AKD CANopen | 6 CANopen Communication Profile
6.4.8 Heartbeat
The Heartbeat Protocol defines an Error Control Service without need for remote frames. A Heartbeat Producer
transmits a Heartbeat message cyclically. One or more Heartbeat Consumer receive the indication. The rela-
tionship between producer and consumer is configurable via Object 1016h/1017h. The Heartbeat Consumer
guards the reception of the Heartbeat within the Heartbeat Consumer Time. If the Heartbeat is not received
within the Heartbeat Consumer Time a Heartbeat Event will be generated.
Heartbeat protocol:
40 Kollmorgen™ | November 2012
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