West-control-solutions KS 800 CANopen Interface Manual Instrukcja Użytkownika Pobierz pdf (Strona 17)

KS 800 CAN-Interface

6 Nodeguarding / Lifeguarding

"Nodeguarding" can be used by a master for testing cyclically, if the relevant slave (KS800) is

still in the network.

The "guard time * life time" can be used to determine at which intervals the master must activate

the nodeguard message (timeout for the master).

With a "guard time * life time" = "0", no timeout for the master is determined, i.e. the master need

not use a fixed time interval. If a "guard time * life time" is defined and data are not read from

KS800 at this interval, KS800 may return from the OP-mode to the pre-OP mode. In this case,

no PDOs can be transmitted any more.

Generally, KS800 replies to a "nodeguard" by "toggling" the most significant bit:

Node-Guarding Identifier → Objekt 100E Default: 6E0 + node ID

In OP-mode, KS800 replies: 0x05 → 0x85 → 0x05 → 0x85 → ...

In pre-OP mode, KS800 replies: 0x7F → 0xFF → 0x7F → 0xFF → ...

Nodeguard message (RTR):

0 data bytes

COB-ID LEN

0x6E0 + node 0

Reply from KS800 (pre-OP mode):

1 data bytes

COB-ID LEN Answer

0x6E0 +node

0x7F

Reply from KS800 (OP mode):

1 data bytes

COB-ID LEN Answer

0x6E0 +node

0x6E0 +Node

0x05

Notes: The default value for the node guarding identifier remains 0x6E0+ node-ID (not com-

patible with DS301 version 3.0, but downward-compatible). The value can be read

and changed via object 0x100E.

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