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Functions
4.8.9
Request node guarding
This object indicates the node guarding state for a unique CANopen€ device in the network. The sub-
index corresponds to the node-ID of the CANopen€ devices in the network. The sub-index 80
resents all nodes.
NOTE
If node guarding is not set, the node guarding will not start.
Object 1F83
Value (hex)
00
01
02–FE
Tab. 4-32: Description for object 1F83
4.8.10
Flying master
The Flying Master mechanism provides services for a hot stand-by NMT master within a CANopen€
network. All flying masters shall monitor the heartbeat of all masters in the network. A new negoti-
ation is automatically started if the active master fails. The master with the highest priority and the
lowest node ID wins the negotiation. A new negotiation is started when a new NMT master with a
higher priority than the active NMT master joins the network.
The flying NMT master priority is defined by node ID * NMT master priority, and the lower value has the
higher priority.
In Un\G25 bit 15 indicates whether the module is the current NMT master (refer to section 3.5.5).
Fig. 4-35: CANopen€ network with flying masters
NOTES
If flying master is enabled in the module and no heartbeat producing is set, the heartbeat produc-
ing is automatically set to 1000 ms.
If the module lose the negotiation and no heartbeat consuming is set for the active NMT master,
the heartbeat consuming is set automatically to (1500 e 10 i node ID) ms.
If the heartbeat producing and consuming is set manually, please set a different consuming time
for each NMT master (active and hot stand-by). This is necessary so that when the active NMT mas-
ter is timed-out, that only one hot stand-by NMT master initiates the flying master negotiation.
4 – 48
, Sub-index 01
–80
H
H
Description
Read
Node guarding stopped
Node guarding started
Reserved
Active
NMT-Master
Terminating
resistor
: Request node guarding
H
Write
Stop node guarding
Start node guarding
H
Hot Stand-by
NMT-Master
Network Management
Hot Stand-by
NMT-Master
Terminating
resistor
MITSUBISHI ELECTRIC
rep-
H
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