Mitsubishi Electric MELSEC iQ-R Series User Manual page 218

NMT slave assignment
• Index: 1F81H
• Subindex: 01H to 7FH
Set NMT slave assignment to the NMT master and node guarding.
Each subindex corresponds to the node ID of each CANopen node in the network. The subindex corresponding to the NMT
master node ID will be ignored.
Set b0, b8 to b31 of this object to enable node guarding.
Bit Item
b0 to b7 Configuration
b8 to b15 Retry factor
b16 to b31 Guard time
■Configuration
Set the NMT slave assigned to the NMT master.
Bit Item
b0 NMT slave
b1 System area
b2 NMT boot slave
b3 Mandatory slave
b4 Communication
reset condition
b5 to b7 System area
APPX
216
Appendix 3 Object Dictionary
Description
Page 216 Configuration
Set the number of resends by the NMT master in case a node guarding event occurs.
The value 0 disables node guarding for CANopen nodes.
• Setting range: 0 to 255
Set the guard time of node guarding for CANopen nodes (ms).
The value 0 disables node guarding for CANopen nodes. If the heartbeat consumer object is set to other than 0,
heartbeat will have priority over node guarding.
• Setting range: 0 to 65535
Description
Set whether the remote node is an NMT slave under the
RJ71CN91.
0: Remote node is NMT master or NMT slave that is not
assigned
1: Remote node is NMT slave and assigned to this NMT
master
Specify whether the NMT master is allowed to execute
configuration manager or remote node start when starting
up the NMT slaves.
0: Not allowed
1: Allowed
Set whether the CANopen node is a mandatory slave.
0: Not mandatory
1: Mandatory
Set the execution condition for communication reset for the
CANopen node.
0: No communication reset condition Always executable
1: Not executable only when the CANopen node is in
Operational
Remarks
• If the NMT master shall start up the NMT slave and/or
execute node guarding to the NMT slave, it's
mandatory to set this bit to 1.
• Also when flying master is used and the active NMT
master shall start up other NMT masters as NMT
slaves, it's mandatory to set this bit to 1.

For LSS slave, select this bit to enable the LSS service
for this NMT slave.
