User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 19
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3.1.11 Object 1014
h
: COB-ID Emergency Object
This object defines the COB-ID of the emergency object (EMCY).
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
1014
h
COB-ID emergency object
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
no
UNSIGNED32
80
h
+ NODE ID
3.1.12 Object 1015
h
: Inhibit Time EMCY
The inhibit time for the EMCY message can be adjusted via this entry. The time has to be a multiple of
100µs.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
1015
h
Inhibit time EMCY
Variable
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
no
UNSIGNED16
0
3.1.13 Object 1016
h
: Consumer Heartbeat Time
The consumer heartbeat time defines the expected heartbeat cycle time and thus has to be higher than
the corresponding producer heartbeat time configured on the module producing this heartbeat.
The monitoring starts after the reception of the first heartbeat. If the consumer heartbeat time is 0 the
corresponding entry is not used. The time has to be a multiple of 1ms.
MSB
LSB
bits
31-24
23-16
15-0
value
Reserved
Node-ID
Heartbeat time
encoded as
-
UNSIGNED8
UNSIGNED16
Table 3.1 Structure of consumer heartbeat time entry
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
1016
h
Consumer heartbeat time
ARRAY
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
00
h
Number of entries
ro
no
0… 127
no
01
h
Consumer heartbeat time
rw
no
UNSIGNED32
no
3.1.14 Object 1017
h
: Producer Heartbeat Time
The producer heartbeat time defines the cycle time of the heartbeat. The producer heartbeat time is 0 if it
is not used. The time has to be a multiple of 1ms.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
1017
h
Producer heartbeat time
Variable
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
no
UNSIGNED16
0