NOTE
It is not possible to use the node guarding protocol and the heartbeat protocol in paral‐
lel with a single node. If the heartbeat time parameter of object 1017h is not equal to
0, the heartbeat protocol is used.
Node guarding
The node guarding telegram is sent to poll the status of the inclination sensor at regular
intervals. The sensor responds within the response time configured in objects 100Ch
(guard time) and 100Dh (life-time factor).
This time is referred to as the node life time. It is calculated as follows:
“Node life time” = “guard time” x “life-time factor”
If the inclination sensor does not send a response within this time, the connection is
considered to have been lost.
Table 27: Format of the node guarding telegram
COB-ID
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
700h +
node ID
Status
00h
00h
00h
00h
00h
00h
00h
Table 28: Meaning of byte 0
Byte 0, status
Parameter
Bit 7
Toggle bit
The bit changes its value every time it is polled.
Bits 6 ... 0
Operating status of the inclination sensor:
127 = Pre-Operational
5 = Operational
4 = Stopped
0 = Boot Up
Example for an inclination sensor in Operational operating status:
85h, 05h, 85h = no error
85h, 05h, 05h = error
NOTE
If node guarding is active, the inclination sensor expects to receive a corresponding sta‐
tus query from an NMT master within a certain time frame. If it does not, the slave
switches to Pre-Operational status.
Heartbeat
If the heartbeat telegram is used, the inclination sensor sends its status autonomously
at cyclic intervals. This can be monitored by every other node in the network.
The heartbeat time is configured with object 1017h.
Table 29: Format of the heartbeat telegram
COB-ID
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
700h +
node ID
Status
00h
00h
00h
00h
00h
00h
00h
Table 30: Meaning of byte 0
Byte 0, status
Parameter
Bit 7
Toggle bit
The bit changes its value every time it is polled.
CANOPEN INTERFACE
9
OPERATING INSTRUCTIONS
| TMS/TMM88, TMS/TMM61
27
8019054/14IT/2019-06-27
| SICK
Subject to change without notice
