West Control Solutions KS 800 CANopen Interface Manual - Manual (Page 17)

KS 800 CAN-Interface
6 Nodeguarding / Lifeguarding
"Nodeguarding" can be used by a master for testing cyclically, if the relevant slave (KS800) is
still in the network.
The "guard time * life time" can be used to determine at which intervals the master must activate
the nodeguard message (timeout for the master).
With a "guard time * life time" = "0", no timeout for the master is determined, i.e. the master need
not use a fixed time interval. If a "guard time * life time" is defined and data are not read from
KS800 at this interval, KS800 may return from the OP-mode to the pre-OP mode. In this case,
no PDOs can be transmitted any more.
Generally, KS800 replies to a "nodeguard" by "toggling" the most significant bit:
Node-Guarding Identifier
→
Objekt 100E Default: 6E0 + node ID
In OP-mode, KS800 replies: 0x05
→
0x85
→
0x05
→
0x85
→
...
In pre-OP mode, KS800 replies: 0x7F
→
0xFF
→
0x7F
→
0xFF
→
...
Nodeguard message (RTR):
0 data bytes
COB-ID LEN
0x6E0 + node 0
Reply from KS800 (pre-OP mode):
1 data bytes
COB-ID LEN Answer
0x6E0 +node
0x6E0 +node
0x6E0 +node 1
1
1 0x7F
0x7F
0x7F
Reply from KS800 (OP mode):
1 data bytes
COB-ID LEN Answer
0x6E0 +node
0x6E0 +node
0x6E0 +Node
1
1
1 0x05
0x05
0x05
Notes: The default value for the node guarding identifier remains 0x6E0+ node-ID (not com-
patible with DS301 version 3.0, but downward-compatible). The value can be read
and changed via object 0x100E.
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