User guide


English
8645 - 51

Guard time - Value in ms
Guard time multiplied by the life time factor gives the life time for the guarding protocol.
The value ”0“ means that the object is not used.
Length: 16 Bit
Default value: 500 ms
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Life time factor – value
Description, see object 100C hex guard time.
Length: 8 Bit
Default value: 

Defines the COB – ID of the emergency object.
Length: 2 Bit
Default value: [80 hex + Address]

Inhibit Time EMCY - value in 0.1 ms
This value allows the inhibit time for emergency telegrams to be set.
The value ”0“ means that the objects is not used.
Length: 16 Bit
Default value: 0 hex
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Up to three heartbeat producers can be monitored with the CANopen module.
    
 
00 hex Number of object entries  8 Bit X -
01 hex Consumer heartbeat time 1 0 2 Bit X X
02 hex Consumer heartbeat time 2 0 2 Bit X X
0 hex Consumer heartbeat time  0 2 Bit X X
Structure of heartbeat time:
  
Reserved (value 0x00) Node-ID Heartbeat time (ms)

The producer heartbeat time defines the cycle time of the heartbeat telegram in ms.
Length: 16 Bit
Default value: 0 ms