3 CANopen access procedure
44 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English
The first data byte (T/N) is constructed in the following way:
Bit
Value Name Significance
7 80
h
toggle_bit Changes with every telegram
0 … 6 7F
h
nmt_state 04
h
Stopped
05
h
Operational
7F
h
Pre-Operational
The monitoring time for the master's requests can be parametrised. Monitoring begins with the first
received remote request of the master. From this time on, the remote requests must arrive before the
monitoring time has passed, since otherwise error 12-4 is triggered.
The toggle bit is reset through the NMT command Reset Communication. It is therefore deleted in the
first response of the controller.
3.9.3 Description of the Objects
Object 100C
h
: guard_time
To activate the Nodeguarding monitoring, the maximum time between two remote requests of the mas
ter is parametrised. This time is established in the controller from the product of guard_time (100C
h
)
and life_time_factor (100D
h
). It is therefore recommended to write the life_time_factor with 1 and then
specify the time directly via the guard_time in milliseconds.
Index 100C
h
Name guard_time
Object Code VAR
Data Type UINT16
Access rw
PDO Mapping no
Units ms
Value Range 0 … 65535
Default Value 0
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