S300-S700 CANopen | 4 CANopen Communciation Profile
4.4.8 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 (➜ # 35) / 1017h (➜ # 35).
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:
26 Kollmorgen | kdn.kollmorgen.com | December 2019
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