Reset Node - Festo CiA 402 Manual

3 CANopen access procedure
3.6.5

Reset Node

The NMT-master uses the NMT-service Reset Node to change the NMT-status of the selected NMT-par-
ticipant. If processed successfully, the new sub-NMT status is reset application.
Structure of the Reset Node message
Identifier: 000
h
000 2
h
Data length
3.6.6 Reset Communication
The NMT-master uses the NMT-service Reset Communication to change the NMT-status of the selected
NMT-participant. If processed successfully, the new sub-NMT status is reset communication.
Structure of the Reset Communication message
Identifier: 000
h
000 2
h
Data length
3.6.7 Heartbeat (Error Control Protocol)
Overview
The so-called Heartbeat protocol can be activated to monitor communication between the slave (drive)
and master: Here, the drive sends messages cyclically to the master. The master can check whether
these messages occur cyclically and introduce corresponding measures if they do not.
Since both the Heartbeat and Nodeguarding telegrams (
the identifier 700
tempt is made to activate both protocols simultaneously, only the Heartbeat protocol will
be active.
Structure of the Heartbeat message
The Heartbeat telegram is transmitted with the identifier 700
data, the NMT status of the motor controller (
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Command specifier
129 NI
Node ID
Command specifier
130 NI
Node ID
+ node ID, both protocols cannot be active simultaneously. If an at-
h
Chapter 3.6, Network Management (NMT Service)).
Section 3.6.8) are sent with
+ node ID. It contains only 1 byte of user
h
41