Pepperl+Fuchs PGV -F213-B16-1.5M Series Manual page 31

PGV*-F213-B16-1.5M-*
Operation and communication
Communication Monitoring
To monitor bus communication, you can configure the following procedures in the read head.
Node guarding
•
If you have configured the read head for node guarding, the NMT master sends guard
telegrams that must be answered by the read head with the current CANopen status. The
gap between the guard telegrams is defined in object 0x100C. .
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 tele-
grams that must be answered by the NMT master. The gap between a lifeguard telegram
and the response from the NMT master is defined in object 0x100D. .
If the guard telegram remains unanswered for the defined time, the read head sets a "Life-
guarding 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 moni-
tored by the NMT master or a different bus node. If the read head is configured for receiv-
ing 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".
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