Error Control - Node Guarding - WEG CFW-11 Communications Manual

PDO
SDO
SYNC
EMCY
Boot-up
NMT
This state machine is controlled by the network master, which sends to each slave the commands so that the desired
state change be executed. These telegrams do not have confirmation, what means that the slave does only receive
the telegram without returning an answer to the master. The received telegrams have the following structure:
The transitions indicated in the command code correspond to the state transitions executed by the node after
receiving the command (according to the Figure 5.5). The
complete reset of the device, while the
objects pertinent to the CANopen communication.
5.6.2 Error Control –
This service is used to make it possible the monitoring of the communication with the CANopen network, both by
the master and the slave as well. In this type of service the master sends periodical telegrams to the slave, which
responds to the received telegram. If some error that interrupts the communication occurs, it will be possible to
identify this error, because the master as well as the slave will be notified by the
service. The error events are called
There are two objects of the dictionary for the configuration of the error detection times for the
service:
Table 5.8 - Objects accessible in each state
Initialization Preoperational
•
Identifier byte 1
00h Command code
Table 5.9 - Commands for the state transition
Command code
START node
1 = (transition 3)
2 = STOP node (transition 4)
Enter pre-operational
128 =
129 = Reset node (transition 6)
Reset communication
130 =
Reset communication
Node Guarding
Node Guarding
Figure 5.6 - Error control service – Node Guarding
Operational
•
• •
• •
• •
• •
byte 2
Destination Node-ID
Destination Node-ID
0 = All the slaves
1 ... 127 = Specific slave
(transition 5)
(transition 7)
Reset node
command makes the CFW-11 execute a
command causes the device to reinitialize only the
Life Guarding
for the master and
Stopped
•
Timeout
in the execution of this
for the slave.
Node Guarding