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COMMUNICATION OBJECTS DESCRIPTION
CANopen
Master
Periodic
Request
Response
Error!
Timeout waiting
for the response
Communication
failure
Request
E
Error!
Timeout waiting
for the request
Figure 8.5:
Error control service – Node Guarding
There are two objects of the dictionary for the configuration of the error detection times for the Node Guarding service:
Index
Sub-
index
Name
Type
Access
PDO
Mapping
Value
100Ch
0
Guard Time
UNSIGNED16
RW
No
0
Index
Sub-
index
Name
Type
Access
PDO
Mapping
Value
100Dh
0
Life Time Factor
UNSIGNED8
RW
No
0
The 100Ch object allows programming the time necessary (in milliseconds) for a fault occurrence being detected,
in case the slave does not receive any telegram from the master. The 100Dh object indicates how many faults in
sequence are necessary until it be considered that there was really a communication error. Therefore, the multiplication
of these two values will result in the total necessary time for the communication error detection using this object. The
value 0 (zero) disables this function.
Once configured, the slave starts counting these times starting from the first Node Guarding telegram received from
the network master. The master’s telegram is of the remote type, not having data bytes. The identifier is equal to
700h + Node-ID of the destination slave. However the slave response telegram has 1 data byte with the following
structure:
Identificador
byte 1
bit 7
bit 6 ... 0
700h + Node ID
Toogle
Estado do Escravo
This telegram has one single data byte. This byte contains, in the seven least significant bits, a value to indicate
the slave state (4 = stopped, 5 = operational and 127 = preoperational), and in the eighth bit, a value that must be
changed at every telegram sent by the slave (toggle bit).
If the starter manager SCW100 detects an error using this mechanism, it will turn automatically to the preoperational
state and indicate with the LED of error.
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