Siemens SINAMICS S120 Commissioning Manual page 51

Resolved faults in the network ("Remote node error") are displayed not only in a "Node
guarding event" but also in a "Life guarding event".
In the case of an error in the CAN communication, e.g. too many telegram failures, the fault
F08700 is reported (for details see List Manual S120). The fault is displayed in parameter
r0949. The reaction of the drive to the fault is set with p8641.
The values for the "Node guard time" and the "Lifetime factor" are stored in the appropriate
NMT slave's object directory.
Table 1- 17 Node guarding protocol COB-ID = 700h + Node-ID
Time NMT Master
Inquiry ---->
|
Confirmation <----
|
|
Node
lifetime
Inquiry ---->
|
| Confirmation <----
|
Signaling after expiry of "Node
lifetime":
"Node guarding event" **
** for monitoring faults
s : Status of the NMT slave
4: Stopped
5: Operational
127: Pre-Operational
t: toggle bit
The value of this bit should change between two consecutive responses of the NMT slave.
The toggle bit value for the first response after the "Guarding protocol" has been activated
should be 0. The toggle bit in the "Guarding protocol" should be reset to 0 if the NMT state
"Reset communication" is run (no other state of an NMT state resets the toggle bit). If a
response is received with the same value for the toggle bit as in the previous response, then
the new response is treated as if it was not received.
Heartbeat protocol
The heartbeat protocol is a fault monitoring service without transmission of RTR signals
(RTR = Remote transmit request).
A "heartbeat producer" transmits a heartbeat message cyclically. One or several "heartbeat
consumers" receive this message. The relationship between "producer" and "consumer" is
controlled via the object directory.
The "heartbeat consumer" monitors the receipt of the "heartbeat" within a time period, the
"heartbeat consumer time". If the "heartbeat" is not received in the "heartbeat consumer"
within the "heartbeat consumer time", a "heartbeat event" is triggered. The SINAMICS drive
is only a "heartbeat producer".
CANopen interface
Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3
|
Node guard time
|
Communication
Remote transmit request
Byte 0, bit 7 Byte 0, Bit 6..0
t
Remote transmit request
Byte 0, bit 7 Byte 0, Bit 6..0
t
1.19 Fault monitoring
NMT Slave
----> Signaling
<---- Response
s
----> Signaling
<---- Response
s
Signaling after expiry of
"Node lifetime":
"Life guarding event" **
Add infeed
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