E94aycca communication manual (canopen®) – Lenze E94AYCCA User Manual
Page 79
EDS94AYCCA EN 5.0 - 06/2012
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79
E94AYCCA communication manual (CANopen®)
Monitoring
Node guarding protocol
Parameterise NMT slave (node 2)
1. Adapt the life time factor and guard time settings of the NMT slave to the settings
applied to the NMT master under
– Set guard time (
/
) to 1000 ms.
/
) to 5.
2. Go to
/
and set the response to be executed in the NMT slave in the
case of a life guarding event.
Tip!
/
serves to set which state change is to occur in the NMT slave in
the case of a life guarding event.
Node guarding telegrams
Remote Transmission Request:
The RTR telegram from the NMT master has the following identifiers:
Identifier (COB-ID) = 1792 + node address of slave = 1792 + 2 = 1794 = 0x702
Remote Transmission Response:
The response telegram from the NMT slave has the same identifier and the
"operational" NMT slave state in the user data (s = 5).