Object 1014H: Cob-Id Emergency (Emcy); Object 1016H: Consumer Heartbeat Time - TR-Electronic CANopen+Multi-Sensor LP-46-K Benutzerhandbuch

Communication specific standard objects (CiA DS-301)

7.13 Object 1014h: COB-ID EMERGENCY (EMCY)

This object indicates the configured COB-ID for the EMCY write service.
Default value = 80h + Node-ID.
EMCY Identifier, rw:
31
Valid
MSB
Bit(s)
Valid
30
Frame
11-Bit CAN-ID
The bits 0 to 29 must not be changed, while the object exists and is valid (bit 31 = 0).
If a new value shall be written, bit 31 must be set to 1 together with the new value. In
this connection the Node-ID must be considered.

7.14 Object 1016h: Consumer heartbeat time

The consumer heartbeat time object indicates the expected heartbeat cycle time.
Monitoring of the heartbeat producer starts after the reception of the first heartbeat.
The consumer heartbeat time should be higher than the corresponding producer
heartbeat time. If the heartbeat is not received within the heartbeat consumer time, the
emergency 8130h is transmitted and both nodes, Producer/Consumer, will be set into
PRE-OPERATIONAL state. Hereupon, the timer values of the Producer/Consumer are
set to 0.
Index
1016h
Consumer heartbeat time:
31
reserved, 00h
MSB
If the heartbeat time is 0 or the node-ID is 0 or greater than 127 the object entry is not
used and the error code 0609 0030h is transmitted. The heartbeat time is given in
multiples of 1ms. The entry for the Node-ID corresponds to the Node-ID of the node to
be guarded.
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30 29 28
0 Frame
Description
0: EMCY exists / is valid
1: EMCY does not exist / is not valid
reserved, always 0
0: 11-Bit CAN-ID valid, CAN base frame
1: 29-Bit CAN-ID valid, CAN extended frame (not supported)
11-Bit CAN-ID of the CAN base frame
Sub-Index Comment
0 largest supported Sub-Index = 1
1 Consumer heartbeat time
24 23
Node-ID, default = 1
TR - ELA - BA - DGB - 0016 - 04
11 10
0 0000h
Type
Unsigned8
Unsigned32
16 15
Heartbeat time [ms], Default = 0
0
11-Bit CAN-ID
LSB
Attribute
ro
rw
0
LSB
Printed in the Federal Republic of Germany
01/20/2017