Lenze 9400 - Manual (Page 334)

9 "CAN on board" system bus
9.9 Monitoring
334
Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06
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9.9.2 Heartbeat protocol
The heartbeat protocol can be used optionally to the node guarding protocol for monitoring nodes
within a CAN network. Unlike the node guarding, this monitoring does not require a polling by
means of an RTR telegram (Remote Transmission Request) from the NMT master.
Basic workflow
[9-10] Heartbeat protocol
1. A heartbeat producer cyclically transmits a so-called heartbeat telegram to one or more
consumers.
2. The consumer(s) monitor the heartbeat telegram for arrival on a regular basis.

Note!
Heartbeat and node guarding protocols must not be used simultaneously in a CANopen
device. If the heartbeat producer time is set > 0 ms, the heartbeat protocol is used.
r: Reserved (always 0)
s: Status of the producer (0: Boot-up, 4: Stopped, 5: Operational, 127: Pre-Operational)
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