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5.6.2. Error Control Protocol
Error Control Protocol is one of the ways to check if the CANopen device still lives. Related
objects are indexes 0x100C and 0x100D. The 0x100C is the guard time, and the 0x100D is the
Life Time factor. The node Life Time is the guard time multiplied by the Life Time factor. The
Node Guarding timer of the iKAN-XXX-CPS starts to count after receiving the first remote-
transmit-request for the guarding identifier. The communication set of the Error Control
protocol is displayed below.
NMT Master
Request
Confirm
t
: toggle bit.
The value of this bit must alternate between two consecutive responses from
the NMT slave. After the Node Guarding protocol becomes active, the value of
the toggle-bit of the first response is 0.
s
: the state of the NMT slave.
s = 4, stopped.
s = 5, operational.
s = 127, pre-operational.
Node Guarding Protocol
NMT Slave
Indication
Response
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