Lenze L-force 9400 Series

9400 regenerative power supply module | Parameter setting
"CAN on board" system bus
Monitoring
140 L EDS94ARNExxxx EN 2.3 - 06/2014
6.9.2 Heartbeat protocol
The heartbeat protocol provides an alternative to the node guarding protocol for
monitoring nodes within a CAN network. In contrast to node guarding, this monitoring
method does not require polling by means of RTR telegrams (remote transmission request)
from the NMT master.
Schematic procedure
[6-10] Heartbeat protocol
1. A heartbeat producer cyclically sends a heartbeat telegram to one or more consumers.
2. The consumer(s) monitors/monitor the reception of the heartbeat telegram at regular
intervals.
 Note!
Heartbeat and node guarding protocols may not be used simultaneously on a
CANopen device. When the heartbeat producer time is set > 0 ms, the heartbeat
protocol is used.
r: reserved (always 0)
s: state of the producer (0: boot-up, 4: stopped, 5: operational, 127: pre-operational)
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