Lenze ETC Motion Control - Manual (Page 346)

PLC programming
Project planning
Configuring I/O modules
8
8.4
8.4.4
l
346 EDSTCXN EN 2.0
ETC108
General: In node ID the CAN ID (node number) set for the module must be
entered.
Nodeguarding: Nodeguarding is used to detect whether a CANopen module
is connected to the Bus. To do so the control sends a message to the module
in "guard time" intervals and waits for a response.
If the control does not receive a response after the "Life time factor"
requests, an error message is generated.
If no "Guard Time" and no "Life Time Factor" have been defined the CAN
module is not monitored; this means that a failure will go unnoticed.
Heartbeat settings: Will not be evaluated by the control.
Emergency telegram: If this entry is selected, the control ignores
"emergency telegrams" from the control.
CAN parameters