Nodeguard - Kollmorgen S300 Interface Manual

CANopen communication profile
3.4.7

Nodeguard

The Node Guarding protocol is a functional monitoring for the drive. It requires that the drive is
accessed at regular intervals by the CANopen master.
The maximum time interval that is permitted between two Nodeguard telegrams is given by the pro-
duct of the Guard Time (Object 100C
one of these two values is 0, then the response monitoring is de-activated.
If the drive is not accessed within the time defined by objects 100C
(response monitoring) appears on the drive, the drive is braked to a stop with the Quickstop ramp,
and any other movement is prevented. (parameter DECSTOP, object 6085 sub0).
The time sequence for node guarding is as shown below:
t = toggle Bit, changes its status with every slave telegram
s = status of the NMT slave status machine
Node guarding is carried out by the Master through RTR telegrams with the COB-ID 700
node address.
24
NMT Master
request
confirm
request
confirm
11/2018
, Þ p.31) and the Life Time Factor (Object 100D
h
COB-ID = ...
remote transmit request
0 1
7 6..0
t s
remote transmit request
0 1
7 6..0
t s
Kollmorgen
h
and 100D , then Warning N04
h h
NMT Slave
S300/S700
indication
response
indication
response
CANopen for S300/S700
, Þ p.32). If
+ slave
h