256 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x
10.7 More details of CANopen Theory
Where s is the state of the NMT slave:
t: is the toggle bit. It alternates between 2 consecutive responses from the NMT Slave.
The value of the toggle-bit of the first response after the guarding protocol becomes ac
-
tive is 0.
The Toggle Bit in the guarding protocol is only reset to 0 when the NMT message Reset
Communication is passed (no other change of state resets the toggle bit).
If a response is received with the same value of the toggle-bit as in the preceding re-
sponse, then the new response is handled as if it was not received.
Heartbeat:
With the Heartbeat protocol, a Heartbeat Producer cyclically sends its communications
state to the CAN bus. One or more Heartbeat Consumers receive the indication. The
relationship between producer and consumer is configurable via the object dictionary.
The Heartbeat Consumer guards the reception of the Heartbeat within the Heartbeat
Consumer time. If the Heartbeat is not received within the Heartbeat Consumer Time,
a Heartbeat Event will be generated.
s NMT state
4 Stopped
5 Operational
7 Pre-operational
TT1
B
Request
Confirmation
Request
Confirmation
Indication
Node
Guard
time
Node
Life
time
Indication
Response
Indication
Response
Remote transmit request
B-ID = 7
h + Node-ID
COB-ID = 700h + Node-ID
Remote transmit request
Indication
7
t
6....0
s
7
t
6....0
s
Node Guarding event Life Guarding event
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