Nodeguarding and Heartbeat

Nodeguarding

The nodeguarding protocol is implemented as defined in CiA DS 301 V4.01. Nodeguarding cannot be enabled together with Producer_Heartbeat_Time (1017.0H). To enable the nodeguarding, the Producer_Heartbeat_Time (1017.0H) obj must be set to 0. The Guard Time (100C.0H) obj and the Life Time Factor (100D.0H) obj cannot be set to 0. Bit #7 of the status acts as a toggle and changes at each remote request by the master.

COB_ID	B0
700H+NodeID	Status

Heartbeat

The Kollmorgen drives implement the heartbeat protocol as defined in CiA DS 301 V4.01. This allows the master to check the drive working condition. The Producer_Heartbeat_Time (1017.0H) obj allows the user to change the heartbeat transmission frequency. At switch-on, the drive sends a boot-up message that is a heartbeat message with status = 0.

COB_ID	B0
700H+NodeID	Status

The Kollmorgen drives only support Pre-Operational (127) and Operational (5) states.