VIPA System 200V IM Series, Manual

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Manual VIPA System 200V
Chapter 5 CANopen
HB97E - IM - Rev. 06/29 5-103
The bus coupler also supports the Node Guarding object as defined by
CANopen to ensure that other devices on the bus are supervised properly.
Node Guarding operation is started when the first guard requests (RTR) is
received from the master. The respective COB identifier is permanently set
to 0x700 + module-ID at variable 0x100E in the object directory. If the
coupler does not receive a guard request message from the master within
the "guard time" (object 0x100C) when the node guarding mode is active
the module assumes that the master is not operating properly. When the
time determined by the product of "guard time" (0x100C) and "life-time
factor" (0x100D) has expired, the module will automatically assume the
status "pre-operational".
When either the "guard time" (object 0x100C) or the "life-time factor"
(0x100D) has been set to zero by an SDO download from the master, the
expiry of the guard time is not monitored and the module remains in its
current operating mode.
The VIPA CAN coupler also supports the Heartbeat Mode in addition to
Node Guarding.
When a value is entered into index 0x1017 (Heartbeat Producer Time) then
the device status (Operational, Pre-Operational,...) of the bus coupler is
transferred by means of the COB identifier (0x700+module-ID) when the
heartbeat timer expires.
The Heartbeat Mode starts automatically as soon as the index 1017h
contains a value that is larger than 0.
Node Guarding
Heartbeat