Canopen communication – Lenze 931K User Manual
Page 48
CANopen communication
Heartbeat telegram
Telegram structure
l
48
KHB 13.0002−EN 4.1
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. 6
Heartbeat telegram
r
Reserved
s
State of the Heartbeat Producer
Heartbeat producer
The drive controller transmits a state telegram on the fieldbus and can thus be monitored
by other bus devices.
The settings are made under index 1017
h
.
ƒ
The producer heartbeat is automatically started if a time > 0 is entered under index
1017
h
and the drive controller changes to the operational state.
ƒ
When the cycle time has expired, the drive controller transmits the state telegram
on the fieldbus.
ƒ
A reset changes the state to operational.
Device state (bits 1 ... 6) of the heartbeat producer:
Command (hex)
State
00
Boot−up
05
Operational
04
Stopped
7F
Pre−operational