Monitoring CANopen Devices

The settings for monitoring other CANopen devices can be set on the CAN tab. To define the monitored devices, first select the CAN tab and then the correct CAN channel. The Network Monitoring is available when Initialize CANopen is selected on the CAN Properties. By default, MultiTool Creator adds the devices in the same network to be monitored. The monitoring configurations of the selected CAN channel are displayed on the right.

To add a node manually to the monitored device, select icon above the table. To delete the manually added device from the list, select the device and select icon.

For more information about CAN properties, see Defining CAN and CANopen.

When the Network Status has been selected to be one of the G_SystemOk conditions, the network status is read from G_CANx_NetworkManager.o_BusOk variable. This variable is set to TRUE when all Mandatory devices are in operational state, otherwise the variable status is FALSE.

The following table describes the Network Monitoring settings for the NMT master aslavesponder:

Setting	Description	Setting for NMT Master	Setting for NMT slave
Monitor	Select the device to be monitored.	x	x
Name / Node-ID	For devices in the same network, the device name and node-ID are shown. The device name and node-ID are not editable in this table. For manually added devices, only node-ID can be defined. Select the device name and click it again to open the device settings. .	x	x
Consumer Time	The maximum time between two heartbeat messages. If the time is exceeded, the CODESYS code template determines that the device is missing from the bus. In case of an NMT Master: If a heartbeat message is not received within the consumer time and the Keep Alive is checked, a start message will be sent. the Reset Node is checked, a reset message will be sent.	x	x
Keep Alive	When the Keep Alive is selected and the monitored unit is in NMT preoperational state, the device will be started by NMT Master after the elapsed time sequence that has been defined in the Monitoring Start Interval.	x
Reset Node	When the Reset Node is selected and the heartbeat message is not received within the consumer time, the device will be reset by the NMT Master.	x
Mandatory	Select the Mandatory box if you want the node status to be a condition for the G_CANx_NetworkManager.o_BusOk variable.	x	x