7 Format Description of CANopen Message
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Table 7-4 Response message returned by the NMT slave
COB-ID RTR Data0
0x700+Node-ID
0
Status word
Table 7-5 Status word in the response message
Data Bit Description
bit7 0 or 1 alternative
bit6 to bit0
State:
4: Stopped
5: Operational
127: Pre-operational
7.3 Heartbeat Message
A node can be congured to produce periodic messages, called heartbeat message, as
described in Table 7-6, in which bit7 is 0, and bit6 to bit0 are the same as those of the
NodeGuarding message in Table 7-5.
The heartbeat time is dened by the standard protocol object 0x1017. A node cannot
support both the NodeGuarding and Heartbeat protocols.
Table 7-6 Heartbeat message
COB-ID RTR Data0
0x700+Node-ID 0 Status word
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