Beijer Electronics X2 Series User Manual

X2 series with embedded CODESYS control – Recommendations and limitations
SUEN00392E 2022-03
46 (61)
Normal.dotm
, 2020-09-09
The communication driver will then follow the state of the application and STOP communicating
when stopping the program execution, this will trigger a watchdog event in the slaves and will take the
action required depending of the type of application.
Node guarding and Heartbeat
In CANopen networks there are two different mechanism available for monitoring of devices.
Node Guarding is to be considered obsolete but still supported by the driver in CODESYS. The
preferred mechanism to use is the one named HeartBeat.
The concept behind Heartbeat is to configure Heartbeat producers and Hearbeat consumers.
In a network consisting of one X2 series control panel and multiple slaves the common approach
is that the control panel acts as a Heartbeat producer sending a Hearbeat message at a
preconfigured interval, this message should then be consumed by the slaves within a configured
interval. If this particular message is not received within the set time the slave will consider the
Master, the CANopen Manager, offline and the slaves will act according to its setting in case of a
watchdog error. In the same way the slaves are also Heartbeat producers where the master will
act as a consumer in order to know the state of the slave.
This mechanism is needed to have a fully monitored network making sure that all nodes are
available and operational.
Performance
The CANopen network supports different ways of sending the data mapped in PDO:s. The
recommended and most efficient way is the event-driven type, this means that the transfer of
PDO:s are only sent in case if a change.
In comparison to Modbus RTU we get a much better performance since the updating doesn’t
rely on a Master polling the nodes, when a slave has a state change this change is sent
immediately.
When inserting a GN-9261 or BFI these will by default be set to event driven asynchronous type.
Definition of Asynchronous
The transmission types 254 + 255 are asynchronous, but may also be event-driven. In transmission
type 254, the event is specific to the manufacturer, whereas for type 255 it is defined in the device
profile.
Internal processing time:
BFI 6ms

Beijer Electronics X2 Series Specifications

General

Brand	Beijer Electronics
Model	X2 Series
Category	Controller
Language	English