Lenze E94AxPExxxx - Manual (Page 375)

Lenze · 9400 Servo PLC· Reference manual · DMS 4.0 EN · 11/2013 · TD05/06
375
10 "CAN on board" system bus
10.9 Monitoring
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10.9.2.1 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:
10.9.2.2 Parameter setting
Short overview of the parameters for the "Heartbeat" monitoring function:
Heartbeat producer time
Time interval for the transmission of the heartbeat telegram to the consumer(s).
• Parameterisable in C00381 or via object I-1017 . The parameterised time is rounded down to an
integer multiple of 5 ms.
• The heartbeat telegram is sent automatically as soon as a time > 0 ms is set.
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
Parameter Info Lenze setting Assignment
Value Unit Consumer Producer
C00346 CAN heartbeat activity - 
C00347/1...32 CAN heartbeat status - 
C00381 CAN Heartbeat producer time 0 ms 
C00385/1...32 CAN heartbeat consumer time 0x00000000 
C00613/1...32 Resp. to CAN Heartbeat error No response 
C00625 CAN behaviour in case of fault Pre-operational state  
Highlighted in grey = display parameter

Note!
Heartbeat and node guarding protocols must not be used simultaneously in a CANopen
device. If the heartbeat producer time is set > 0 ms, the heartbeat protocol is used.