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CANopen Mode

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ASDA-A3

 Node/Life guarding

The Node/Life guarding mechanism is similar to the Heartbeat mechanism. The main difference

between the two is that Heartbeat only uses the consumer but not the producer to judge

whether there are packets or not. The mechanism of Node/Life guarding is mainly based on the

two-way relationship between the master and slave. The master periodically sends packets to

the slave, and the slave must return the packets to the master within the set guard time (OD

100Ch), otherwise an error occurs. You must set the life time for the slave and the master must

send the packets within the guard time. If the slave does not receive the packets, AL180 is

triggered. Life time is set by multiplying the guard time by a life time factor (OD 100Dh).

The Node/Life Guarding architecture is as follows:

COB-ID = 700h + Node-ID

Node

Guard

Time

Master

Node

Guard

Time

Master

Node Guarding

event

COB-ID

COB-ID Bit 7 6 ~ 0

COB-ID

COB-ID Bit 7 6 ~ 0

No signal

Slave

Node

Life

Time

Life Guarding

event

Bit

Bit 0 - Bit 6

Bit 7

Bit 7 6 5 4 3 2 1 0

Function

State of the NMT slave

Reserved

Description

4 = Stopped

5 = Operational

127 = Pre-Operational

12-16

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