230 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
5.6 Expansion Mod. MAC00-FC2/FC4/FC41
Reset Node:
This is an instruction to transition from Operational, Pre-Operational or Stopped to ini-
tialization. After the Reset Node instruction, all objects (1000h-9FFFh) are reset into the
Voltage On stage.
Reset Communication:
This is an instruction to transition from Operational or Stopped to Initialization. After the
Reset Communication instruction, all communication objects (1000h-1FFFh) are reset
into the initial state.
In the various communication states, nodes can only be accessed via CANOpen® using
specific communication services. Further, the nodes in the various states only send
specific telegram. This is clearly shown in the following table:
5.6.59 Error Control Services
There exist two possibilities to perform Error Control:
- Node Guarding/Life Guarding
- Heartbeat
With Node Guarding, the CANopen® master sends, to each slave an RTR telegram (Re-
mote Transmit request) with the COB-ID 1792 (700h) + node-ID.
The slave responds, with the same COB-ID, with its communications state. This means
either Pre-Operational, Operational or stopped.
The CANopen® slave also monitors the incoming RTR telegram from the master.
The cycle of the incoming RTR telegrams is set by using the Guard Time Object.
The numbers of RTR telegrams which can fail as a maximum before the slave initiates a
Life Guarding event is defined using the Life time factor object.
The Node Life Time is calculated from the product of the Guard Time and Life Time Fac-
tor. This is the maximum time which the slave waits for an RTR telegram.
Initializing Pre-Operational Operational Stopped
PDO X
SDO X X
Synchronization Object X X
Emergency Object X X
Boot-Up Object X
Network Management object X X X
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