Delta ASDA-A3 Series User Manual page 699

CANopen Mode
Node ID and corresponding COB-ID
12
Object 1016h: Consumer heartbeat time
Index
Name
Object code
Data format
Access
PDO mapping
Sub-index
Description
Data format
Access
PDO mapping
Setting range
Default
Sub-index
Description
Data format
Access
PDO mapping
Setting range
Default
Object function:
31
Bit
15
Bit
Bit 31 - Bit 24
Bit 23 - Bit 16
Bit 15 - Bit 0
Consumer heartbeat time is defined as the time the servo drive expects to receive a
heartbeat. For the setting, consumer heartbeat time must be greater than the producer
heartbeat time. Due to delays and other uncontrollable external factors in transmitting the
heartbeat, you must retain a tolerance margin value. When the heartbeat consumer does not
receive the heartbeat signal within the receiving time, the heartbeat event is triggered,
meaning AL180 is triggered.
12-38
Node ID
1
2
~
127
1016h
Consumer heartbeat time
ARRAY
UNSIGNED32
RW
No
0
Number of sub-index
UNSIGNED8
RO
No
1
1
1
Consumer heartbeat time
UNSIGNED32
RW
No
UNSIGNED32
0
30 29 28 27 26
12 11
14 13 10
Bit Function
Reserved
Node-ID
Heartbeat time
COB-ID
129 (81h)
130 (82h)
255 (FFh)
25 24 23 22 21
9 8 7 6 5
-
UNSIGNED8
UNSIGNED8; unit: ms
~
20 19 18 17 16
4
3 2 1 0
Description
ASDA-A3