Lenze E94AYCCA - Manual (Page 74)

E94AYCCA communication manual (CANopen®)
Monitoring
Node guarding protocol
74
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EDS94AYCCA EN 5.0 - 06/2012
10 Monitoring
10.1 Node guarding protocol
In a CAN network, the node guarding protocol serves to monitor the connection between
the NMT master and the NMT slave(s). If the controller was parameterised as NMT master,
it can monitor up to 32 NMT slaves.
General procedure
[10-1] Node guarding protocol
1. The NMT master within cyclic time intervals sends a data telegram to the NMT slave,
which is referred to as "Remote Transmission Request" (RTR).
2. The NMT slave then returns a response telegram ("Response") to the NMT master.
t: Toggle bit
s: NMT slave status (4: Stopped, 5: Operational, 127: Pre-Operational)
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