3 commissioning example, 9"can on board" system bus – Lenze 9400 User Manual
Page 332
9
"CAN on board" system bus
9.9
Monitoring
332
Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06
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9.9.1.3
Commissioning example
Task
A 9400 controller configured as NMT master (node 1) is to monitor another 9400 controller (node 2).
• The node guarding telegram is to be transmitted from the NMT master to the NMT slave in
intervals of 1 s:
• Guard time = 1000 ms
• The node life time is to amount to 5 seconds:
• Node life time = guard time (1000 ms) x life time factor (5)
• If an error occurs, an error response is to be activated both in the NMT master and the NMT
slave.
Parameter setting of the NMT master (node 1)
1. Set heartbeat producer time (
) to 0 ms to deactivate the heartbeat monitoring (node
guarding and heartbeat must not be used simultaneously in a CANopen device).
2. Configure controller as NMT master: Set
= "1: Master".
3. Set guard time (
) to 0 ms (slave parameter).
4. Set life time factor (
) to 0 (slave parameter).
5. Configure monitoring for the node guarding in
• The value to be entered into a free subcode (1 ... 32) is "0x050203E8".
It consists of the following:
6. Go to
and set the response required for the monitoring functions parameterised
in
which are to take place in case of a "Node Guarding Event" in the NMT master.
Tip!
•
displays the activity of every monitoring function parameterised in
in a bit-coded form.
•
displays the node guarding status of the monitored NMT slaves.
•
serves to set which status change is to occur in the NMT master in case of a
"Node Guarding Event".
Bit 31 ... bit 24
Life time factor
Bit 23 ... bit 16
Node address of slave
Bit 15 ... bit 0
Guard time
0x05
0x02
1000 [ms] = 0x03E8