AMT58x-CB CANopen®
39
6.11 Node guarding protocol
All’accensione il “Node guarding protocol” è disattivo; tale protocollo si
attiva automaticamente alla prima richiesta RTR (Remote Transmit
Request) da parte del dispositivo master.
100C-00 Guard time:
tempo previsto tra due messaggi RTR.
Node life time:
tempo entro il quale lo slave deve ricevere un ulteriore
RTR dal Master.
Node life time =
100C-00 Guard time
*
100D-00 Life time factor
Il “Node guarding” è abilitato solo se Node life time
0.
Se lo slave non riceve un messaggio RTR entro il tempo Node life time
viene segnalato un “Life Guarding Event” con relativa segnalazione LED
”Node guarding error”, aggiornamento degli oggetti
1001-00 Registro
errori
e
1003 Campo errori predefinito
e invio del messaggio di errore.
Per resettare l’errore è sufficiente eseguire un comando Reset nodo.
tempo
Master Slave
RTR
richiesta
NodeGuard.
risposta
RTR
richiesta
Node
life time
Node guarding
event
Life guarding
event
Guard
time
Содержание AMT58 Series
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Страница 167: ...AMT58 PN INSTRUCTION MANUAL Absolute Encoders ...
Страница 179: ...INSTRUCTION MANUAL xiii SFC System function TCP Transmission Control Protocol TMAPC Master Application Cycle Time ...
Страница 180: ...LIST OF ABBREVIATIONS xiv AMT58 PN ...
Страница 213: ...RESETTING THE PARAMETERS TO THE DEFAULT FACTORY VALUES INSTRUCTION MANUAL 33 Figure 15 Encoder reset ...
Страница 221: ...TO TECHNOLOGY OBJECTS INSTRUCTION MANUAL 41 Figure 28 TO encoder enabled ...
Страница 231: ...INSTRUCTION MANUAL 51 ...
Страница 255: ...REAL TIME CLASS 3 IRT_TOP RT3 INSTRUCTION MANUAL 75 Figure 5 Telegram 81 IN Figure 6 Telegram 81 OUT ...
Страница 265: ...NORMAL OPERATION DIAGRAM INSTRUCTION MANUAL 85 NORMAL OPERATION DIAGRAM ...
Страница 266: ...ENCODER STATE MACHINE 86 AMT58 PN PRESET DIAGRAM ...
Страница 267: ...PARKING SENSOR DIAGRAM INSTRUCTION MANUAL 87 PARKING SENSOR DIAGRAM ...
Страница 268: ...ENCODER STATE MACHINE 88 AMT58 PN ERROR DIAGRAM Acknowledgment of acknowledgeable sensor error ...
Страница 269: ...ERROR DIAGRAM INSTRUCTION MANUAL 89 Acknowledgment of not acknowledgeable sensor error ...
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