Delta ASDA-A3 Series User Manual page 698

ASDA-A3
Object 100Dh: Life time factor
Index
Name
Object code
Data format
Access
PDO mapping
Setting range
Default
Object function:
The Life Guarding Protocol includes OD 100Ch and 100Dh. OD 100Ch is the guard time in
milliseconds and OD 100Dh is the multiplying factor. Therefore, OD 100Ch multiplied by
OD 100Dh gives the life time for the Life Guarding Protocol. If the time (OD 100Ch) is set to 0,
then this setting is invalid.
Example: if OD 100Ch = 5 ms and OD 100Dh = 10, then life time equals 50 ms.
Object 1014h: COB-ID EMCY
Index
Name
Object code
Data format
Access
PDO mapping
Setting range
Default
Object function:
31 30
Bit
15 14
Bit
Bit
Bit 31
Bit 30 - Bit 11
Bit 10 - Bit 0
The emergency (EMCY) function is as follows:
Communication
object
EMCY object
100Dh
Life time factor
VAR
UNSIGNED8
RW
No
UNSIGNED8
0
1014h
COB-ID emergency message
VAR
UNSIGNED32
RO
No
UNSIGNED32
80h + Node-ID
28
29 27 26 25
13 12 11 10 9
Function
Emergency (EMCY) function
Reserved
11-bit Identifier COB-ID
Function
Node ID
code
0001 1 - 127
24 23 22 21 20
8 4
7 6 5
Description
0: the emergency (EMCY) function is enabled
(servo drive sends the EMCY command).
1: the emergency (EMCY) function is disabled
(servo drive does not send the EMCY
command).
-
80h + Node-ID
COB-ID
129 (81h) - 255 (FFh)
CANopen Mode
19 18 17 16
3 2 1 0
Object parameter
index
1014h
12
12-37