Baumer GIM500R Manual - Halaman 17

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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.

BootUp-Event

Stopped

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".