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50 Fieldbus interface
3 Basics IL•1F CANopen DS301
0198441113586, V2.01, 11.2008
Connection error The NMT master signals a connection error to the master program if:
• the slave does not respond within the "guard time" period
• the NMT state of the slave has changed without a request by the
NMT master.
Figure 3.32 shows an error message after the end of the third cycle be-
cause of a missing response from an NMT slave.
Figure 3.32 "Node Guarding" and "Life Guarding" with time intervals
Boot-up message The communication profile DS 301, version 4.0, defines an additional
task for the NMT services: sending a boot-up message.
A network device informs all other network devices that it is ready for op-
eration using a boot-up message.
A boot-up message consists of the COB ID of the NMT object NMT Er-
ror Control and is transmitted without data. The default setting of the
COB ID is 1792 (700h) + node-Id
Slave
Master
guard
time
request
response
response
request
request
no
response
message
life
time