Network management
s: Status of the encoder
4 : Stopped
5 : Operational
127 : Pre-operational
t : Toggle bit
6.1.2 Heartbeat protocol
At regular time intervals (producer heartbeat time), the “Heartbeat Producer” sends a “Heartbeat Telegram”.
This is a message with the COB-ID of the NMT error control object.
This message is received by one or more “Heartbeat Consumers”. A “Heartbeat Consumer” monitors the
receipt of “Heartbeat Telegrams” within its consumer heartbeat time. If no heartbeat telegram is received
within this time, then a heartbeat event is triggered.
Master Slave
Request COB-ID RTR Instruction
Byte 0
Confirmation COB-ID
ts
Reply
Request COB-ID RTR Instruction
Byte 0
Confirmation COB-ID
ts
Reply
Node Guar-
ding Event
Life Guar-
ding Event
Guard Time
Life Time
ATM60-Cxx 03/2007 13
In work
In Arbeit
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