JVL MIS17 Series User Manual page 307

11.7 More details of CANopen Theory
Node
Life
time
Where s is the state of the NMT slave:
s
4
5
7
t: is the toggle bit. It alternates between 2 consecutive responses from the NMT Slave.
The value of the toggle-bit of the first response after the guarding protocol becomes ac-
tive is 0.
The Toggle Bit in the guarding protocol is only reset to 0 when the NMT message Reset
Communication is passed (no other change of state resets the toggle bit).
If a response is received with the same value of the toggle-bit as in the preceding re-
sponse, then the new response is handled as if it was not received.
Heartbeat:
With the Heartbeat protocol, a Heartbeat Producer cyclically sends its communications
state to the CAN bus. One or more Heartbeat Consumers receive the indication. The
relationship between producer and consumer is configurable via the object dictionary.
The Heartbeat Consumer guards the reception of the Heartbeat within the Heartbeat
Consumer time. If the Heartbeat is not received within the Heartbeat Consumer Time,
a Heartbeat Event will be generated.
JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x
Request
Confirmation
Node
Guard
time
Request
Confirmation
Node Guarding event
Indication
TT1083GB
NMT state
Stopped
Operational
Pre-operational
COB-ID = 700h + Node-ID
Remote transmit request
7 6....0
t s
COB-ID = 700h + Node-ID
Remote transmit request
7 6....0
t s
Indication
Response
Indication
Response
Life Guarding event
Indication
307