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Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06 329

9 "CAN on board" system bus

9.9 Monitoring

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9.9.1.1 Telegram structure

RTR telegram

• The RTR telegram from the NMT master has the following identifiers:

Identifier (COB-ID) = 1792 + node address of the NMT slave

• The RTR telegram does not contain any user data.

• The RTR bit in the arbitration field of the RTR telegram is set to the valency LOW (dominant

level).

Response telegram

• The response telegram from the requested NMT slave has the same identifier as the RTR

telegram received by the NMT master.

• The user data (1 byte) contains the NMT slave status and the toggle bit (see the following

description).

NMT slave state (s)

Toggle bit (t)

• The toggle bit (t) in the response telegram has the value "0" when the node guarding protocol is

activated for the first time.

• The toggle bit (t) must change its value with each response.

NMT slave status Data

Communication status Decimal value

(s)

(t) NMT slave state (s)

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Stopped 4 0/10000100

Operational 5 0/10000101

Pre-operational 127 0/11111111

 Note!

The toggle bit is monitored by the NMT master.

If a telegram is received with a toggle bit value that has not changed compared to the

previously received telegram, it will be treated as if it were not received, i.e. the

monitoring time is not reset and elapses further.

The toggle bit can only be reset to the value "0" by the "Reset Communication" telegram

of the NMT master.

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