3.4.7 Nodeguard
The Node Guarding protocol is a functional monitoring for the drive. It requires that the drive is
accessed at regular intervals by the CANopen master.
The maximum time interval that is permitted between two Nodeguard telegrams is given by the pro
-
duct of the Guard Time (Object 100C
h
, Þ p.31) and the Life Time Factor (Object 100D
h
, Þ p.32). If
one of these two values is 0, then the response monitoring is de-activated.
If the drive is not accessed within the time defined by objects 100C
h
and 100D
h
, then Warning N04
(response monitoring) appears on the drive, the drive is braked to a stop with the Quickstop ramp,
and any other movement is prevented. (parameter DECSTOP, object 6085 sub0).
The time sequence for node guarding is as shown below:
t = toggle Bit, changes its status with every slave telegram
s = status of the NMT slave status machine
Node guarding is carried out by the Master through RTR telegrams with the COB-ID 700
h
+ slave
node address.
24 CANopen for S300/S700
CANopen communication profile 11/2018 Kollmorgen
NMT Master
COB-ID = ...
remote transmit request
remote transmit request
request
request
indication
indication
response
response
NMT Slave
confirm
Guard Time
confirm
6..0
s
6..0
s
7
t
7
t
0
0
1
1
S300/S700
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