Nmt Bootup / Error Event Handling - Mitsubishi Electric MELSEC-F FX3U-CAN User Manual

FX -CAN User's Manual
3U
5.8.8

NMT Bootup / Error Event handling

When Consumer Heartbeat time elapses, Node Guarding failed or the NMT Slave responds a unexpected
Node state, the NMT Master handles the NMT Slave as shown in Figure 5.4.
If the NMT Master receives at any time a Boot-Up message from an assigned NMT Slave, the NMT Slave will
be startup by the NMT startup Master. If the NMT Master is in NMT state stopped, the NMT startup Master will
not be able to start the NMT Slave.
Figure 5.4: NMT error handler
OD Index
H1F81 Bit 0
OD Index
H1F81 Bit 3
OD Index
H1F80 Bit 6
OD Index
H1F81 Bit 3
OD Index
H1F80 Bit 4
82
→ For protocol boot-up, refer to Subsection 5.8.2
Start NMT error handler
no
Node is assigned
NMT Slave?
yes
Node is
yes
mandatory and all nodes
shall be stopped?
no
Node is
yes
mandatory and all nodes
shall be reset?
no
NMT service Reset
communication
faulty node
Start startup
Handler for faulty
device
End error handler
5 Introduction of Functions
5.8 Network Management
NMT service Stop
all devices
NMT service Reset
communication all
devices