BL20 - Communication in CANopen
D301087 0308 - BL20 CANopen4-62
Object 1016
hex
- Consumer Heartbeat Time
The Heartbeat Protocol is used to monitor the operational capability
of other CANopen bus nodes. The Heartbeat Protocol must be seen
as an alternative to Node-/Life-Guarding, which, unlike Guarding,
does not use Remote-Frames.
A device generates the Heartbeat with a specific cycle time (see
object 1017
hex
"Producer heartbeat time"). Another device receives
the Heartbeat and monitors the cycle time.
Object 1016
hex
defines the cycle time (interval) at which the Heart-
beat is expected. This cycle time should be longer than the corre-
sponding cycle time for the transmitter (see object 1017
hex
). The
monitoring of the Heartbeat starts when the first Heartbeat Frame is
received. If the Consumer heartbeat time = 0, then the corre-
sponding entry will not be used. The time is set as a multiple of 1 ms.
Structure of the entry for Consumer heartbeat time (Unsigned32):
MSB LSB
Bits
31 to 24 23 to 16 15 to 0
Value
reserved (default: 00
hex
)Node-ID Heartbeat Time
Data Type
– Unsigned8 Unsigned16
Table 26:
Object 1016
hex
Object description
INDEX 1016
hex
Name Consumer heartbeat time
Object code ARRAY
Data Type Unsigned32
Value description
Sub-index 00
hex
Description Number of entries
Category Mandatory
Access ro
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