Lenze 931M-931W - Manual (Page 54)

CANopen communication
Heartbeat telegram
Telegram structure
5

54 KHB 13.0003-EN 2.0
COB-ID = 1792 + Node-ID Heartbeat
Consumer Heartbeat
Producer
indication
indication
indication
indication
indication
indication
indication
indication
Heartbeat Event
request
request
Heartbeat
Producer
Time
Heartbeat
Consumer
Time
Heartbeat
Consumer
Time
0
0
1
1
r
r
s
s
7
7
6 … 0
6 … 0
epm-t134
Fig. 5 Heartbeat telegram
r Reserved
s State of the Heartbeat Producer
Heartbeat consumer
The consumers monitor if the heartbeat message is received within the ”heartbeat
consumer” time. The time must be longer than the corresponding ”heartbeat producer”
time.
Heartbeat producer
The drive controller transmits a state telegram on the fieldbus and can thus be monitored
by other bus devices.
The settings are made under index 1017
h
.
ƒ
The producer heartbeat is automatically started if a time > 0 is entered under index
1017
h
and the drive controller changes to the operational state.
ƒ When the cycle time has expired, the drive controller transmits the state telegram
on the fieldbus.
ƒ A reset changes the state to operational.
Device state (bits 1 ... 6) of the heartbeat producer:
Command (hex) State
00 Boot-up
05 Operational
04 Stopped
7F Pre-operational