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
1016
h
Consumer heartbeat time Variable UNSIGNED16
Table 36: Object Description (1016
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no UNSIGNED16 0
Table 37: 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 38: Object Description (1017
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no UNSIGNED16 0
Table 39: Entry Description (1017
h
)
3.1.15 Object 1018
h
: Identity Object
The object 1018
h
contains general information about the device:
• The vendor ID (sub-index 01
h
) contains a unique value allocated to each manufacturer. The vendor
ID of Trinamic is 286
h
.
• The manufacturer specific product code (sub-index 2
h
) identifies a specific device version.
• The manufacturer specific revision number (sub-index 3
h
) consists of a major revision number and a
minor revision number.
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