Mitsubishi Electric CANopen ME3CAN1-L, User Manual

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Buffer Memory Details: CANopen Mode Detailed Description of the Module
MELSEC-L Series – CANopen Module ME3CAN1-L 3 – 23
3.5.16 NMT State (Un\G601–Un\G727)
The buffer memory addresses Un\G601 to Un\G727 display the NMT status of the CANopen nodes
(Index 1F82
H
, Sub index 0–127 of the CANopen Object Dictionary (Refer to section 4.8.8)).
If no Heartbeat Consuming or Node Guarding is configured and the module is active NMT Master the
buffer memory displays the NMT states of all slaves, which were sent by the active NMT Master to the
slaves.
If the module is using Heartbeat Consuming or Node Guarding, the current NMT State of the NMT
Slave is showing the actual NMT State as long as the error control messages are received.
Node Guarding can be only processed by the active NMT Master.
Refer to sections 4.6.8 and 4.6.7 about how to setup Heartbeat and Node Guarding.
NOTE If no error control service is configured or if error control messages are missing, it's possible that
not the actual remote NMT state will be displayed.
Use these buffer memories in connection with the NMT Error Control Status in Un\G401 to
Un\G527 and the error bits in Un\G29 to detect error control service failures. (Refer to sections
3.5.15 and 3.5.7.)
Address
(Decimal)
Description
Tab. 3-18:
Allocation of the buffer memory addresses
Un\G601 to Un\G727
601 Node 1
602 Node 2
603 Node 3
604 Node 4
: :
726 Node 126
727 Node 127