Pixsys MCM260X User Manual

68 - MCM260X - Manuale d’uso
11.7 Monitoring via Heartbeat
The Heartbeat generator cyclically generates a message (timed by the 0x1017 object). During this time
it transmits the status of the node. Monitoring starts when the first message is generated.
If the corresponding Heartbeat message is not received by the time stated in the 0x1016 object, there
will be a blink. An Emergency message is sent (Error Code:0x8130, Error Register: 0x11, Additional Code
00 05 JJ 00 00, where JJ is the number of the node that timed the EMCY message) and the module
switches to the status required by the 0x67FE object.
As soon as the Node Guarding is restored, another emergency message is sent (Error Code:0x0000,
Error Register: 0x11, Additional Code 00 05 JJ 00 00) to communicate that the Heartbeat works correctly
again, without any status change.
The Heartbeat protocol is used if (and only if) the 0x1017 object is configured (Producer Heartbeat
Time).
11.8 Emergency
There are 4 events that may generate emergency messages:
• Critical error situation generated/ superimposed to the module;
• Important information to be communicated to other devices;
• Restore from an error;
• Power-on with loaded settings equal to the default settings (when configurations have not been
saved yet or when those saved have been deleted from the module).
The structure of the emergency messages is shown in the following table:
Error Code Error Register Additional Code Meaning
0x0000 0x00 00 00 00 00 00
Pre-defined Error Field 0x1003 Sub-index 0 set to 0 or
all errors deleted
0x5000 0x81 00 01 00 00 00
Hardware configuration change after power on or
node reset (communication
0x5000 0x81 00 02 00 00 00
Flash errors
An error was generated when the configuration was
saved in the flash memory
0x5000 0x81 00 03 AA BB CC
The programmed configurations does not coincide
with the current one
AA: physical modules where an error occurred
BB: logical module where an error occurred
CC: cause of the error
0x5000 0x81 00 09 00 00 00 Queue overflow of emergency messages
0x8100 0x81 00 04 00 00 00
Time between two SYNC above the Communication
Cycle Period
0x8110 0x11 00 01 00 00 00
Internal receive buffer overflow
Status switched as defined by the 0x67FE object
0x8110 0x11 00 02 00 00 00
Internal transmission buffer overflow
Status switched as defined by the 0x67FE object
0x8120 0 x11 00 03 00 00 00 CAN Controller in Error Passive Mode
0x8130 0x11 00 04 00 00 00
Time between two Node Guarding greater than Guard
Time x Life Time Factor
0x8130 0x11 00 05 DD 00 00
Time between two Heartbeat greater than the
configured one
DD: node that caused the overflow

Pixsys MCM260X Specifications

General

Brand	Pixsys
Model	MCM260X
Category	Network Hardware
Language	English