JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x 257
10.7 More details of CANopen Theory
Where r is reserved (always 0).
s: is the state of the Heartbeat producer:
Only one communication monitoring service may be activated. This is either Node
Guarding/Life Guarding or Heartbeat. If the Heartbeat Producer Time is configured on
a device, the Heartbeat Protocol begins immediately. If a device starts with a value of the
Heartbeat Producer Time different from 0, the Heartbeat Protocol starts with the state
transition from Initialising to Pre-operational. In this case the Bootup Message is regarded
as the first heartbeat message. If the Heartbeat producer time is not 0, the heartbeat pro
-
tocol is used.
In the MIS23x (SMC75), none of the error control mechanisms is enabled when the mod-
ules are started up, because if there is any fault in the system it is impossible to contact
the module. After the module has started up and there is communication between the
master and the slave, activate the required error control mechanism in the object Dic
-
tionary. See section 10.4.1.
s NMT state
0 Boot up
4 Stopped
5 Operational
7 Pre-operational
TT1084GB
Request
Heartbeat
producer time
Request
Indication
Heartbeat Event
COB-ID = 700h + Node-ID
Indication
7
r
6....0
s
7
r
6....0
s
Heartbeat
consumer time
Heartbeat
consumer time
Heartbeat producer
Heartbeat consumer
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