Nmt Slave Assignment - Mitsubishi Electric MELSEC-F FX3U-CAN User Manual

FX -CAN User's Manual
3U
5.8.7

NMT slave assignment

This object configures on the NMT Master for each node-ID (corresponding to the sub-index), the node
guarding values and the NMT Slave Configuration. Each sub-index of this object corresponds to the node-ID
®
of a CANopen
ignored.
1. Object H1F81 Sub-index H01 to H7F: NMT slave assignment
1) Guard time field:
The value for the guard time indicates the cycle time for node guarding of the CANopen
value is in units of ms. The value 0 disables Node Guarding for the CANopen
Configuration field and the Retry factor needs to be set also to enable node guarding. If the heartbeat
consumer object is configured to a value ≠ 0, then the heartbeat mechanism will have priority over node
guarding.
Setting range: K0 to K65535
2) Retry factor field
The value for the retry factor indicates the number of retries the NMT master issues in case of a Node
Guarding event. The value 0 disables Node Guarding for the CANopen
field and the Guardtime needs to be set also to enable node guarding.
Setting range: K0 to K255
3) Configuration field:
Bit No.
Bit 0 NMT slave
Bit 2 NMT boot slave
Bit 3 Mandatory
80
device in the network. The sub-index which corresponds to the node-ID of the NMT Master is
31 ... 16
Guard time
7...5 4
Reset
Reserved Mandatory
communication
Item
OFF (0): Remote Node is NMT Master or not assigned.
ON (1): Remote Node is NMT Slave and assigned to this NMT Master.
Note:
• It's mandatory to set this bit if the NMT Master shall startup and/or Node guard the NMT Slave.
• If the Flying Master Service is used, it shall be considered as Flying Master switching into NMT
Slave mode if they are not the active NMT Master and may need to be startup by the active NMT
Master.
OFF (0): Configuration and NMT service Start remote node are not allowed in case of error control
event or NMT service Boot up.
ON (1): Configuration and NMT service Start remote node execute in the case of error control event
or NMT service Boot up.
OFF (0): CANopen
ON (1): CANopen
Note:
• For mandatory slaves consider at Object H1F80 also the bits 4 and 6
• For LSS Slave this bit has to be set to 1 to enable LSS service for this NMT Slave.
15 ... 8 7 ... 0
Retry factor Configuration
3 2 1
NMT
Reserved
boot slave
Description
®
device may be present prior to network start up (CANopen
®
device is present prior to network start up (CANopen
5 Introduction of Functions
5.8 Network Management
®
®
device. Bit 0 in the
®
device. Bit 0 in the Configuration
0
NMT
slave
→ Refer to Subsection 5.8.11
→ Refer to Subsection 5.8.1, 5.8.2 and 5.8.13
®
device is optional)
®
device is mandatory)
→ Refer to Subsection 5.8.5
device. The