INVT Goodrive350 Series, Руководство по эксплуатации

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Communication extension card CANopen communication card
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COB-ID Byte0 Byte1
0x000 0x01 0x00
3.4.4 Node protection (NMT Node Guarding)
By using the node protection service, the NMT master node can detect the current state of
each node.

Command
Request: Master station (remote frame) –> slave station
COB-ID No data
0x700 + Node-ID
Response: Slave station -> master station
COB-ID Byte0 (state value)
0x700 + Node-ID Bit 7: Triggering bit; Bits 0 to 6: State

Description
The most significant bit (MSB) bit 7 of Byte0 (state value) in the response command is the
triggering bit, that is, the value of bit 7 is alternated between 0 and 1 each time when the slave
station transmits a response frame to distinguish frames. Bits 0 to 6 indicate the state of the
slave station. Table 3-5 describes the state values and their corresponding state.
Table 3-5 State values and their corresponding states
State value (Byte0: Bits 0–6) State
0x00 Initializing
0x04 Stopped
0x05 Operation
0x7F Pre-operational

Example
For example, the command for the master station to detect the state of slave station 3.
Master station (remote frame) -> slave station
COB-ID No data
0x703 /
After receiving the node protection command transmitted by the master station, the slave
station transmits the following command response to the master station.
COB-ID Byte0 (state value)
0x703 0x85
In the command, bit 7 of Byte0 is 1, and the state value is 0×05, indicating that slave station 3
is in the operation state. If receiving another node protection command, the slave station
transmits a command frame in which the state value is 0×05 to the master station, and the