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Baumer GNAMG User Manual

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Baumer IVO GmbH & Co. KG

21.11.12

Villingen-Schwenningen, Germany

Heartbeat protocol

Optionally the new Heartbeat protocol can
be utilized. Heartbeat is enabled if in object
2110h bit 5 is on “0”. We recommend for
new applications the modern guarding
protocol heartbeat.
A "Heartbeat-Producer" produces a cyclic
heartbeat indication. One or more
“Heartbeat-Consumers" can receive this
heartbeat indication.
If there is no cyclic transmission of the
heartbeat message, this will result in a
„Heartbeat Event“. The behaviour in case of
error is defined in object 1029h-1h
"Communication Error".

Example of a Heartbeat protocol

COB-ID

Data/Remote

Byte 0

701h

d

7Fh (127d)


Heartbeat messages are composed of COB-ID and one byte. This byte is transmitting the NMT state.

0:

BootUp-Event

4:

Stopped

5:

Operational

127:

Pre-Operational


i.e. the inclination sensor is in pre-operational mode (7Fh = 127).


Important :

Only one of the above nodeguarding options can be active.



Default:

Heartbeat

Optional:

NodeGuarding (see object 2110)