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<TD class=path><A
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<A
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<TD class=modify
style="TEXT-ALIGN: right; align: right"><SPAN
id=pingu><A title="Thilo Schumann"
href="http://www.pingu.info/">Pingu</A></SPAN>Last
modified: 2003-12-23</TD></TR></TBODY></TABLE></TD></TR>
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<H2>Error control: Heartbeat protocol</H2>
<P>The Heartbeat protocol is for error control purposes
and signals the presence of a node and its state. The
Heartbeat message is a periodic message of the node to
one or several other nodes. It indicates that the
sending node is still working properly. <BR>Besides
Heartbeat protocol there exists an old and out-dated
error control services, which is called Node and Life
Guarding protocol. It is not recommend for
implementation.<BR><BR><IMG height=145
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<TD style="FONT-WEIGHT: bold; COLOR: white"
bgColor=#009966 color="white">Direct
links</TD></TR>
<TR vAlign=top align=justify>
<TD><IMG height=8
src="CAN in Automation (CiA) - CANopen protocol - Network Management (NMT)1.files/link.gif"
width=8 border=0> <A
href="http://www.can-cia.org/canopen/protocol/index.html">Introduction</A>
<P><IMG height=8
src="CAN in Automation (CiA) - CANopen protocol - Network Management (NMT)1.files/link.gif"
width=8 border=0> <A
href="http://www.can-cia.org/canopen/protocol/pdo.html">Process
Data Objects (PDO)</A></P>
<P><IMG height=8
src="CAN in Automation (CiA) - CANopen protocol - Network Management (NMT)1.files/link.gif"
width=8 border=0> <A
href="http://www.can-cia.org/canopen/protocol/sdo.html">Service
Data Objects (SDO)</A></P>
<P><IMG height=8
src="CAN in Automation (CiA) - CANopen protocol - Network Management (NMT)1.files/link.gif"
width=8 border=0> <A
href="http://www.can-cia.org/canopen/protocol/nmt.html">Network
Managment (NMT)</A></P>
<P><IMG height=8
src="CAN in Automation (CiA) - CANopen protocol - Network Management (NMT)1.files/link.gif"
width=8 border=0> <A
href="http://www.can-cia.org/canopen/protocol/special.html">Special
function objects (Sync, Emcy, Time)</A></P>
<P><IMG height=8
src="CAN in Automation (CiA) - CANopen protocol - Network Management (NMT)1.files/link.gif"
width=8 border=0> <A
href="http://www.can-cia.org/canopen/protocol/errorcontrol.html">Error
control: Heartbeat</A></P>
<P><IMG height=8
src="CAN in Automation (CiA) - CANopen protocol - Network Management (NMT)1.files/link.gif"
width=8 border=0> <A
href="http://www.can-cia.org/canopen/protocol/od.html">Device
model and object dictionary</A></P>
<P><IMG height=8
src="CAN in Automation (CiA) - CANopen protocol - Network Management (NMT)1.files/link.gif"
width=8 border=0> <A
href="http://www.can-cia.org/canopen/protocol/bittiming.html">Bit
timing</A></P>
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