Node Guarding; Nmt Boot-Up - Toshiba TOSVERT VF-S15 Series Manual

7.4.3. Node Guarding

When the Node Guarding message is received, the drive sends the Node Guarding message with the node
state.
When the drive does not receive the Node Guard message in the interval time (=Guard Time x Time Factor,
Max time is limited internally 1 hour.) set by Object 0x100C (Guard Time) and 0x100D (Time Factor), the
drive detects the network error and changes the drive condition according to the parameter setting (c100 ~
c103). If Heartbeat function is used, Node Guarding function doesn't work.
Node Guarding send data
COB-ID RTR
0x700+
1
Node-ID
Response data of Node Guard
COB-ID RTR
0x700+
0
Node-ID

7.4.4. NMT Boot-up

The drive sends the NMT Boot-up message at the drive power on or reset. When the controller received the
NMT Boot-up message, should change the drive node state and send appropriate command data.
NMT Boot-up send data (NMT Master <- NMT Slave (Drive))
COB-ID RTR
0x700+
0
Node-ID
DLC Data0 Data1
0 --- ---
DLC Data0 Data1
bit7:toggle
1 ---
bit6-0:State
Data0
bit7 bit6-0
0
1
2
toggle 3
4
5
127
DLC Data0 Data1
1 0 ---
Data2 Data3 Data4
--- ---
Data2 Data3
--- ---
State
Initializing
Disconnected
Connecting
Preparing
Stooped
Operational
Pre-operational
Data2 Data3 Data4
--- ---
- 40 -
E6581911
Data5 Data6
--- --- ---
Data4 Data5 Data6
--- --- ---
Data5 Data6
--- --- ---
Data7
---
Data7
---
Data7
---