5 — VEHICLE CONTROL LANGUAGE (VCL)
Curtis Model 1351 – December 2018
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pg. 86
Node Guarding
A controller can be setup to monitor the heartbeats of every node on the system. It will calculate the
time between heartbeats and generate error ags when they are lost. It will also record the CANopen
State of the Node.
e 1351 can monitor up to 16 Nodes.
Enable_Node_Guarding() Turns On/O heartbeat monitoring.
Disable_Node_Guarding() Disable will clear out ALL nodes from the
guarding list.
Enable_Guarding (Port)
Disable_Node_Guarding (Port)
:
Port_1 = CAN1 e primary CAN port, pins 3 & 4
Port_2 = CAN2 e secondary CAN port, pins 5 & 6
:
:
Setup_Heartbeat() Sets the expected rate for a required Node ID’s heartbeat.
If the Heartbeat from this node exceeds 2 timeout periods (one missed heartbeat)
an error ag is set. Time is set in milliseconds
Setup_Heartbeat(Port, Node_ID, Time)
:
Port_1 = CAN1 e primary CAN port, pins 3 & 4
Port_2 = CAN2 e secondary CAN port, pins 5 & 6
: e function returns 0 if the node ID was wrong or if no more
monitoring slots are available (16 maximum).
:
State = Get_NMT_State() State of the device requested
Returns the state of the device requested by monitoring the Heartbeat messages
Get_NMT_State (Port, Node_ID)
:
Port_1 = CAN1 e primary CAN port, pins 3 & 4
Port_2 = CAN2 e secondary CAN port, pins 5 & 6
Node_ID e Slave Node ID
:
0 = initialization,
4 = stopped
5 = operational
127 = pre-operational
:
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