Mitsubishi Electric MELSEC iQ-R Series User Manual page 61

■Error detection
The consumer (2) monitors the interval of receiving heartbeat message from the producer (1). If the consumer does not
receive a heartbeat message from the producer within the set heartbeat time (3), the consumer determines that an error has
occurred in the producer. In this case, the CAN ERR LED of the consumer turns on or flashes.
Producer information detected by the consumer is stored in 'NMT error control status' (Un\G401 to Un\G527) and 'NMT state'
(Un\G601 to Un\G727). ( Page 168 NMT error control status (Un\G401 to Un\G527), Page 169 NMT state (Un\G601 to
Un\G727))
(1)
(2)
Not elapsed
: Heartbeat message
Producer information detected by consumers is reflected in the following buffer memory areas.
Buffer area name
NMT error control status
NMT state
*1 The latest NMT state in which instructions were given from the consumer through node control. If nothing was instructed, the NMT state
of each producer is that of the point when the consumer started monitoring.
■Setting method
Use parameters to set the heartbeat function. For details, refer to the following.
Page 98 "Heartbeat" window
• A producer starts sending a heartbeat message in either of the following timings.
(1) After a producer started up, the producer heartbeat time was changed to enabled.
(2) The producer heartbeat had been enabled even before a producer started up, and the state of that
producer transitioned from the initialization state to Pre-operational.
• A consumer starts monitoring each producer in either of the following timings.
(1) The first heartbeat message was received from a producer.
(2) The consumer is the NMT master, and started booting a producer (NMT slave).
(3) (3)
An error
occurs.
Not elapsed Elapsed
Details reflected
For the heartbeat function of each producer, the following statuses are stored.
• Heartbeat is enabled/disabled (running/stopped).
• A heartbeat message was not received within the heartbeat time.
• The NMT state of a producer is different from the expected state.
The NMT states obtained from heartbeat messages of each producer are stored.
The obtainable NMT states are as follows.
• Stop state
• Operational state
• Pre-operational state
*1
1 FUNCTIONS
1.9 Heartbeat
1
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