Delta DVP32ES300T

DVP-ES3 Series Operation Manual
10-16
_10
The control message format for the node state:
COB-ID
Byte 0
Byte 1
0 Command specifier (CS)
Slave address
(0: Broadcast)
The command specifiers:
Command specifier
(Hex)
Function
01
Start the remote node
02
Stop the remote node
80
Enter the pre-operational state
81
Reset the application layer
82 Reset the communication
 Error control services
The error control service detects the disconnection of a network node. The error control services are
classified into two types: Heartbeat and Node Guarding. The DVP-ES3 Series PLC only supports
Heartbeat. For example, the master can detect the disconnection of the slave only after the slave
enables the Heartbeat service.
The following illustrates the Heartbeat principle. The Heartbeat producer transmits the Heartbeat
message according to the set Heartbeat producing time. One or many Heartbeat consumers detect the
message transmitted by the Heartbeat producer. If the consumer does not receive the message
transmitted by the producer within the timeout period, there is a problem in the CANopen
communication or the producer is disconnected.
Request
Receiving
Receiving
Request
Heartbeat consumer
Heartbeat producer
Heartbeat
producing
time
Heartbeat
timeout
period
Heartbeat event
Heartbeat
timeout
period
Receiving