Lenze E94AYCCA - Manual (Page 80)

E94AYCCA communication manual (CANopen®)
Monitoring
Heartbeat protocol
80
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EDS94AYCCA EN 5.0 - 06/2012
10.2 Heartbeat protocol
The heartbeat protocol can be used as an alternative to the node guarding protocol for
monitoring nodes within a CAN network. Unlike node guarding, this monitoring does not
require a polling by means of an RTR telegram (Remote Transmission Request) from the
NMT master.
General procedure
[10-2] Heartbeat protocol
1. A heartbeat producer cyclically sends a heartbeat telegram to one or several heartbeat
consumers.
2. One or several consumers monitor the regular arrival of the heartbeat telegram.

Note!
Heartbeat and node guarding protocols must not be used simultaneously on 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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