Inputs are still active even if the slave is not connected
I have a facility with CIFX-50-CO(M/S) with the master firmware loaded. Connected to this card I have sevelar devices. When all of them are connected, the system works fine, but when one of them is disconnected, the input process image is showing the last values. How can I configure the card to forze that when a device is not present all its input image were shown as zero?
This device does not allow heartbeat nor node-guarding.
Device MLG PK1 (the first one), can not be selected as consumer of the heartbeat protocol
Does exist any other way to know if the device is not connected or in error?
Without node-guarding or heartbeat, the master cannot detect a disconnection of the Slave (According to the CANopen specification, support of node-guarding and/or heartbeat is mandatory!).
As a workaround, you can send alternating data (via PDO) to the master and check for changes in the receive area by your application.
You can also check manually for the Device in your application by sending acyclic SDO requests via mailbox (For example SDO-Upload 1000,00). By getting a timeout error your application can assume a disconnection. This method generates unnecessary bus- and CPU load and is not recommendable.
ES
I checked this behaviour with 2 Slaves. When a Slave is disconnected and the Slave supervision times out, the corresponding input data of the CANopen master receive area is cleared.
Is heartbeat or node-guarding active in your configuration?