Lenze I/O system 1000 - Node guarding

Lenze · I/O system 1000 · Reference Manual · DMS 5.0 EN · 09/2016 · TD17 174
5 CANopen communication
5.16 Node guarding
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
5.16 Node guarding
[5-13] Node Guarding Protocol
The Node Guarding Protocol monitors the connection between master and slave.
Via index I-100C, "Guard time", a time [ms] can be set and in index , Life Time Factor, a factor can be
set. If both indexes are multiplied by each other, you get a monitoring time in which the master
must send a Node Guarding telegram to the slave. If one of the two indexes is set to zero, the
monitoring time is also zero and hence deactivated. The slave sends a telegram with its current
status to the master.
With event-controlled process data transmission, Node Guarding ensures cyclical node monitoring.
• The master starts the Node Guarding by sending the Node Guarding telegram.
• If the slave (I/O system) does not receive a telegram within the monitoring time, a Node
Guarding event will be triggered. The I/O system switches to the status set in I-1029. The
outputs switch to defined states )
.
• A reset takes place by a change to Operational.
Node Guarding Protocol
1) I/O system
s Status of the I/O system
tToggle bit
COB-ID = 1792 + Node-ID
COB-ID = 1792 + Node-ID
NMT-Slave
1)
NMT-Master
indication
indication
indication
request
request
confirm
confirm
indication
Remote transmit request
Remote transmit request
response
response
Node Guarding Event
2)
Life Guarding Event
2)
Node
Guard
time
Node
Time
Life
0
0
1
1
t
s
7
6…0
t
s
7
6…0