Mitsubishi Electric FX3U-CAN, User Manual

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5 Introduction of Functions
5.8 Network Management
84
FX
3U
-CAN User's Manual
5.8.10 Request node guarding
This object indicates the node guarding state for a unique CANopen
®
device in the network. The sub-index
corresponds to the node-ID of the CANopen
®
devices in the network. The sub-index H80 represents all
nodes.
Note
If Node Guarding is not set, then Node Guarding will not start.
Object H1F83 Sub-index H01 to H80: Request node guarding
5.8.11 Flying Master
The Flying Master mechanism provides services for a hot stand-by NMT Master within a CANopen
®
network.
All Flying Masters shall monitor the Heartbeat of all masters in the network. A new negotiation is automatically
started if the active master fails. The master with the highest priority and the lowest node-ID wins the
negotiation. A new negotiation is started when a new NMT master with a higher priority than the active NMT
Master join the network. The Flying NMT master priority is defined by (NMT master priority level
×
128 +
Node-Id), the lower value has the higher priority.
BFM #25 bit 15 indicates if the module is the current NMT Master.
Note
• If the module has enabled the Flying Master function and no Heartbeat producing is set, the Heartbeat
producing is automatically set to 1000 ms.
• If the module loses the negotiation and no Heartbeat consuming is set for the active NMT master,
Heartbeat consuming is automatically set to (1500 + 10
×
Node-ID) ms.
• If the Heartbeat producing and consuming is set manually, set a different value for the consuming time of
one Node-ID on the other Flying masters so that multiple masters will not initiate at the same time a new
Flying master negotiation when the active NMT master times out.
• If a Flying Master is in the Network which is not a FX
3U
-CAN, ensure that this node has Heartbeat
producing enabled, otherwise the FX
3U
-CAN with activated Flying Master function will send endless Reset
Communication NMT Messages!
→ For the Communication Status (BFM #25), refer to Section 6.8
• All Flying Masters should have the same configuration for the Slaves.
• Configure in the Flying master negotiation response wait time of all Flying Master.
Formula for the Flying Master negotiation response wait time:
Flying Master negotiation response wait time =
(NMT master priority)
×
(Priority time slot) + (Node-ID)
×
(Node time slot)
• During the Flying master negotiation process, an NMT service Reset communication message will be sent
to all nodes.
Value (hex)
Description
Read Write
00 Node guarding stopped Stop node guarding
01 Node guarding started Start node guarding
02 to FF Reserved
Terminating
resistor
Active
NMT-Master
Hot Stand-by
NMT-Master
Hot Stand-by
NMT-Master
Terminating
resistor