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Overview 07/06 Danaher Motion
18 Initial Release M-S2-021-11
2.4.8. H
EARTBEAT
The Heartbeat Protocol defines an Error Control Service without need for remote frames. A Heartbeat
Producer transmits a Heartbeat message cyclically. One or more Heartbeat Consumer receive the indication.
The relationship between producer and consumer is configurable via SDO 1016h / 1017h. The Heartbeat
Consumer guards the reception of the Heartbeat within the Heartbeat Consumer Time. If the Heartbeat is
not received within the Heartbeat Consumer Time, a Heartbeat Event is generated.
Heartbeat protocol:
Heartbeat
Producer
request
Heartbeat
Producer
Time
Heartbeat
Consumer
indication
Heartbeat
Time
Consumer
Heartbeat Event
request
indication
indication
indication
indication
indication
Heartbeat
Time
Consumer
Write Heartbeat
COB-ID = 1792+Node-ID
r: reserved (always 0)
s: state of the Heartbeat Producer
0: BOOTUP
4: STOPPED
5: OPERATIONAL
127: PRE-OPERATIONAL
0
0 1
1
6 ... 0
s
7
r
6 ... 0
s
7
r