Delta ASDA-A3 Series User Manual page 965

CANopen Mode
 Node/Life guarding
The Node/Life guarding mechanism is similar to the Heartbeat mechanism. The main difference
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between the two is that Heartbeat only uses the consumer but not the producer to judge
whether there are packets or not. The mechanism of Node/Life guarding is mainly based on the
two-way relationship between the master and slave. The master periodically sends packets to
the slave, and the slave must return the packets to the master within the set guard time (OD
100Ch), otherwise an error occurs. You must set the life time for the slave and the master must
send the packets within the guard time. If the slave does not receive the packets, AL180 is
triggered. Life time is set by multiplying the guard time by a life time factor (OD 100Dh).
The Node/Life Guarding architecture is as follows:
Node
Guard
Time
Node
Guard
Time
Bit
Bit 0 - Bit 6
Bit 7
12-16
COB-ID = 700h + Node-ID
COB-ID
Master
COB-ID
COB-ID
Master
COB-ID
Node Guarding
event
Function
State of the NMT slave
Reserved
Bit
7 6 ~ 0
Bit
7 6 ~ 0
No signal
Description
4 = Stopped
5 = Operational
127 = Pre-Operational
-
ASDA-A3
Slave
Node
Life
Time
Slave
Life Guarding
event