Pepperl+Fuchs PCV F200-B16-V15 Series Manual page 26

PCV...-F200-B16-V15
Operation and communication
"Transmission Type"
parameter
253 (TxPDO only)
254
255
Communication Monitoring
To monitor bus communication, you can configure the following process in the read head.
Node guarding
If you have configured the read head for node guarding, the NMT master sends guard
telegrams that have to be answered by the read head with the current CANopen status.
The gap between the guard telegrams is defined in object 0x100C. See chapter 7.1.3.
If the read head does not send a response, a "Node Guard Event" is set. Node guarding is
deactivated when you set the "Guard Time" in object 0x100C to 0.
Lifeguarding
If you have configured the read head for lifeguarding, the read head sends lifeguard
telegrams that have to be answered by the NMT master. The gap between a lifeguard
telegram and the response from the NMT master is defined in object 0x100D. See
chapter 7.1.3.
If the guard telegram remains unanswered for the defined time, the read head sets a
"Lifeguarding Event" and sends an EMCY telegram. Lifeguarding is deactivated when you
set the "Guard Time" in object 0x100C or the "Life Time Factor" in object 0x100D to 0.
Heartbeat
The read head can be configured both as emitter and receiver of a heartbeat telegram. If
the read head is configured for sending a heartbeat telegram, this telegram will be
monitored by the NMT master or a different bus node. If the read head is configured for
receiving a heartbeat telegram, the read head monitors a different bus node or the NMT
master.
Configure heartbeat telegram transmission in object 0x1017. Specify the gap between the
heartbeat telegrams via the "Heartbeat Producer Time". The heartbeat is deactivated
when the "Heartbeat Producer Time" is set to 0.
Configure heartbeat telegram receipt in object 0x1016. Specify the gap between the
heartbeat telegrams via the "Heartbeat Consumer Time". The heartbeat is deactivated
when the "Heartbeat Consumer Time" is set to 0.
Failsafe
Failsafe is the behavior of the read head when errors occur. The failsafe behavior is controlled
via a parameter.
The behavior of the read head in the event of a CANopen error can be controlled via object
0x1029 "Behavior in the event of an error". For a detailed description, see chapter 7.1.3.
26
Transmission Description
Asynchronous Data is detected and sent via RTR only on request.
RTR
Event-controlled Read head sends data when "Operational" state is
Manufacturer- set and in the event of changes.
specific
Event-controlled Read head sends data when "Operational" state is
Profile-specific set and in the event of changes.