Elmomc CANopen DS 301 Implementation Guide Manuel d'utilisateur télécharger pdf (Page 63)

Object 0x1016: 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 device

producing this heartbeat. Monitoring starts after the reception of the first heartbeat. If the

consumer heartbeat time is 0, the corresponding entry is not used. The time period must

be a multiple of 1 ms.

UNSIGNED32

MSB

LSB

Bits 31…24 23…16 15…0

Value

0 Node-ID Heartbeat time, in milliseconds

Encoding

- Unsigned8 Unsigned16

If more than one consumer heartbeat entry is configured for the same Node ID, the

device aborts the SDO download with abort code 0604 0043h.

 Object description:

Index 1016h

Name Consumer heartbeat time

Object code ARRAY

Data type UNSIGNED32

Category Optional

 Entry description:

Sub-index 0

Description Largest supported sub-index

Entry category Optional

Access Read only

PDO mapping No

Value range 1

Default value 1

CANopen DS 301 Implementation Guide Device-specific Objects

MAN-CAN301IG (Ver. 2.1)

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Elmomc CANopen DS 301 Implementation Guide Manuel d'utilisateur Page 63