Yaskawa JAPMC-MC2303-E - Manual (Page 159)

Appendix B FL-net Network Management
B.2 Joining/Leaving FL-net
A-9
App
Appendices
B.2 Joining/Leaving FL-net
( 1 ) Joining FL-net
Each node monitors the line at start up until the join token detection time has elapsed. When no token has been received
during this time, the node will newly join a network, determining that the network has just been activated. In contrast,
when a token has been received, the node will join the network at a halfway point.
[ a ] Newly Joining FL-net
When no token is received even after the join token detection time has elapsed, each node prepares to send a trigger,
and then sends the trigger after an elapse of the remainder of the node number/8
× 4 ms. When a trigger is received
prior to trigger sending, the node does not send the trigger. While checking for the presence of duplicate node numbers
and addresses, and updating the join node management table, each node waits for a join request frame sent by all nodes
during the join request frame reception time (1,200 ms) from the point of time when a trigger is received. A join
request frame is sent after the elapse of the join request frame send waiting time (node number
× 4 ms) from the point
of time when the trigger is received. At this time, if a node recognizes the presence of a duplicate address in a join
request frame sent from other nodes, it sets the common memory leading addresses of areas 1 and 2 and the common
memory size to 0, and does not send cyclic data. In addition, the node sets the duplicate address detection flag and
resets the common memory data valid notification flag. When the join request frame reception time has expired, the
node with the smallest node number passes the token according to the join node management table. When a duplicate
node number is found, the node disables sending and receiving entirely.
Node 1
Node 2
Node 3
Node 254
Trigger Join request frame Token
Start of node monitoring
(At power ON or reset cancellation)
Join token detection time (three seconds)
Join request frame waiting time (node number) × 4 ms
Join request frame reception time (12 seconds)