Baumer G1-G2-G0-GE-GB-GXxxx - Manual (Page 17)

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Heartbeat protocol
The optional heartbeat protocol should
substitute the life/node guarding protocol.
Heartbeat ist aktiv, wenn im Objekt 2110h Bit
5 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)