3 commissioning example, Commissioning example, E94aycca communication manual (canopen®) – Lenze E94AYCCA User Manual
Page 78
E94AYCCA communication manual (CANopen®)
Monitoring
Node guarding protocol
78
L
EDS94AYCCA EN 5.0 - 06/2012
10.1.3
Commissioning example
Task
A Servo Drive 9400 configured as NMT master (node 1) is to monitor another Servo Drive
9400 (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 on a
CANopen device).
2. Configure controller as NMT master: Set
/
= "1: Master".
3. Set guard time (
/
) to 0 ms (slave parameter).
) to 0 (slave parameter).
5. Configure monitoring for 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 respective response required for the
monitoring functions parameterised under
/
. This
response will be executed if a node guarding event occurs in the NMT master.
Tip!
•
/
displays the activity of each monitoring function
parameterised under
/
in a bit-coded manner.
•
display the node guarding status of the
monitored NMT slaves.
•
serves to set which state change is to occur in the NMT master
in the 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