Mitsubishi Electric MELSEC iQ-R Series User Manual page 170

■NMT error control status (Un\G401 to Un\G527)
This area indicates the Node guarding and Heartbeat status.
Address
Un\G401
Un\G402

Un\G526
Un\G527
The following table lists the bits in this area, and describes what each bit means when it is turned on.
: Enabled, : Disabled
Bit Item
b0 Node guarding
enabled
b1 Heartbeat enabled
b2 Node guarding
message error
detected
b3 Node guarding
timeout detected
(NMT master)
b4 NMT startup failure
b5 NMT state error
detected
b6 Node guarding
timeout detected
(NMT slave)
b7 Heartbeat timeout
detected
b8 to 15 System area
If any of bits b2 to b7 in this area turns on, 'NMT error control failure available' (X10) turns on.
While heartbeat is being used, if b1 repeatedly turns on and off, or b7 turns on, heartbeat may not be operating properly.
Check the settings again as follows.
• Set the value for the consumer heartbeat time so that it is sufficiently large.
• Set the value for the consumer heartbeat time to be sufficiently larger than the value for the producer heartbeat time.
With node guarding in use, if b0 turns on and off repeatedly, or if one of b2, b3, and b6 turns on, node guarding may not be
running normally. Check the settings again as follows.
• Set the value for the guard time so that it is sufficiently large.
• Set the value for the life time to be sufficiently larger than the value for the guard time.
For details on how to clear errors in a CANopen node where NMT error control failed, refer to "NMT error control failure clear
request (Y10)". ( Page 151 NMT error control failure available (X10), NMT error control failure clear request (Y10))
APPX
168
Appendix 2 Buffer Memory
Description
Node guarding is in progress. (This bit turns on each time
node guarding starts. Then, it turns off when node guarding
is stopped or a node guarding timeout is detected.)
Heartbeat is in progress. (This bit turns on each time
heartbeat starts. Then, it turns off when heartbeat is
stopped or a heartbeat timeout is detected.)
There was no polling/response within the guard time. Or, an
invalid response is received.
There was no response from an NMT slave within the node
life time.
Node guarding or heartbeat did not start when an NMT
slave booted.
The monitoring target node was not in the expected NMT
state.
There was no polling from the NMT master within the life
time.
A heartbeat message was not received within the heartbeat
time.
Description
CANopen node 1 status
CANopen node 2 status

CANopen node 126 status
CANopen node 127 status
Bit enabled/disabled by node
Node guarding
NMT master









Heartbeat
NMT slave Consumer
 
 
 
 
  (Enabled for
the active NMT
master only)
 
 
 
 