Baumer GNAMG Series Manuel - Sayfa 13
Aksesuarlar Baumer GNAMG Series için çevrimiçi göz atın veya pdf Manuel indirin. Baumer GNAMG Series 41 sayfaları. Inclination sensor with canopen interface
Node und Life Guarding
Example of a nodeguarding protocol:
COB-ID
Data/ Remote
701h
r
701h
d
701h
r
701h
d
Possible user NMT-states:
0:
BootUp-Event
4:
Stopped
5:
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