EDS94ARNExxxx EN 2.3 - 06/2014 L 143
9400 regenerative power supply module | Parameter setting
"CAN on board" system bus
Monitoring
6.9.2.3 Commissioning example
Task
A 9400 controller configured as heartbeat consumer (node 2) is to monitor another 9400
controller (heartbeat producer; node 1).
The heartbeat producer is to send a heartbeat telegram to the heartbeat consumer
every 10 ms.
The heartbeat consumer monitors the arrival of the heartbeat telegram. If an error
occurs, a response is to be initiated.
Parameterising the heartbeat producer (node 1)
1. Set the heartbeat producer time (C00381
) to 10 ms.
Parameterising the heartbeat consumer (node 2)
1. Configure the heartbeat monitoring in C00385
.
– Note: The heartbeat consumer time must be longer than the heartbeat producer
time set for the monitored node in C00381
.
– The value to be entered in a free subcode (1 ... 32) is "0x0001000F". It consists of the
following components:
2. Go to C00613/1...32
and set the respective responses for the monitoring functions
parameterised in C00385/1...32
, which are to be initiated in the consumer when a
"heartbeat event" occurs.
Tip!
• C00346
displays the activity of the monitoring functions parameterised in
C00385/1...32
in a bit-coded manner.
• C00347/1...32
display the heartbeat states of the monitored nodes.
• C00625
serves to set the state change for a "heartbeat event".
Heartbeat telegram
The heartbeat telegram from the producer has the following identifier:
Identifier (COB-ID) = 1792 + node address of the producer = 1792 + 1 = 1793 = 0x701
Bit 31 ... bit 24
Reserved
Bit23...bit16
Node address
of the producer
Bit 15 ... bit 0
Heartbeat consumer time
(integer multiple of 5 ms)
0x00 0x01 15 [ms] = 0x000F
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