Lenze 931M-931W - Manual (Page 57)

CANopen communication
Node Guarding
5

57 KHB 13.0003-EN 2.0
5.9 Node Guarding
COB-ID = 700 + Node-ID
COB-ID = 700 + Node-ID NMT-Slave 1) NMT-Master
indication
indication
indication
request
request
confirm
confirm
indication
Remote transmit request
Remote transmit request
response
response
Node Guarding Event Life Guarding Event
Node
Guard
time
Node
Time
Life
0
0
1
1
t s
7 6 … 0
t s
7 6 … 0
931m_051
Fig. 6 Node guarding telegram
1) Controller
s Controller status
t Toggle bit
Description
The node guarding telegram monitors the connection between master and slave.
Under index 100C
h
”Guard time”, you can enter a time, under index 100D
h
”Life time
factor”, you can enter a factor. The multiplication of both indices results in the monitoring
time within which the master must send a node guarding telegram to the slave. If one of
the two indices is set to zero, the monitoring time is also zero, and thus deactivated. The
slave sends a telegram with its current status to the master.
With event-controlled process data transfer, node guarding ensures the cyclic monitoring
of the controller.
ƒ The master starts node guarding by sending the node guarding telegram.
ƒ Unless the slave (controller) receives a telegram within the monitoring time, the
node guarding event is activated. The controller switches to the status set under
6007
h
.
ƒ A reset is carried out by a status change to Operational.