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5.3.6 SYNC Monitoring

If the value of the communication cycle period is unequal to 0, monitoring is made with the first arrival of a SYNC message if the bus coupler is in the Operational status.

Failure of SYNC message:

If no SYNC message is received within the monitoring time (communication cycle period), this is signalled by a blink code. No status change occurs. In addition, an emergency message (Error Code: 0x8100, Error Register: 0x81, Additional Code: 00 04 00 00 00) is sent. The failure of the SYNC message will be displayed even if the MASTER provokes a status change.

It is only after the repeated receipt of the SYNC message in the OPERATIONAL status that the LEDs regain their normal operating status, and another emergency message (Error Code: 0x0000, Error Register: 0x81, Additional Code: 00 04 00 000 0) is sent to show that the SYNC monitoring functions again.

5.3.7 Node Guarding

The Node Guarding starts for the bus coupler when the first remote transmit request message (RTR) is received on the COB ID for the Node Guarding (0x700+Module-ID). If the bus coupler receives no corresponding message, the Node Guarding is not monitored by the bus coupler.

In the default setting, the Node Guarding is deactivated, because a 0 is entered in the corresponding indexes (0x100C = Guard-Time, 0x100D = Life Time Factor).

The NMT master polls the bus coupler at regular intervals. This interval is termed Guard-Time (Index 0x100C). The internal status of the bus coupler is in the reply message.

On the arrival of an RTR request without the Guard Time being set, the Node Guarding is not monitored, nevertheless the bus coupler replies with its internal status.

The states are coded as follows:

State: Value:

PRE-OPERATIONAL 127

OPERATIONAL 5

The Life-Time is the product of Guard-Time (Index 0x100C) and Life Time Factor (Index 0x100D).

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Failure of Node Guarding:

If no Node Guarding message is received with the life-time, this is shown by a blink code. In addition, an emergency message (Error Code: 0x8130, Error Register: 0x11, Additional Code: 0x00 04 00 000 0) is sent, the outputs are activated according to the objects 0x6206, 0x6207, 0x6443 and 0x6444, and the bus coupler changes to the pre-defined status according to object 0x67FE.

As soon as the Node Guarding protocol is recorded, another emergency message (Error Code: 0x0000, Error Register: 0x11, Additional Code: 00 04 00 000 0) is sent to show that the Node Guarding is reactivated, whereby the outputs and the bus coupler status remain unchanged.

It is possible to only use the Node Guarding protocol or the Heartbeat protocol. If the Heartbeat-Producer-Time is configured, the Heartbeat protocol is always used.

5.3.8 Heartbeat Monitoring

This protocol allows for monitoring the modules without having to use RTR frames.

The Heartbeat generator cyclically generates a message (time interval defined in object 0x1017), in which it transmits the module status. Transmission begins immediately after configuring the object 0x1017. The message can be evaluated by one or several Heartbeat consumers (object 0x1016). A maximum of 5 modules can be monitored. Monitoring starts with the first arrival of a Heartbeat message (separate for every module to be monitored).

Failure of the Heartbeat:

If no corresponding Heartbeat message is received within the configured time (object 0x1016), this is signalled by a blink code. In addition, an emergency message (Error Code: 0x8130, Error Register: 0x11, Additional Code: 0x00 05 KK 00 00, KK node number which has triggered EMCY) is sent. The outputs are activated according to objects 0x6206, 0x6207, 0x6443 and 0x6444 and the bus coupler changes to the status pre-defined according to 0x67FE.

As soon as the Heartbeat protocol is recorded, another emergency message (Error Code: 0x0000, Error Register: 0x11, Additional Code: 0x00 05 KK 00 00) is sent to display that Heartbeat is active again, whereby the outputs and the bus coupler status remain unchanged. If several modules are monitored, the blink code signalling the failure of the Heartbeat only stops after the previous Heartbeat has been resumed.

The only protocols to be used are the Node Guarding or the Heartbeat protocol. The Heartbeat protocol is used whenever the Heartbeat producer time is configured.

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