Node Guarding - Leuze electronic MSI 400 Series Manual

Module Dia-
no. gnostic
bit
(M5 ... M
2)
08 00
01
02
03
04
05 to 31
09 00
01
02
03
04
05
06
07 to 31
14 00
01
02
03
04
05
06 to 31
NOTICE
i
The allocation of the diagnostic bits for M2 to M5 is as follows:
Bit 0
M5.0
10.7

Node guarding

An NMT master (e.g. a PLC with integrated CANopen master) uses the NMT-Error-Control object to detect
a failure of an NMT slave with the
address N. The NMT slave must respond to the query of the NMT master within the node guarding time.
The node guarding time must be monitored by the NMT master.
The NMT master sends a CAN message with the identifier <700h + node ID> and RTRBit (remote trans-
mission request).
Query of NMT master:
Leuze electronic
Emergency
cause
Reserved
Other EtherNet/IP, Modbus/TCP,
PROFINET IO gateway
Unsecure IO
Bit 1 ...
M5.1 ...
Emergency message
Reserved
Internal error: Internal tests failed
Reserved
Reserved
Configuration is incompatible or invalid
Reserved
Reserved
Internal error: Internal tests failed
Reserved
Reserved
Configuration is incompatible or invalid
Module state input data
Module state output data
Reserved
Reserved
Internal error: Internal tests failed
Reserved
Reserved
Configuration is incompatible or invalid
Output power supply not in permitted
range
Reserved
Bit 7 Bit 8
M5.7 M4.0
MSI 400
CANopen gateway
... Bit31
... M2.7
127