Lenze E94AYCCA - Manual (Page 79)

EDS94AYCCA EN 5.0 - 06/2012
L
79
E94AYCCA communication manual (CANopen®)
Monitoring
Node guarding protocol
Parameterise NMT slave (node 2)
1. Adapt the life time factor and guard time settings of the NMT slave to the settings
applied to the NMT master under C13386 / C14386 :
– Set guard time ( C13382 / C14382 ) to 1000 ms.
– Set life time factor ( C13383 / C14383 ) to 5.
2. Go to C13614 / C14614 and set the response to be executed in the NMT slave in the
case of a life guarding event.

Tip!
C13625 / C14625 serves to set which state change is to occur in the NMT slave in
the case of a life guarding event.
Node guarding telegrams
 Remote Transmission Request:
The RTR telegram from the NMT master has the following identifiers:
Identifier (COB-ID) = 1792 + node address of slave = 1792 + 2 = 1794 = 0x702
 Remote Transmission Response:
The response telegram from the NMT slave has the same identifier and the
"operational" NMT slave state in the user data (s = 5).
Telegram structure
( 75)