canopen 心跳报文

心跳报文

1. 如何启用💓报文功能？

对象字典中的1017h对应的就是生产者的Heartbeat time,生产者会根据设定的Heartbeat time进行周期性的心跳报文发送。1017h>0💓报文将被启用，等于0则不启用。
CIA V4.2.0:
t
If the heartbeat producer time is configured on a CANopen device the heartbeat protocol begins
immediately. If a CANopen device starts with a value for the heartbeat producer time unequal to 0 the
heartbeat protocol starts on the transition from the NMT state Initialisation to the NMT state Preoperational. In this case the boot-up message is regarded as first heartbeat message. It is not allowed
to use both error control mechanisms guarding protocol and heartbeat protocol on one NMT slave at
the same time. If the heartbeat producer time is unequal 0 the heartbeat protocol is used.

代码举例:

注意：1017h这里的设置值单位是ms