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Functions
NMT Master
Fig. 4-16: Node guarding
NOTE
Node guarding produces a high bus load. It is recommended to use heartbeat instead.
Object 100C
The 16 bit guard time in units of ms is the time limit for which the response must be sent. The value 0
disables life guarding.
Object 100D
The 8 bit life time factor value multiplied by the guard time gives the life time for which the NMT Mas-
ter has to send the guarding request. The value 0 disables life guarding.
Both Objects have to be set to activate Node guarding. The order in which Guard time and Life time
factor are set does not matter.
Object 1F81
For the NMT slave assignment, please refer to section 4.8.6.
4 – 28
Request
Confirmation
Request
Confirmation
: guard time (slave setting)
H
: life time factor (slave setting)
H
: NMT slave assignment (master setting)
H
COB-ID = 1792 + Node-ID
t
s
t
s
s: NMT slave state
4
= Stopped
5
= Operational
127 = Pre-operational
t: Toggle Bit
Communication Profile Area
NMT slave
Indication
Response
Indication
Response
MITSUBISHI ELECTRIC
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