Lenze 931K - Manual (Page 51)

CANopen communication
Node guarding telegram
Overview
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l
51 KHB 13.0002−EN 4.1
5.9 Node guarding telegram
5.9.1 Overview
The node guarding telegram is used to monitor the communication between salve (drive)
and master. In contrast to the heartbeat telegram, here, master and slave mutually
monitor each other.
The master cyclically polls the NMT status of the slave. In every controller response, a
certain bit will be inverted (toggled). If no response is received, the master will react
accordingly.
The slave also monitors the regular reception of the node guarding requests from the
master. If no request has been received for a certain time, the controller will activate error
46 (CAN error number 0x8120).
Since both heartbeat and node guarding telegrams are sent with the identifier
700
h
+ node address, the two telegrams cannot be active at the same time.
If both telegrams are activated at the same time, only the heartbeat telegram will be
active.
)
Note!
The node guarding event and the life guarding event will only be triggered if
ƒ at least one RTR request from the NMT slave has been successful, or
ƒ at least one RTR response from the NMT master has been successful.
Please observe that the monitoring times should not be reset.