Datalogic AMT58 Series Manual page 330

AMT58x-CB CANopen®
6.11 Node guarding protocol
At system boot the "Node guarding protocol" is disabled; this protocol
is enabled automatically as soon as the master device sends a RTR
message (Remote Transmission Request) the first time.
Guard
time
Node
life time
time
100C-00 Guard time:
Node life time:
Node life time = 100C-00 Guard time
"Node guarding" is enabled if Node life time  0.
If the slave does not receive a RTR message before the Node life
time has expired, it warns activating a "Life Guarding Event".
Furthermore the red LED starts flashing so indicating the Node
guarding error, objects
error field are updated and an error message is sent.
To reset the error send a Reset node command.
36
Master
request
RTR
response
NodeGuard.
request
RTR
Node guarding
event
interval between two RTR messages.
maximum time available for the encoder to
receive a RTR message.

100D-00 Life time
1001-00 Error register
Slave
Life guarding
event
factor.
and 1003 Pre-defined