User Manual

TMCM-1276 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28
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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.
Value Definition
Bits Name Definition
31. . . 24 Reserved —
23. . . 16 Node ID Heartbeat Producer Node ID
15. . . 0 Heartbeat time Time in 1ms
Table 33: Value Definition (1016
h
)
Object Description
Index Name Object Type Data Type
1016
h
Consumer heartbeat time Variable UNSIGNED16
Table 34: Object Description (1016
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no UNSIGNED16 0
Table 35: Entry Description (1016
h
)
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 Type Data Type
1017
h
Producer heartbeat time Variable UNSIGNED16
Table 36: Object Description (1017
h
)
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