Which products are affected?
E82ZAFUC CANopen fieldbus function module as of firmware version 1.1
Function description
A CAN state change to be executed in case of an error can be defined under index 1029hex subindex 1. This means if a Node Guarding Event, a Heartbeat Event or Bus-off occurs, a change of state from 'Operational' to 'Pre-operational' or to 'Stopped' can occur.
The following values/settings can be selected under subindex 1:
0 State change from 'Operational' to 'Pre-operational in case of an error
1 No state change in case of an error
2 State change from 'operational'/'pre-operational' to 'Stopped' in case of an error
Applications
In order to ensure the functioning of the CANopen networks two operational monitoring mechanisms are integrated. A network node can be monitored via the 'NodeGuarding' function by a superimposed NMT master. Alternatively, its ability to communicate can be announced by sending cyclically a so-called 'Heartbeat' message.
Moreover, a fieldbus function module indicates a Node Guarding Event if the master system has not sent its RTR telegram within its 'Node Life Time' (monitoring time).
As 'Heartbeat Consumer' (monitoring bus station) the fieldbus function module indicates a 'Heartbeat Event' if it does not receive a Heartbeat message from the 'Heartbeat Producer' (bus station to be monitored) within the 'Heartbeat Consuming Time' (monitoring time).
