Lenze DDS Global Drive PLC Developer Studio - Manual (Page 11)

Function library LenzeCanDSxDrv.lib
Introduction
2.3 Monitoring mechanisms
2−3
L
LenzeCanDSxDrv.lib EN 1.2
2.3 Monitoring mechanisms
The CANopen communication profile (CiA DS301, version 4.01) specifies two optional monitoring
mechanisms to ensure the functionality of the system bus devices: "Heartbeat" and "Node
Guarding".
2.3.1 "Heartbeat"
The "Heartbeat" monitoring mechanism is a producer−consumer orientated method. Every bus
device can monitor the state of the other bus devices. A polling message is not required.
Request
Request
Indication(s)
Heartbeat
Producer
Time
Heartbeat Producer Heartbeat Consumer(s)
r s
Heartbeat
Event
Heartbeat
Consumer
Time
1 8
r s
1 8
Indication(s)
r:
Stopped
Operational
Pre-Operational
Boot-Up Event
reserved
s: State of the heartbeat producer:
4
5
127
0
·
A bus device (producer) indicates its communication status by the cyclic transmission of a
"Heartbeat" message.
·
The "Heartbeat" message can be received by one, more than one or all bus devices
(consumer) to monitor the corresponding bus device.
·
Unless the monitoring bus device (consumer) receives the "Heartbeat" message from the bus
device to be monitored (producer) within the selected monitoring time
(HeartBeatConsumerTime), a "Heartbeat" event will be indicated.