Mitsubishi Electric CANopen ME3CAN1-L, User Manual

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Detailed Description of the Module Buffer Memory Details: CANopen Mode
3 – 22 MITSUBISHI ELECTRIC
3.5.15 NMT Error Control Status (Un\G401–Un\G527)
The buffer memory addresses Un\G401 to Un\G527 display the Node Guarding and Heartbeat status.
The bit allocation of each buffer memory address is as follows. The description applies to the case that
the relevant bit is set to "1".
If one of the bits 2 to 7 is turned ON, the signal "NMT error of CANopen node available" (X(n+1)0) will
turn ON.
Clearance of errors
●
To clear the error of all nodes, write 0000
H
to Un\G400 and turn ON the Clear NMT error of
CANopen node request (Y(n+1)0).
●
To clear the error of a node, write the node number to Un\G400 and turn ON the Clear NMT error
of CANopen
node request (Y(n+1)0).
Address
(Decimal)
Description
Tab. 3-16:
Allocation of the buffer memory addresses
Un\G401 to Un\G527
401 Node 1 status
402 Node 2 status
403 Node 3 status
404 Node 4 status
: :
526 Node 126 status
527 Node 127 status
Bit Description
0 Guarding Node Guarding is active
1 Heartbeat Heartbeat is active (Will be set after the reception of the first heartbeat message.)
2 Guarding One node guarding message is missed or toggle bit error.
3 Guarding No response and lifetime of NMT Slave elapsed
4 NMT startup failed.
5 Guarding The node has not the expected state.
6 Guarding
Guarding failed.
Node Guarding remote requests of the NMT Master was not received in the
expected time.
7 Heartbeat Heartbeat is missing
8 to 15 Reserved
Tab. 3-17: Assignment of the bits in the buffer memory addresses 401 to 527