Schneider Electric DS301 manual NMT services for connection monitoring, Node/Life guarding

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3 Basics

IL•1F CANopen DS301

NMT message The NMT services for device control are transmitted as unconfirmed messages with the COB ID = 0 . By default, they have the highest priority on the CAN bus.

The data frame of the NMT device service consists of 2 bytes.

Byte 0

1

NMT-

NMT-

Slave

Master

0

01

00

NMT-

Node-ID

Slave

COB-ID

Command specifier

NMT-

Slave

Figure 3.30 NMT message

The first byte, the "Command specifier", indicates the NMT service used.

Command Specifier	NMT service	Transition
1 (01h)	Start remote node	A
2 (02h)	Stop remote node	B
128 (80h)	Enter Pre-Operational	C
129 (81h)	Reset node	D
130 (82h)	Reset communication	E

The second byte addresses the recipient of an NMT message with a node address between 1 and 127 (7Fh). A message with the node ad- dress "0" is directed to all NMT slaves.

3.6.2NMT services for connection monitoring

Connection monitoring monitors the communication status of network devices, so a response to the failure of a device or an interruption in the network is possible.

Three NMT services for connection monitoring are available:

•"Node guarding" for monitoring the connection of an NMT slave

•"Life guarding" for monitoring the connection of an NMT master

3.6.2.1Node/Life guarding

COB ID Communication object NMT error control (700h+node-Id) is used for connection monitoring. The COB ID for every NMT slave is de- termined on the basis of the node address:

COB ID = function code NMTerror control (700h) + node-Id..11.2008V2.01,

0198441113586,

48	Fieldbus interface

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Contents IL1F CANopen DS301 Important information Table of Contents Table of Contents IL1F CANopen DS301 Object directory Table of Contents IL1F CANopen DS301 Writing conventions and symbols Writing conventions and symbols IL1F CANopen DS301 Introduction About this manualCAN-Bus Operating modes and functions in fieldbus mode Fieldbus devices networked via can busDocumentation and literature references Can users and manufacturers organizationIntroduction IL1F CANopen DS301 Before you begin safety information Before you begin safety information IL1F CANopen DS301 Basics CANopen technologyCANopen description language Communication layersObjects Index hex Object groups Supported By the driveIL1F CANopen DS301 Basics CANopen profiles CANopen reference modelCommunication profile Object dictionaryIndex Subindex Object Meaning Index range Object groups Supported Hex By the drive Communication objects Communication objectsCOB ID with function code and node address TPDO4 Communication relationships Master slave relationshipsClient-server relationship Service data communication OverviewSDO data exchange SDO message 11 SDO message, exampleReading and writing data Message type Data length used Bytes14 Reading a parameter value Message type Data length used Byte Bytes15 Response with error message error response Process data communication PDO data exchange 16 PDO data exchangeUINT32 Dynamic and static PDO mapping 18 Requesting a message with RTR =Receive PDO RPDO4 master slave Structure of RPDO4State machine drivectrl Operating modes modeCtrl JOG@ Warning Transmit PDO TPDO4 product to masterStructure of TPDO4 20 Structure of TPDO4Handshake with Mode Toggle Bit Bit Name Description22 Mode Toggle Handshake, short movement Master Slave XendBasics IL1F CANopen DS301 Emergency service 23 Error message with the Emcy objectSynchronization 25 Sync message27 Cyclic and acyclic transmission Network management services NMT services for device controlNMT service Transition Meaning InitializationPersistent data memory NMT services for connection monitoring Command Specifier NMT service TransitionNode/Life guarding 31 Acknowledgement of the NMT slave 32 Node Guarding and Life Guarding with time intervals Installation Installation IL1F CANopen DS301 Commissioning Commissioning the deviceStarting fieldbus mode Address and baud rateCommissioning the fieldbus network Troubleshooting Error Error class Cause of error TroubleshootingSyCon CANopen configuration software Creating a new networkSelecting the CANopen master Setting the bus parameters Selecting and inserting nodes Operation OverviewOperation IL1F CANopen DS301 Using SDO commands Writing parametersTransmit data Receive dataSynchronous errors Reading a parameterIndex Sub Data Description Operating Name Power Description State Stage Changing operating states with PDO4Bit no Value Meaning Switching the power stage on and off Triggering a Quick StopExample Come to a standstill System is to resume opera Resetting faults Examples for the operating modes with PDO4 Operating mode Profile Position absolute positioning Operating mode Profile Position relative positioning Operating mode Profile VelocityPosition setting Master --- SlaveOperating mode Homing Error signaling via PDO4 Asynchronous errorsPositioning running xerr=0 Operation IL1F CANopen DS301 Diagnostics and troubleshooting Fieldbus communication error diagnosticsError diagnostics via fieldbus Message objectsMessages on the device status CANopen error messages Error registerError code table Bit Message MeaningSDO error message Abort Error code MeaningSpecifications for the objects Object directoryObject code Meaning Coding Data type Value range Data lengthIndex Subindex Designation Obj. code Data type Access Objects, overviewError register Objects of the productDevice type Bit coding, subindex 00h 1008hManufacturer device name 100ChIndex 100D h Object name Life time factor Object code Index 1018 h Object name Identity Object Object code Data type PDO Communication parameter Bit assignment subindex 01h Bit 30 RTR bitBit coding, subindex 02h Bit Acces Value Meaning1603h Receive PDO4 mapping Value description 1803h Transmit PDO4 communication parameter BitMeaningSubindex 03 h, inhibit time TPDO4 Meaning IL1F CANopen DS301 Object directory PDO4 mapping 1603h Glossary Units and conversion tablesTemperature RotationTorque Moment of inertiaDefault value Factory setting Terms and AbbreviationsPower amplifier See power stage Index CanIndex IL1F CANopen DS301 IL1F CANopen DS301 Index NMT IL1F CANopen DS301 Index 102 Fieldbus interface