Siemens SIMATIC PN/CAN LINK

Functions
5.1 CANopen
SIMATIC PN/CAN LINK
62 Operating Instructions, 03/2022, A5E39895388-AC
5.1.3.4 Monitoring functions
The device supports heartbeat and node guarding as sender (producer) as well as receiver
(consumer). The settings for these two functions are written to the OD of the PN/CAN LINK
through SDO access by the CANopen Manager in charge of the CANopen network.
When a monitored CANopen device fails, the PN/CAN LINK signals corresponding diagnostic
information to the S7 controller. In addition, an EMCY message is transmitted on the
CANopen side, and the error response specified in the OD entry "ErrorBehaviour" at address
0x1029, subindex 0x01, is executed.
Error responses
The following error responses are supported:
Subindex
value
Description
0x00
Change to the "Pre-Operational" state only when the current state is "Operational"
0x01
Current state is retained, that is no response
0x02
Change to "Stopped" state