Lenze 9400 - Manual (Page 328)

9 "CAN on board" system bus
9.9 Monitoring
328
Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
9.9 Monitoring
9.9.1 Node guarding protocol
In a CAN network, the node guarding protocol serves to monitor the connection between the NMT
master and the NMT slave(s). If the controller was parameterised as NMT master, it can monitor up
to 32 NMT slaves.
Basic workflow
[9-9] Node guarding protocol
1. The NMT master within cyclic time intervals sends a data telegram to the NMT slave, which is
referred to as "Remote Transmission Request" (RTR).
2. The NMT slave then returns a response telegram ("Response") to the NMT master.
t: Toggle bit
s: NMT slave status (4: Stopped, 5: Operational, 127: Pre-Operational)
UHTXHVW LQGLFDWLRQ
107PDVWHU
(0(5*(1&<
107VODYH
*XDUGWLPH
/LIHJXDUGLQJ
HYHQW
W
FRQILUPDWLRQ UHVSRQVH
V
575
UHTXHVW LQGLFDWLRQ
W
FRQILUPDWLRQ UHVSRQVH
V
575
1RGHOLIHWLPH *XDUGWLPH[/LIHWLPHIDFWRU
1RGHJXDUGLQJ
HYHQW
LQGLFDWLRQ FRQILUPDWLRQ 1RGHOLIHWLPH *XDUGWLPH[/LIHWLPHIDFWRU