Emotron VS10 - Canopen Emergency Telegram; Canopen Heartbeat Protocol

8.5.5. CANopen emergency telegram
If the error status changes when an internal device error occurs or is remedied, an
emergency telegram is sent to the NMT master once.
Details
• The identifier for the emergency telegram is fixedly defined and is shown in 0x1014.
• In 0x1015, a blocking time can be set, in order to limit the bus load in the case of
emergency telegrams following quickly in succession.
Parameter
Name / value range / [default setting]
Info
0x1014
COB-ID EMCY
Read only
Display of the identifier for emergency telegrams.
0x1015
Inhibit time EMCY
0.0 ... [0.0] ... 6553.5 ms
Blocking time which can be set in order to limit the bus load in the case
of emergency telegrams following quickly in succession.
8.5.6. CANopen heartbeat protocol
The heartbeat protocol can be used for node monitoring purposes within a CAN network.
Details
Basic procedure:
1. A heartbeat producer cyclically sends a heartbeat telegram to one or several receivers
(consumers).
2. The consumer(s) monitor(s) the heartbeat telegram for arrival on a regular basis.