Lenze E94AYCCA - Manual (Page 76)

E94AYCCA communication manual (CANopen®)
Monitoring
Node guarding protocol
76
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EDS94AYCCA EN 5.0 - 06/2012
10.1.2 Parameter setting
Short overview of parameters for the "Node Guarding" monitoring function:
Guard time
The time interval with which the NMT master transmits the RTR telegram is the guard
time.
 For each NMT slave to be monitored an individual time interval can be set.
 The RTR telegram prompts the NMT slave to send its current status.
Node life time
The node life time is the product of the guard time and the life time factor:
node life time = guard time x life time factor
 "Life time factor" and "Guard time" have to be known to the NMT master. For this, the
values from the NMT slave are read at each reboot, or defined values are sent to the
NMT slave at each reboot.
 It is possible to select a different "node life time" for each NMT slave to be monitored.
OK status
The status of the connection is ok (OK status) if within the "Node life time"
 the NMT slave has received an RTR telegram from the NMT master and
 the NMT master has received a correct response from the requested NMT slave.
In the OK status the monitoring times for the NMT master and the NMT slave are reset and
the node guarding protocol is continued.
Parameter Information Lenze setting Assignment
Value Unit Master Slave
C13382 / C14382 CAN guard time 0 ms z
C13383 / C14383 CAN
life time factor
0 z
C13386 / C14386 CAN node guarding 0x00000000 z
C13387 / C14387 CAN node guarding activity - z
C13388 / C14388 CAN node guarding status - z
C13612 / C14612 Resp. CAN node guarding error No response z
C13614 / C14614 Resp. CAN life guarding error No response z
C13625 / C14625 CAN behaviour in the case of error Pre-operational state z z
Highlighted in grey = display parameter