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EDS84DMOTCAN EN 3.0 - 11/2011 L 69

Communication manual 8400 motec CANopen

Monitoring

Heartbeat protocol

10.3 Heartbeat protocol

The heartbeat protocol can be used for node monitoring purposes within a CAN network.

Basic workflow

[10-1] Heartbeat protocol

1. A heartbeat producer cyclically transmits a so-called heartbeat telegram to one or more

consumers.

2. The consumer(s) monitor(s) the heartbeat telegram for arrival on a regular basis.

10.3.1 Telegram structure

 The heartbeat telegram of the producer has the following identifier:

Identifier (COB-ID) = 1792 + producer's node address

 The user data (1 byte) contain the status (s) of the producer:

r: Reserved (always 0)

s: Status of the producer (0: Boot-up, 4: Stopped, 5: Operational, 127: Pre-operational)

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Heartbeat producer status Data

Communication status Decimal value

(s)

(r) Producer status (s)

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Boot-up 0 00000000

Stopped 4 00000100

Operational 5 00000101

Pre-operational 127 01111111

1 2 ... 64 65 66 67 68 69 70 71 72 73 74 ... 110 111

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