User Manual

TMCM-6212 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13
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Object Description
Index Name Object Type Data Type
1014
h
COB-ID emergency object Variable UNSIGNED32
Table 31: Object Description (1014
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no UNSIGNED32 80
h
+ Node ID
Table 32: Entry Description (1014
h
)
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 Type Data Type
1015
h
COB-ID emergency object Variable UNSIGNED16
Table 33: Object Description (1015
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no UNSIGNED16 0
Table 34: Entry Description (1015
h
)
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 35: Value Definition (1016
h
)
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