Network via canopen, Heartbeat – Lenze EPM−T9XX Modular system User Manual
Page 242
Heartbeat
Network via CANopen
9.7
L
9.7−2
EDSPM−TXXX−9.0−11/2009
11 bits
1 byte of user data
Identifier
Device status (bits 0 ... 6)
bits 7
1792
d
(700
h
)
reserved
Identifier:
Formula
Information
Identifier
= Basic identifier + node address
= 1792
d
+ xx
The basic identifiers for heartbeat is firmly
adjusted to 1792
d
(700
h
)
xx = node address of the I/O system IP20
Device status (bit 1 ... 6) of the heartbeat producer:
Command
(hex)
Status
00
Boot−up
05
Operational
04
Stopped
7F
Pre−Operational
Indices for setting
Index
Name
Possible settings
Important
Lenze
Selection
I1016
h
¿
Heartbeat
consumer time
Data contents
I/O system IP20 can monitor up to five
nodes (subindex 1 ... 5).
If the monitored node does not respond, I/O
system IP20 changes to the status
"Pre−Operational". The outputs switch to a
defined state.
^ 9.7−1
Heartbeat time
Node ID
Reserved
Byte 0
Byte 1
Byte 2
Byte 3
00
h
00
h
00
h
00
h
1 Heartbeat time
0
0
{1 ms}
65535
·
In the compact system, only subindex 1
is available
·
Heartbeat time:
– The monitored node must respond
within the time set. The time is set in
byte 0 and 1.
– If the monitored node does not
respond within the set time, I/O
system IP20 switches to the
communication status set under
I1029
h
– The communication status is reset
when a new heartbeat telegram is
received
·
Node ID:
– Node address of the node to be
monitored. The address is set in
byte 2.
Node ID
0
0
{1}
255
2 Heartbeat time
0
0
{1 ms}
65535
Node ID
0
0
{1}
255
3 Heartbeat time
0
0
{1 ms}
65535
Node ID
0
0
{1}
255
4 Heartbeat time
0
0
{1 ms}
65535
Node ID
0
0
{1}
255
5 Heartbeat time
0
0
{1 ms}
65535
Node ID
0
0
{1}
255
I1017
h
¿
Heartbeat producer
time
0
0
{1 ms}
65535 I/O system IP20 can be monitored by other
nodes.
Within this time the device status of I/O
system IP20 is transmitted to the fieldbus.
Not available for system bus (CAN)
communication protocol
^ 9.7−1
0
Function is not active
)
Note!
The Lenze 9300 servo PLC and Drive PLC in connection with the
function library LenzeCanDSxDrv.lib support the "heartbeat"
function.
Status telegram