Kollmorgen S300

3.4.8 Heartbeat
The Heartbeat Protocol defines an Error Control Service without need for remote frames. A Heart
-
beat Producer transmits a Heartbeat message cyclically. One or more Heartbeat Consumer receive
the indication. The relationship between producer and consumer is configurable via Object 1016h /
1017h. The Heartbeat Consumer guards the reception of the Heartbeat within the Heartbeat Consu
-
mer Time. If the Heartbeat is not received within the Heartbeat Consumer Time a Heartbeat Event
will be generated.
Heartbeat protocol:
CANopen for S300/S700 25
Kollmorgen 11/2018 CANopen communication profile
0
01
1
6 ... 0
s
7
r
6 ... 0
s
7
r
Heartbeat
Producer
request
Heartbeat
Producer
Time
Heartbeat
Consumer
indication
Heartbeat
Time
Consumer
Heartbeat Event
request
indication
indication
indication
indication
indication
Heartbeat
Time
Consumer
Write Heartbeat
COB-ID = 1792+Node-ID
r: reserved (always 0)
s: state of the Heartbeat Producer
0: BOOTUP
4: STOPPED
5: OPERATIONAL
127: PRE-OPERATIONAL