Baumer GNAMG Series Руководство - Страница 14
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Heartbeat protocol
Example of a Heartbeat protocol
COB-ID
Data/Remote
701h
d
Heartbeat messages are composed of COB-ID and one byte. This byte is transmitting the NMT state.
0:
BootUp-Event
4:
Stopped
5:
Operational
127:
Pre-Operational
i.e. the inclination sensor is in pre-operational mode (7Fh = 127).
Important :
Only one of the above nodeguarding options can be active.
Default:
Heartbeat
Optional:
NodeGuarding (see object 2110)
Manual_GNAMG_CANopen_EN.doc
21.11.12
Byte 0
7Fh (127d)
14/41
Optionally the new Heartbeat protocol can
be utilized. Heartbeat is enabled if in object
2110h bit 5 is on "0". We recommend for
new applications the modern guarding
protocol heartbeat.
A "Heartbeat-Producer" produces a cyclic
heartbeat indication. One or more
"Heartbeat-Consumers" can receive this
heartbeat indication.
If there is no cyclic transmission of the
heartbeat message, this will result in a
„Heartbeat Event". The behaviour in case of
error is defined in object 1029h-1h
"Communication Error".
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany