PN/CAN Gateway, PROFINET/CANopen Slave | Version 2 | 1/26/2021 19
Nodeguarding:
With Nodeguarding, a device monitors one or more other CANopen devices by cyclically transmitted
telegrams. Each CANopen device must respond to the Nodeguarding request telegram with a status
telegram.
[COB-ID: 700
hex
+ node ID / data: 1 byte with the own current CANopen status]
Life guarding:
With Lifeguarding, each requested CANopen device monitors whether the node guarding, once
started, is carried out continuously within certain time limits. If the Nodeguarding telegram fails to
arrive, the CANopen device can detect this by means of lifeguarding and, for example, set all outputs
to the safe state. Nodeguarding and Lifeguarding always run together.
Heartbeat:
Heartbeat monitoring corresponds to Nodeguarding, but no request telegrams are generated by the
CANopen network. The heartbeat telegram is sent automatically by the CANopen device (producer
heartbeat) and can be evaluated in the network by other CANopen devices (consumer heartbeat).
[COB-ID: 700
hex
+ node ID / data: 1 byte with the own current CANopen status]
Error Behaviour:
The error behaviour of a CANopen device will be defined in the SDO 1029 “Error Behaviour”. It is
divided in CANopen network and application errors (optionally). Network error can cause that the
status of a device will be changed to “Pre-Operational” (default value) or to stop or the status will not
be changed. The behaviour for application errors will be defined by the manufacturer.
Emergency message:
If one of the CANopen device detects that something has gone wrong (e.g., life guarding times out), it
will send an emergency message on the bus.
[COB-ID: 80
hex
+ node ID / data: 8 bytes]
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