Implemented CANopen Objects
Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4
Page 66 of 99
7.9.16 Consumer Heartbeat Time (1016
h
)
INDEX
1016
h
Name
consumer heartbeat time
Data type
unsigned 32
Default value
No
The heartbeat function can be used for mutual monitoring of the CANopen modules (especially to
detect connection failures). Unlike node guarding/life guarding the heartbeat function does not require
RTR-Frames.
Function:
A module, the so-called heartbeat producer, cyclically transmits a heartbeat message on the CAN-bus
on the node-guarding identifier (see object 100E
h
). One or more heartbeat consumers receive the
message. It has to be received within the heartbeat time stored on the heartbeat consumer, otherwise a
heartbeat event is triggered on the heartbeat-consumer module. A heartbeat event generates a heartbeat
error on the CAN-CBX module.
Each module can act as a heartbeat producer and a heartbeat consumer. The CAN-CBX module can
represent at most one heartbeat consumer per CAN net.
Index
Sub-
index
Description
Value range
Default
Data type
Access
mode
1016
h
0
number_of_entries
1
1
unsigned 8
ro
1
consumer_heartbeat_time
0...007FFFFF
h
0
unsigned 32
rw
