Mitsubishi Electric FX3U-CAN, Руководство пользователя

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6 Allocation of Buffer Memories
6.22 [BFM #601 to #727] NMT State
120
FX
3U
-CAN User's Manual
6.22 [BFM #601 to #727] NMT State
This BFM displays the NMT status of the CANopen
®
nodes (index H1F82, Sub index 01 to 127 of the
CANopen
®
Object Dictionary). Use the SDO Command in the CIF to set the NMT state of the whole network
or of one specific node. For NMT Slaves, the NMT Status is only displayed for Nodes for which Heartbeat
Consuming is configured.
If the NMT Master is using Heartbeat Consuming or Node Guarding, the current NMT State of an NMT Slave
will display its actual NMT State as long as error control messages are received. For Nodes for which no error
control service is configured, the NMT Master will display the NMT state from the last request.
→
For Object H1F82, refer to Subsection 5.8.9
→
For Heartbeat, refer to Subsection 5.6.9
→ For SDO Command, refer to Section 10.2
Note
• If a NMT state request is made to all nodes, all BFM displays will change.
To activate the display of a missing mandatory device, configure the Boot time out (refer to Object
Dictionary Index H1F89) and set this Node-Id as a mandatory CANopen
®
device (refer to Object Dictionary
Index H1F81).
→ For Object Dictionary Index H1F89, refer to Section 5.6
→ For Object Dictionary Index H1F81, refer to Subsection 5.8.7
• If no error control service is configured or if error control messages are missing, it is possible that an NMT
state other than the actual remote NMT state will displayed. Use these BFMs and BFM #900 to #963 NMT
Error Control Status and BFM #29 to detect error control service failures.
→ For BFM #900 to #963, refer to Section 6.24
→
For BFM #29, refer to Section 14.2
BFM No. Description
BFM #601 Node 1
BFM #602 Node 2
BFM #603 Node 3
.....
....
..
.....
....
..
BFM #726 Node 126
BFM #727 Node 127