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CANopen Interface\ PDO Mapping\ RxPDO 4
Motion Cmd Slave Header [16Bit]
Motion Cmd Par Byte 16..19 [32Bit] The sixth 4 bytes of the command
By UPID [8-32Bit]
3.6
NMT Error Control
The heartbeat mechanism takes precedence over the node guarding protocol. If object
1017h of the object dictionary (Producer Heartbeat Time) is different from zero, the
heartbeat protocol is used.
If this entry is zero and the guard time multiplied with the life time factor is not zero, the
node guarding protocol is used instead.
If all of these values are zero, no error control mechanism will be active.
The drive is also capable of consuming a heartbeat. If object 1016h sub 1 of the object
dictionary (Consumer Heartbeat Time 1) is different from zero, a heartbeat is
consumed with the node-ID and time (given in ms) taken from this entry.
3.6.1
Node Guarding Protocol
Directory for configuring the node guarding protocol.
CANopen Interface\ NMT Error Control\ Node Guarding
Protocol
Guard Time
Life Time Factor
3.6.2
Heartbeat Protocol
These parameters configure the heartbeat protocol.
NTI AG / LinMot
The guard time in ms, when the node
guarding mechanism is active.
Multiplier used with the Guard Time.
The total time that has to pass for a node to trigger a failure is called the
node life time. The node life time is the guard time multiplied by the life
time factor. Node Guarding starts with the reception of the first guarding
message.
To ensure data consistency with
asynchronous communication modes,
the slave headers have to be used
when spreading motion commands
across several PDOs.
parameters of the motion command
interface.
This parameter can be used for free
mapping of any parameter or variable
to RxPDO 4 (mapping through Unique
Parameter ID = UPID, 0 = no
mapping). The corresponding data size
in RxPDO 4 is derived from the
mapped UPID.
For Boolean values one byte is used in
the PDO with the lowest bit being the
value of the Boolean.
Default
Value
-
-
0x0000
Default
Value
0ms
0
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