Lenze EPM−T9XX Modular system - Manual (Page 241)

Heartbeat
9
Network via CANopen
9.7
L
9.7−1 EDSPM−TXXX−9.0−11/2009
9.7 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. 9.7−1 Heartbeat Protocol
r Reserved
s State of the Heartbeat Producer
The I/O system IP20 can monitor up to five nodes. The status telegrams of the
nodes to be monitored must arrive cyclically within a certain time at the I/O system
IP20. If a status telegram is not received within this time, the I/O system IP20
switches to the status set in I1029
h
. The outputs switch to a defined status (also
see the chapter Configuration
® Diagnostics).
Settings are made in the index I1016
h
.
The I/O system IP20 assigns a status telegram to the fieldbus and can thus be
monitored by other nodes.
Settings are made in index I1017
h
.
l Producer heartbeat is automatically started if a time > 0 is entered into the
index 1017
h
and the I/O system IP20 changes to the status "Operational".
l After the cycle time has been completed, the status telegram is transmitted
to the fieldbus by the I/O system IP20.
l A change to the Operational status triggers a reset.
Heartbeat Consumer
Heartbeat Producer