Lenze I/O system 1000 System Manual - Manual (Page 342)

CANopen communication
Node Guarding
8
l
342 EDSIO1000 EN 7.0
8.16 Node Guarding
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
epm−t133
Fig. 8−13 Node Guarding Protocol
1) I/O system
s Status of the I/O system
t Toggle bit
Description
The Node Guarding Protocol monitors the connection between master and slave.
Via index I100C
h
, Guard time, a time [ms] can be set and in index I100D
h
, 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.
ƒ The master starts the Node Guarding by sending the Node Guarding telegram.
ƒ 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
I1029
h
. The outputs switch to defined states (
¶ 356).
ƒ A change to the Operational status triggers a reset.