User Manual CANopen/EtherCAT
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Notes: A maximum of 8 objects can be mapped per PDO.
In a PDO a maximum of 8 bytes can be mapped.
6.7 Heartbeat function
The Heartbeat function to DS301 (V4.01) is supported. ServoOne can only be used as
heartbeat producer, i.e. it sends heartbeat telegrams to the controller. To this end object
1017H Producer Heartbeat Time is implemented.
A time value (in ms) is entered as a value for this object. The time value represents the
cyclic interval during which the drive controller sends its heartbeat telegrams.
Heartbeat protocol
The Heartbeat protocol defines an ERROR CONTROL SERVICE without using REMOTE
FRAMES.
A HEARTBEAT PRODUCER sends a cyclic HEARTBEAT MESSAGE. One or more HEART-
BEAT CONSUMERS receive this message. The relationship between the PRODUCER and
the CONSUMER can be configured by way of the objects described below. The HEART-
BEAT CONSUMER monitors receipt of the HEARTBEAT PROTOCOL taking account of the
preset HEARTBEAT CONSUMER TIME.
If the HEARTBEAT PROTOCOL is not received within the HEARTBEAT CONSUMER TIME,
a HEARTBEAT event is generated.
The HEARTBEAT PROTOCOL starts directly after entry of the HEARTBEAT PRODUCER
TIME.
If the device is powered up with a HEARTBEAT PRODUCER TIME setting not equal to 0,
the HEARTBEAT PROTOCOL starts with the state transition INITIALISING -> PREOPERATI-
ONAL.
In this case the BOOTUP MESSAGE is classed as the first HEARTBEAT MESSAGE.
Figure Heartbeat protocol
r: reserved (always 0)
s: the state of the Heartbeat producer
0: BOOTUP
4: STOPPED
5: OPERATIONAL
127: PRE-OPERATIONAL
The NODE GUARDING and HEARTBEAT functions cannot be used in a device
simultaneously. If the HEARTBEAT PRODUCER TIME is not equal to 0, the
HEARTBEAT PROTOCOL is used.
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