Network management
12 ATM60-Cxx 03/2007
Error message Meaning
00xx Error Reset or no error
10xx General error
The meanings of the error messages are described in the communications profile of CANopen (DS 301).
6. Network management
6.1 Node monitoring
The node monitoring checks the ability of each node to communicate. In this case, a distinction is drawn
between the “node guarding protocol” and the “heartbeat protocol”.
It is possible for only one form of node monitoring to be used: either node guarding or heartbeat.
If the “producer heartbeat time (object 1017
hex
) = 0, then the node guarding is active. If the “producer
heartbeat time” (object 1017
hex
) <> 0, then the heartbeat is active.
6.1.1 Node guarding protocol
At regular intervals (node guarding time), the NMT master sends an RTR telegram to the COB-ID of the NMT
error control object. The reply from the NMT slave contains the status of the slave.
The lifetime of the slave is given by multiplying the guard time (object 100C
hex
) by the lifetime factor (object
100D
hex
).
If no RTR telegram has been received for the period of the lifetime, then the slave signals a “remote node
error” via the NMT error control object.
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