PM
-
3133i User
’s Manual v1.02
Last Revised: Apr. 2023 Page: 55
Copyright © ICP DAS Co., Ltd. All Rights Reserved.
E-mail: [email protected]
Reset Communication Protocol
cs
: NMT command specified
130: Reset_Communication
Node ID
: the node ID of the NMT slave device
8.2.3.2 Error Control Protocol
Error Control Protocol is a kind of the solution to check whether the CANopen device is
still alive or not. And its related objects include 0x100C and 0x100D. The 0x100C is the
guard time, and the 0x100D is the life time factor. The node life time is the guard time
multiplied by the life time factor. The Node Guarding timer of the PM-3133i-CPS will
start to count after receiving the first RTR message for the guarding identifier. The
communication set of the Error Control protocol is displayed below.
t
: toggle bit
The value of this bit will be alternatively changed between two consecutive responses
from the NMT slave. After the Node Guarding protocol becomes active, the value of
the toggle-bit of the first response will be 0.