Request Node Guarding; Flying Master - Mitsubishi Electric MELSEC-F FX3U-CAN User Manual

FX -CAN User's Manual
3U

5.8.10 Request node guarding

This object indicates the node guarding state for a unique CANopen
corresponds to the node-ID of the CANopen
nodes.
Note
If Node Guarding is not set, then Node Guarding will not start.
Object H1F83 Sub-index H01 to H80: Request node guarding
Value (hex)
00 Node guarding stopped
01 Node guarding started
02 to FF Reserved

5.8.11 Flying Master

The Flying Master mechanism provides services for a hot stand-by NMT Master within a CANopen
All Flying Masters shall monitor the Heartbeat of all masters in the network. A new negotiation is automatically
started if the active master fails. The master with the highest priority and the lowest node-ID wins the
negotiation. A new negotiation is started when a new NMT master with a higher priority than the active NMT
Master join the network. The Flying NMT master priority is defined by (NMT master priority level
Node-Id), the lower value has the higher priority.
BFM #25 bit 15 indicates if the module is the current NMT Master.
Note
• If the module has enabled the Flying Master function and no Heartbeat producing is set, the Heartbeat
producing is automatically set to 1000 ms.
• If the module loses the negotiation and no Heartbeat consuming is set for the active NMT master,
Heartbeat consuming is automatically set to (1500 + 10
• If the Heartbeat producing and consuming is set manually, set a different value for the consuming time of
one Node-ID on the other Flying masters so that multiple masters will not initiate at the same time a new
Flying master negotiation when the active NMT master times out.
• If a Flying Master is in the Network which is not a FX
producing enabled, otherwise the FX
Communication NMT Messages!
• All Flying Masters should have the same configuration for the Slaves.
• Configure in the Flying master negotiation response wait time of all Flying Master.
Formula for the Flying Master negotiation response wait time:
Flying Master negotiation response wait time =
• During the Flying master negotiation process, an NMT service Reset communication message will be sent
to all nodes.
Terminating
resistor
84
Description
Read Write
Stop node guarding
Start node guarding
-CAN with activated Flying Master function will send endless Reset
3U
→ For the Communication Status (BFM #25), refer to Section 6.8
(NMT master priority)
Active
NMT-Master
®
devices in the network. The sub-index H80 represents all
×
Node-ID) ms.
-CAN, ensure that this node has Heartbeat
3U
×
(Priority time slot) + (Node-ID)
Hot Stand-by
NMT-Master
Hot Stand-by
NMT-Master
5 Introduction of Functions
5.8 Network Management
®
device in the network. The sub-index
×
(Node time slot)
Terminating
resistor
®
network.
×
128 +