Danaher Motion 07/06 Overview
M-S2-021-11 Initial Release 17
2.4.7. N
ODEGUARD
The Node Guarding protocol is a functional monitoring for the drive. It requires that the drive is accessed at
regular intervals by the CANopen master.
The maximum time interval that is permitted between two Nodeguard telegrams is given by the product of
the Guard Time and the Life Time Factor. If one of these two values is 0, then the response monitoring is
de-activated.
If the drive is not accessed within the time defined by SDOs 100C
h
und 100D
h
, then Warning N04
(response monitoring) appears on the drive, the drive is braked to a stop with the Quickstop ramp, and any
other movement is prevented. (parameter DECSTOP, SDO6085 sub0). The time sequence for node
guarding is as shown below:
NMT Master
COB-ID = ...
remote transmit request
remote transmit request
request
request
indication
indication
response
response
confirm
Guard Time
confirm
6..0
s
6..0
s
7
t
7
t
0
0
1
1
SPS / PLC
t = toggle Bit, changes its status with every slave telegram
s = status of the NMT slave status machine
Node guarding is carried out by the Master through RTR telegrams with the COB-ID 700
h
+ slave node
address.
