Lenze E84DGFCC - Manual (Page 69)

EDS84DMOTCAN EN 3.0 - 11/2011
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69
Communication manual 8400 motec CANopen
Monitoring
Heartbeat protocol
10.3 Heartbeat protocol
The heartbeat protocol can be used for node monitoring purposes within a CAN network.
Basic workflow
[10-1] Heartbeat protocol
1. A heartbeat producer cyclically transmits a so-called heartbeat telegram to one or more
consumers.
2. The consumer(s) monitor(s) the heartbeat telegram for arrival on a regular basis.
10.3.1 Telegram structure
 The heartbeat telegram of the producer has the following identifier:
Identifier (COB-ID) = 1792 + producer's node address
 The user data (1 byte) contain the status (s) of the producer:
r: Reserved (always 0)
s: Status of the producer (0: Boot-up, 4: Stopped, 5: Operational, 127: Pre-operational)
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Heartbeat producer status Data
Communication status Decimal value
(s)
(r) Producer status (s)
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Boot-up 0 0 0 0 0 0 0 0 0
Stopped 4 0 0 0 0 0 1 0 0
Operational 5 0 0 0 0 0 1 0 1
Pre-operational 127 0 1 1 1 1 1 1 1