Delta ASDA-A3 Series User Manual page 990

ASDA-A3
Object 1016h: Consumer heartbeat time
Index
Name
Object code
Data type
Access
PDO mapping
Sub-index
Description
Data type
Access
PDO mapping
Setting range
Default
Sub-index
Description
Data type
Access
PDO mapping
Setting range
Default
Object function:
Bit
Bit 0 - Bit 15
Bit 16 - Bit 23
Bit 24 - Bit 31
Consumer heartbeat time is defined as the time the servo drive expects to receive a
heartbeat. When the heartbeat consumer does not receive the heartbeat signal within the
receiving time, it triggers the heartbeat event, meaning AL180 is triggered. The consumer
heartbeat time must be greater than the producer heartbeat time. Since there are delays and
other uncontrollable external factors in transmitting the heartbeat message, you must retain a
tolerance time for the transmission.
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
Function
Heartbeat time UNSIGNED8; unit: ms
Node-ID UNSIGNED8
Reserved -
CANopen Mode
Description
12
12-41