Balluff BDG F-NH Series, Configuration Manual

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7 Object descri ption
7.1 Network management ( NMT) commands
To switch between the encoders states (STOPPED, PRE-OPERATIONAL, OPERATIONAL) or to trigger a soft
reset, there are different NMT commands. The messages are 3 bytes each and will not be acknowledged. The
CAN-ID of the NMT is always ZERO and therefor has the highest priority.
0 02h Command Node-ID
CAN-ID DLC Byte 0 Byte 1
Table 7.1: Structure of NMT-command
Command:
The command determines the intended reaction of the addressed node.
Command Wert
Start Node 01h
Stop Node 02h
Pre-Operational 80h
Reset Node 81h
Reset Communication 82h
Table 7.2: Commands for NMT-command
Node-ID:
The node-ID determines, whether the NMT addresses a certain node or all nodes.
Command Wert
all Nodes 00d
Valid Nod-IDs 01..127d
invalid Node-IDs 128..255d
Table 7.3: Node-ID values for NMT-commands
7.2 Heartbeat p rotocol
By default the heartbeat protocol is disabled.
The encoder can either send a heartbeat (producer heartbeat) or monitor the heartbeat of other nodes (consumer
heartbeat):
Producer heartbeat (Encoder sends its heartbeat)
The producer heartbeat can be enabled by setting the producer heartbeat time in milliseconds respectively can be
disabled by setting the producer heartbeat time to 00h. This is done by object 1017h, sub-index 0 (00h=OFF, time
in milliseconds = 0..9999h).
Consumer Heartbeat (Encoder monitors an external heartbeat)
The object 1016h, sub-Index=01h, defines the consumer heartbeat time. The encoder uses this time to monitor
another heartbeat producer. If the monitored heartbeat does not occur within this time (e.g. device broken), the
encoder sends an EMCY message with error code 8130h (Life guard or heartbeat error).
The object also defines the node-ID to be monitored.
Bit 31-24 Bit 23 -16 Bit 15
– 0
reserved (00h) Node-ID Heartbeat Producer time
Table 7.4: monitor external heartbeat