Baumer GNAMG Series Manuale - Pagina 13

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Node und Life Guarding

Example of a nodeguarding protocol:

COB-ID

Data/ Remote

701h

Possible user NMT-states:

BootUp-Event

Stopped

Operational

127:

Pre-Operational

In this example the lower 7 bits equal 7Fh, i.e. the inclination sensor is in pre-operational mode.

Manual_GNAMG_CANopen_EN.doc

21.11.12

Byte 0

00h (0d)

FFh (255d)

00h (0d)

7Fh (127d)

13/41

For user guarding either the heartbeat

protocol (default) or the nodeguarding

protocol (object 2110h Bit 5 = 1) can be

applied.

The NMT master is able to form a data

bank with the corresponding NMT states of

every single user. This protocol is for

guarding whether a user has left the bus.In

addition, every user can monitor whether

the control is still active.

The NMT master starts the guarding

service by a Remote Frame to the

requested user. Every Remote Frame will

reset the Life-Time at the user. Further the

user responds his NMT state. This way, the

NMT master is able to check whether the

user is in the correct NMT state and can

react correspondingly in case of error.

Upon Life-Time expiry a „Node Event" will

be triggered. The behaviour in case of error

is defined in object 1029h-1h

"Communication Error".

Baumer IVO GmbH & Co. KG

Villingen-Schwenningen, Germany