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Example:
Set Node-ID: 3
Set Node-ID: 5
7.3.14 SYNC Guarding
The CANopen module optionally supports the SYNC object. The SYNC
monitoring starts when the first SYNC telegram has been received and the
module is in the "Operational" status.
The default setting of the SYNC monitoring is the switched off status, becaue
a 0 is entered in the corresponding indexes (0x1006 = Communication Cycle
Period, 0x100D = Life Time Factor).
7.3.14.1 Failure of a SYNC telegram
If no SYNC telegram is received within the monitoring period (Communica-
tion Cycle Period * Life Time Factor), the PREPARED LED indicates the op-
erating status and no status change occurs. An emergency telegram (Error
Code: 0x8100, Error Register: 0x81, Additional Code: 0x00 02 00 00 00) is
sent. If a status change is instigated by the MASTER, SYNC telegram failure
continues to be displayed.
It is not before a renewed receipt of the SYNC message that this status is left
and an emergency telegram (Error Code: 0x0000, Error Register: 0x81, Addi-
tional Code: 0x00 02 00 00 00) sent to indicate that the SYNC monitoring is
functional again.
7.3.15 Node Guarding
The CANopen module optionally supports node guarding. The node guarding
starts for the module when the first Remote Transmit Request Telegramm
(RTR) is received on the COB ID for Node Guarding (Index 0x100E). If the
module does not receive a telegram the node guarding is not watched by the
module. The Guarding node is switched off because a 0 is entered as a default
value in the corresponding indices (0x100C = Gurad-Time,0x100D = Life
Time Factor).
The NMT master polls the module at regular intervals. This period is termed
Guard-Time (Index 0x100C). The internal status of the module is contained in
the reply telegram.
In the event of the arrival of an RTR request without a guard time being set,
the guarding node is not monitored, but the module responds with its internal
status.
Fieldbus Dependent I/O Module
CANopen
Following a Power On the COB-ID of the RxPDO 1 is: 0x0183
Following a Power On the COB-ID of the RxPDO 1 is: 0x0185
CANopen
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