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CANopen Network Interface
1606218 02 08/2006 63
Importance of
Monitoring
These two monitoring mechanisms are especially important in the CANopen
system. Devices connected to the bus do not regularly indicate their presence in
operating mode, commanded by "Event".
Slave Monitoring Monitoring is performed in the following way:
Phase Description
1 The master sets "Remote-Frames" (or "Remote-Transmit-Request" request
messages) on the "Guarding-CobID" of the slaves to be monitored.
2 The slaves concerned respond by sending the "Guarding" message. This
message contains the "Status-Code" of the slave and the "Toggle-Bit", which
changes after each message.
3 The NMT (Network Management Telegram) master compares the "Status"and
"Toggle-Bit" information:
If they are not in the expected state or if no response is received, the NMT
master considers that an error has occurred on the slave.