DEUTSCHMANN AUTOMATION UNIGATE CX-PROFINET 2Port - CANopen, Руководство пользователя

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Implemented protocols in UNIGATE® CX C4Map Deutschmann Automation GmbH & Co. KG
16 Fieldbus-Gateway UNIGATE
®
CX C4Map - PROFINET V. 1.0 29.9.20
Only COB-IDs from the range 101H..580H can be used for the PDO map-
pings (see DS301 specification for CANopen
®
).
7.1.2.2 Node Guarding
If a CANopen
®
slave is monitored via node guarding, the CANopen
®
master cyclically receives
the node guard request to respond to the request. The slave in turn replies to this node guarding
request with the corresponding response. Both master and slave can monitor each other in this
way.
If the slave does not receive a node guard request, it will assume that the bus connection has
been interrupted or that the master has failed.
Settings
The default for all slaves is that no node guarding is carried out. If node guarding is to be activa-
ted for a slave, an entry "enable node guarding" must be added to the current configuration in
WINGATE for each slave. The parameters "node ID", "guarding time" and "life time factor" must
be determined in each entry.
Settings for node guarding
The parameter node ID specifies the ID of the CANopen
®
node on which monitoring is to take
place. The guarding time is the interval in milliseconds in which the master requests the slave to
send its guarding response.
The Life Time Factor tells how many times the slave's response may fail to appear before the
master assumes that the slave has failed.