Baumer G0-GB-GXP5W/S/H-GXU5W/S - Manual (Page 15)

Manual_G0-GB-GXP5-GXU5_406_EN.docx 15/48 Baumer IVO GmbH & Co. KG
20.11.12 Villingen-Schwenningen, Germany
Heartbeat protocol
The optional heartbeat protocol should
substitute the life/node guarding protocol.
Heartbeat ist aktiv, wenn im Objekt 2110h Bit5
auf '0' ist. It is highly recommend to implement
for new device designs the heartbeat protocol.
A Heartbeat Producer transmits the Heartbeat
message cyclically with the frequency defined
in Heartbeat producer time object. One or
more Heartbeat Consumer may receive the
indication. The relationship between producer
and consumer is configurable via Object
Dictionary entries. The Heartbeat Consumer
guards the reception of the Heartbeat within
the Heartbeat consumer time. If the Heartbeat
is not received within this time a Heartbeat
Event will be generated "Communication error
object 1029h-1h".
Example for a heartbeat protocol
COB-ID Data/Remote Byte 0
701h d 7Fh (127d)
The heartbeat messages consist of the COB ID and one byte. In this byte, the NMT status is supplied.
0: BootUp-Event
4: Stopped
5: Operational
127: Pre-operational
in other words, the encoder is in the pre-operational mode (7Fh = 127).
Attention : Only one each of the above node guarding mechanism can be set.
Default:
Heartbeat
Optional: NodeGuarding (see object 2110)