Curtis 1356 - Emergency and Heartbeat Messages

Curtis 1356/1356P CAN Expansion Module Manual, Rev. A
19
EMERGENCY MESSAGES
Emergency messages are the second highest priority in CANopen and the
highest priority that a slave (like the 1356 /1356P) can transmit. To minimize
the number of times Emergency messages can be set, a minimum time between
messages can be programmed using a Curtis programmer or an SDO.
Data bytes 1 and 2 dene the error category.
Data byte 3 is the CANopen-required error register. Curtis products dene
this as 0x01 if there is a fault present and 0x00 when all faults are clear.
Data bytes 4 through 8 dene the specic fault. e 1356 /1356P will
place the current 24-bit hour meter into data bytes 4 through 6.
Bytes 7 and 8 are not used by the 1356 /1356P and are always 0x0000.
e emergency message format indicating an error is shown below.
HEARTBEAT
e Heartbeat message is a very low priority message, periodically sent by each
slave device on the bus. e Heartbeat message requires no response. Once the
1356 /1356P is in the Pre-Operational state, the Heartbeat message will be
issued continually until communication is stopped.
e Heartbeat message has only one data byte. e top bit is reserved and
should be set to zero. e bottom 7 bits hold the current NMT device state.
byte 1 byte 8
Error Code Hour Meter
0xFF
Curtis
Code
0x01 16-bit field 0x00
3 — CANopen COMMUNICATIONS