Lenze L-force Communication 8400 motec Series - Commissioning Example

Communication manual 8400 motec CANopen
Monitoring
Heartbeat protocol
72 L EDS84DMOTCAN EN 3.0 - 11/2011
10.3.3 Commissioning example
Task
A controller (node 2) which is configured as heartbeat consumer is to monitor another
controller (heartbeat producer, node 1).
 The heartbeat producer is to transmit a heartbeat telegram to the heartbeat consumer
every 10 ms.
 The heartbeat consumer monitors the heartbeat telegram for arrival. A response is to
be activated in the event of an error.
Parameterising the heartbeat producer (node 1)
1. Set the heartbeat producer time (C00381
) to 10 ms.
Parameterising the heartbeat consumer (node 2)
1. Set the CAN node address of the producer in C00385/1
.
2. Set the heartbeat consumer time in C00386/1
.
– Note: The heartbeat consumer time must be greater than the heartbeat producer
time of the node to be monitored set in C00381
.
3. Set the desired response in C00592/5
which is to be activated if a heartbeat event in
the consumer occurs.
 Tip!
C00347/1...n
displays the heartbeat status of the nodes monitored.
Heartbeat telegram
 The heartbeat telegram from the producer has the following identifier:
Identifier (COB-ID) = 1792 + producer node address = 1792 + 1 = 1793 = 0x701