Baumer GCA3 - Heartbeat Service; Heartbeat Service Overview

Baumer_GCA3-5-8-12-20_CANopen_MA_EN_Rev10.docx 16/23 Baumer – Sensor Systems s.r.l.
03.12.2019 Chiari (Bs), Italy
8 Heartbeat Service
8.1 General
The device supports a heartbeat producer according CiA 305.
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 sensor is in the pre-operational mode (7Fh = 127).
8.2 COB-ID
The COB-ID for the heartbeat message is 700h + node ID.
8.3 Timing
The minimal cycle time for heartbeat messages is 10 ms.