Monitoring
Heartbeat Protocol
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EDSMF2178IB EN 3.0
Heartbeat transmission
The heartbeat transmission is activated by entering a time under in the CANopen object
I−1017. The monitoring is activated by setting a time and a node ID in the object I−1016/1.
Telegram structure
NMT identifier plus node ID and a data byte with status information:
Data value (s) Status
4 Stopped
5 Operational
127 Pre−operational
Identifier
Identifier = Basisadresse (1792) + configurable address (1 ... 127)
Heartbeatmonitoring
The consumer monitors whether the message is received within the "heartbeat consumer
time". If this is not the case, an emergency telegram with a "heartbeat event" is sent.
The controller response to a "heartbeat event" is set under subcode C1882/5 / C2382/5.
If the "heartbeat event" occurs, the node changes from the "Operational" state to the
"Pre−operational" state (default setting). By means of the object I−1029 a different
response can be set.
The heartbeat monitoring only starts when the first heartbeat telegram of a node
monitored has been successfully received and the "Pre−operational" NMT state has been
reached.
I Tip!
Detailed information on the objects I−1016, I−1017 and I−1029 can be found in
the chapter entitled "Implemented CANopen objects" (^ 91).
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