Lenze E94AYCCA - Manual (Page 81)

EDS94AYCCA EN 5.0 - 06/2012
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81
E94AYCCA communication manual (CANopen®)
Monitoring
Heartbeat protocol
10.2.1 Telegram structure
 The heartbeat telegram from the producer has the following identifier:
Identifier (COB-ID) = 1792 + node address of the producer
 The user data (1 byte) contain the status (s) of the producer:
10.2.2 Parameter setting
Short overview of the parameters for the "Heartbeat" monitoring function:
Heartbeat producer time
Time interval for the transmission of the heartbeat telegram to one or several consumers.
 Can be parameterised in C13381 / C14381 or via the I-1017 object. The parameterised
time is rounded down to an integer multiple of 5 ms.
 The heartbeat telegram is automatically transmitted as soon as a time > 0 ms is set.
Heartbeat producer status Data
Communication status Decimal value
(s)
(r) Producer status (s)
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Boot-up 0 0 0 0 0 0 0 0 0
Stopped 4 0 0 0 0 0 1 0 0
Operational 5 0 0 0 0 0 1 0 1
Pre-operational 127 0 1 1 1 1 1 1 1
Parameter Information Lenze setting Assignment
Value Unit Consumer Producer
C13346 / C14346 CAN heartbeat activity - z
C13347 / C14347 CAN heartbeat status - z
C13381 / C14381 CAN heartbeat producer time 0 ms z
C13385 / C14385 CAN heartbeat consumer time 0x00000000 z
C13613 / C14613 Resp. to CAN heartbeat error No response z
C13625 / C14625 CAN behaviour in the case of error Pre-operational state z z
Highlighted in grey = display parameter

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.