure

COB-ID:

Consumer  Producer : 2021 = 7E5h

Consumer  Producer : 2020 = 7E4h

After the COB-ID, an LSS command specifier is transmitted.

This is followed by up to seven attached data bytes.

Baumer_GIM700DR_CANopen_EN_V1.00_MNL.docx

27.04.21

Byte 0

7Fh (127d)

14/32

A Heartbeat Producer transmits the

Heartbeat message cyclically with the

frequency defined in Heartbeat producer

time object. One or more Heartbeat Con-

sumer may receive the indication. The re-

lationship between producer and con-

sumer is configurable via Object Diction-

ary 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.