VIPA System 300V - Project Engineering CPU with Integrated Profibus Master

Manual VIPA System 300V Chapter 4 CANopen
HB130E - IM - Rev. 08/26 4-11
Besides the Node Guarding, the System 300V CANopen coupler also
supports the Heartbeat Mode.
If there is a value set in the index 0x1017 (Heartbeat Producer Time), the
device state (Operational, Pre-Operational, ...) is transferred when the
Heartbeat-Timer run out by using the COB identifier (0x700+Module-Id):
Identifier 0x700+Node address + State byte
Identifier 11Bit Status 8Bit
The Heartbeat Mode starts automatically as soon as there is a value in
index 0x1017 higher 0.
To send internal device failures to other participants at the CAN-Bus with a
high priority, the VIPA CAN-Bus coupler supports the Emergency Object.
To activate the emergency telegram, you need the COB-Identifier
that is
fixed after boot-up in the object directory of the variable 0x1014in
hexadecimal view: 0x80 + Module-ID.
The emergency telegram has always a length of 8Byte. It consists of:
Identifier 0x80 + Node address + 8Byte user data
Identifier 11Bit EC0 EC1 Ereg Inf0 Inf1 Inf2 Inf3 Inf4
Error
Code
Meaning Info 0 Info 1 Info 2 Info 3 Info4
0x0000 Reset Emergency 0x00 0x00 0x00 0x00 0x00
0x1000 Module Configuration has
changed and Index 0x1010 is
equal to 'save'
0x06 0x00 0x00 0x00 0x00
0x1000 Module Configuration has
changed
0x05 0x00 0x00 0x00 0x00
0x1000 Error during initialization of
backplane modules
0x01 0x00 0x00 0x00 0x00
0x1000 Error during module
configuration check
0x02 Module
Number
0x00 0x00 0x00
0x1000 Error during read/write module 0x03 Module
Number
0x00 0x00 0x00
0x1000 Module parameterization error 0x30 Module
Number
0x00 0x00 0x00
0x1000 Diagnostic alarm from an
analog module
0x40 +
Module
Number
diagnostic
byte 1
diagnostic
byte 2
diagnostic
byte 3
diagnostic
byte 4
0x1000 Process alarm from an
analog module
0x80 +
Module
Number
diagnostic
byte 1
diagnostic
byte 2
diagnostic
byte 3
diagnostic
byte 4
continued ...
Heartbeat
Emergency Object