9400 regenerative power supply module | Parameter setting
"CAN on board" system bus
Monitoring
138 L EDS94ARNExxxx EN 2.3 - 06/2014
6.9.1.3 Commissioning example
Task
A 9400 controller (node 1) configured as NMT master is to monitor another 9400 controller
(node 2).
The node guarding telegram is to be sent from the NMT master to the NMT slave in
intervals of 1 s:
– Guard time = 1000 ms
The node life time is to be 5 seconds:
– Node life time = guard time (1000 ms) x life time factor (5)
If an error occurs, an error response is to be initiated both in the NMT master and the
NMT slave.
Parameterising the NMT master (node 1)
1. Set the heartbeat producer time (C00381
) to 0 ms to deactivate heartbeat monitoring
(node guarding and heartbeat may not be used simultaneously on a CANopen device).
2. Configure the controller as NMT master: set C00352
= "1: Master".
3. Set the guard time (C00382
) to 0 ms (slave parameter).
4. Set the life time factor (C00383
) to 0 (slave parameter).
5. Configure the monitoring for the node guarding in C00386
.
– The value to be entered in a free subcode (1 ... 32) is "0x050203E8".
It consists of the following components:
6. Go to C00612/1...32
and set the respective responses for the monitoring functions
parameterised in C00386/1...32
, which are to be initiated in the master when a "node
guarding event" occurs.
Tip!
• C00387
displays the activity of the monitoring functions parameterised in
C00386/1...32
in a bit-coded manner.
• C00388/1...32
display the node guarding states of the monitored NMT slaves.
• C00625
serves to set the state change for a "node guarding event" in the NMT
master.
Bit 31 ... bit 24
Life time factor
Bit23...bit16
Slave node address
Bit 15 ... bit 0
Guard time
0x05 0x02 1000 [ms] = 0x03E8
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