Mitsubishi Electric MELSEC iQ-R Series User Manual page 27

• When using the flying master function, set all NMT masters in the same network as flying masters.
• When the flying master setting of the RJ71CN91 is enabled, and the "Producer heartbeat time" is not set,
the "Producer heartbeat time" will automatically set to 1000ms. ( Page 98 "Heartbeat" window)
• When the RJ71CN91 is a hot standby NMT master and the flying master setting is enabled, if the Consumer
setting for the active NMT master is not configured, the "Heartbeat time" for the active NMT master will be
automatically set to (1500 + 10  RJ71CN91 node ID) [ms]. ( Page 98 "Heartbeat" window)
• When manually setting the Consumer heartbeat for each flying master, set a different heartbeat time for the
same node ID. ( Page 98 "Heartbeat" window)
• When a flying master other than the RJ71CN91 exists in the same network, enable heartbeat message
transmission from that flying master. If it is not enabled, the RJ71CN91, when it becomes the active NMT
master, will determine that this flying master is faulty and continue to reset communications with this flying
master.
• All flying masters must have the same configuration for the NMT slaves. ( Page 93 "NMT master /
slave" window)
• Set parameters so that a flying master with higher priority has a shorter "NMT flying master response
waiting time". ( Page 98 "Heartbeat" window)
Use the following formula to calculate the "NMT flying master response waiting time".
"NMT flying master response waiting time" = "NMT master priority level" setting value  "Priority time slot"
setting value + Node ID x "Node time slot" setting value
• Communications with all CANopen nodes will be reset during NMT flying master negotiation.
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1 FUNCTIONS
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1.2 NMT