Manuale d’uso - MCM260X - 67
11.4 PDO transmission
Data transmission from PDO is permitted only in the Operational status. When the module changes its
status to Operational, TX PDO is transmitted once with type 254 and 255.
In order to prevent CAN bus overflow, default value for the 0x6423 object is
false, so change for analog inputs are not transmitted. To prevent overflow with
0x6423=true, a long Inhibit Time can be selected, or appropriate values for
Threshold and Delta (0x6421...0x6428) can be set.
11.4.1 PDO Mapping
If customer specific configurations are not used, the object dictionary is
assigned with a default configuration according to standard device profile
DS401 (see paragraph 6.1.5). If the module is in the Pre-Operational status, the configuration can be
modified via SDO.
11. 5 Monitoring via SYNC
In Operational status, if the communication cycle period is not equal to 0, monitoring is carried out
with the first SYNC message.
If the SYNC message is not received in time (communication cycle period), a blink code is provided and
the status does not change. 0x8100, Error Register: 0x81, Additional Code 00 04 00 00 00). The error
regarding the SYNC message will be shown in the LED even if the master requires a status change.
The LED returns to its normal operating status only after a new SYNC
message in Operational status, and a new Emergency message
is sent to show that SYNC monitoring works correctly again (Error
Code:0x0000, Error Register 0x81, Additional Code 00 04 00 00 00).
11.6 Node Guarding
Node Guarding starts when the first remote transmit request message
(RTR) is received in the COB-ID (0x700 + Module-ID). If the module does not receive the corresponding
message, Node Guarding is not monitored. Default configuration requires that Node Guarding is not
activated
(Guard Time 0x100C=0, Life Time Factor 0x100D=0). The NMT master queries the other devices at
regular intervals, regulated by the Guard Time 0x100C, and the response messages contain the
internal status of the nodes. In case of an RTR request with Guard Time not set, there is no monitoring
via Node Guarding but the module responds in any case, communicating its internal status.
Status codes:
Code Status
127 Pre-Operational
5 Operational
4 Stopped
If the Node Guarding message is not received by the Life Time, there will be a blink. An Emergency
message is sent (Error Code:0x8130, Error Register: 0x11, Additional Code 00 04 00 00 00) and the
module switches to the status required by the 0x67FE object.
As soon as the Node Guarding is restored, an Emergency message is sent (Error Code:0x0000, Error
Register: 0x11, Additional Code 00 04 00 00 00), without switching status.
N.B. IT is possible to use either the Node Guarding protocol or the Heartbeat protocol, not both.
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