CANopen Basics Instruction Manual pdf - Kuhnke
CANopen Basics Instruction Manual pdf - Kuhnke
CANopen Basics Instruction Manual pdf - Kuhnke
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<strong>CANopen</strong> <strong>Basics</strong><br />
7.4.5.2 Heartbeat Message<br />
This mechanism involves a node cyclically transmitting a<br />
so-called heartbeat message containing its<br />
communication status. The message can be received by<br />
one or several stations thus enabling them to monitor the<br />
sending station. They will detect a fault if the heartbeat<br />
message is not transmitted.<br />
This mechanism reduces the load on the bus because the<br />
status request message is not required.<br />
7.5 Identifier Distribution<br />
As a rule, communication via a <strong>CANopen</strong> network is<br />
handled by means of identifiers of a length of 11 bit<br />
(standard frames). The so-called pre-defined connection<br />
set sub-divides the available amount of possible identifiers<br />
into various ranges. The identifiers are distributed such<br />
that every <strong>CANopen</strong> network is made up of a maximum of<br />
128 devices: one NMT master and up to 127 NMT slaves.<br />
The 7 low-significant bits of the identifier are used to distinguish<br />
the 127 devices. The remaining 4 bits identify 11<br />
different communication functions.<br />
11-bit identifier (standard frames)<br />
10 9 8 7 6 5 4 3 2 1 0<br />
Function code Device identifier (0, 1-127)<br />
94 E 615 GB<br />
06.02.2008
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