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How to configure a node to send its heartbeat ?
To send its heartbeat every n milliseconds :
1 – Index 1017 – subindex 00 : write « n ». (2 bytes) :
Example :
to send a heartbeat every 100 ms, write the value : 0x 64
The SDO should be, if it is the node 9 : 609 2B 17 10 00 64 00 00 00
To stop, write 0.
How to configure a node to monitor the heartbeats of several nodes ?
Example :
The node is expecting 2 hearteats from the nodes :
« nodeid1 », at least every n1 milliseconds
« nodeid2 », atleast every n2 milliseconds
1 – Index 1016, subindex 00 : Number of heartbeats monitored. (4 bytes). For this ex, the value is « 2 ».
2 - subindex 01 (4 bytes) : values for node 1 : 00 – nodeid1 (1 byte) – n1 (2 bytes)
3 - subindex 02 (4 bytes) : values for node 2 : 00 – nodeid2 (1 byte) – n2 (2 bytes)
Example :
To configure the node 9 to expect heartbeats from
node 2 : at least every 100(dec) ms = 0x64
node 3 : at least every 400(dec) ms = 0x190
node 7 : at leats every 4000(dec) ms = 0xFA0
The SDO should be:
609 2B 16 10 00 03 00 00 00 // 3 entries
609 2B 16 10 01 64 00 02 00 // The data to write is 0x00020064
609 2B 16 10 02 90 01 03 00 // The data to write is 0x00030190
609 2B 16 10 03 A0 0F 07 00 // The data to write is 0x00070FA0
To stop, write 0. at subindex 01 , ...,