Lenze 931M-931W - Manual (Page 53)

CANopen communication
Heartbeat telegram
Telegram structure
5

53 KHB 13.0003-EN 2.0
5.7 Heartbeat telegram
The heartbeat telegram in implemented to monitor the communicationbetween the drive
controller and the master. For this purpose, the controller cyclically sends messages to the
master. The master can check the cyclic transmission of these messages and initiate
corresponding measures if they are missing. The heartbeat telegram is sent with the
identifier 700
h
(1792
d
) + node address. It only contains 1 byte of user data and the NMT
state of the drive controller. The data length is 1.
In addition to the monitoring by the master, the bus system can be monitored by the drive
controller. For this purpose, the drive controller monitors the acknowledgement of the
heartbeat telegram. The absence of acknowledgements indicates that there is no other
active drive controller on the bus system or that the bus system is damaged by a cable
break.
The following response, which can be a warning, a quick stop or the immediate
disconnection of the power stage, can be defined in the error management.
5.7.1 Telegram structure
11 bits 4 bits User data (1 byte)
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Identifier
Data
length
N

Note!
If the heartbeat telegram is not acknowledged when the heartbeat method is
used, an error can occur (depending on the error management setting).