Lenze I/O system 1000 System Manual - Manual (Page 344)

CANopen communication
Heartbeat
8
l
344 EDSIO1000 EN 7.0
8.17 Heartbeat
COB-ID = 1792 + Node-ID Heartbeat
Consumer Heartbeat
Producer
indication
indication
indication
indication
indication
indication
indication
indication
Heartbeat Event
request
request
Heartbeat
Producer
Time
Heartbeat
Consumer
Time
Heartbeat
Consumer
Time
0
0
1
1
r
r
s
s
7
7
6 … 0
6 … 0
epm−t134
Fig. 8−14 Heartbeat Protocol
r Reserved
s State of the Heartbeat Producer
Heartbeat Producer
The I/O system transmits a status telegram to the fieldbus and can thus be monitored by
other nodes.
Settings are made in index I1017
h
.
ƒ Producer heartbeat is automatically started if a time > 0 is entered in the index
1017
h
and the I/O system changes to the status "Operational".
ƒ After the cycle time has elapsed, the status telegram is transferred from the
I/O system to the fieldbus.
ƒ A change into the Operational status triggers a reset.