CANo pen i n the INVEO R
Operating manual for CANopen fieldbus
| DOC01738251-0001 | 2016-12 | V2.00 EN
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4.2
Timeout monitoring with node guarding
To use "timeout monitoring with node guarding", the following settings must be made:
The object 0x1017 "Producer Heartbeat Time" must be "0"
(default setting in INVEOR)
The object 0x1016 [Idx 01] "Consumer Heartbeat" must be "0"
(default setting in INVEOR)
The object 0x100C "Guard Time" must be a value other than "0".
The value corresponds to the timeout in ms.
The object 0x100D "Life Time Factor" must be a value other than "0".
This value determines how often the "Guard Time" can run before a timeout is detected.
IMPORTANT INFORMATION
The INVEOR parameter "Bus timeout" (6.062) must be set to a value other than 0 to activate
timeout monitoring. However, the value entered here is not the timeout time. This is the product
of "Guard Time" and "Life Time Factor" (see above).
After configuration, timeout monitoring starts with the master's first query:
COB-ID :
0x700+NodeID of the INVEOR (RTR frame)
Data
:
--
IMPORTANT INFORMATION
The INVEOR expects the query for "Node guarding" as an
RTR frame.
