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ASDA-A3

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CANopen Mode

 Heartbeat

The Heartbeat mechanism is mainly to enable the producer to send packets to the consumer

periodically. The producer can be a controller or servo drive; on the other hand, a controller or

servo drive can also be the consumer.

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If you use the controller to send the heartbeat and the servo drive as the consumer, you need to

set the consumer heartbeat time (OD 1016h) for the servo drive. When the servo drive does not

receive the heartbeat signal within the receiving time, it triggers the heartbeat event, meaning

AL180 is triggered. Consumer heartbeat time (OD 1016h) is defined as the time the servo drive

expects to receive a heartbeat. To start the Heartbeat mechanism, set the consumer heartbeat

time (OD 1016h) and then have the controller send the heartbeat signal. The consumer

heartbeat time (OD 1016h) must be greater than the producer heartbeat time which is set by the

controller. Since there are delays and other uncontrollable external factors in transmitting the

heartbeat message, you must retain a tolerance time for the transmission.

COB-ID = 700h+Node-ID

Example of Node-ID = 1

Heartbeat

producer

Producer

heartbeat time

Heartbeat

producer

701h

S

701h

S

No signal

Heartbeat

consumer

Consumer

heartbeat time

(OD 1016h)

Heartbeat

consumer

Consumer

heartbeat time

(OD 1016h)

AL180

The S code is described as follows:

S

0

4

5

127

State

Bootup

Stopped

Operational

Pre-Operational

If you want to use the servo drive as the producer, then the heartbeat is sent by the drive. When

the controller does not receive the heartbeat signal within the receiving time, it triggers the

heartbeat event which corresponds to the alarm defined by the controller.

The servo drive can be the consumer and the producer simultaneously. In that case, you need

to set OD 1016h and OD 1017h at the same time, and the controller must be set as the

producer and the consumer as well.

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