0X1014 - Cob Id Emcy; 0X1016 - Heartbeat Consumer Entries - Vacon OPTE6 User Manual

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3.7.7

0X1014 - COB ID EMCY

The object defines the emergency message COB ID.
Table 38: 0x1014 COB ID EMCY
Index
0x1014
3.7.8

0X1016 - Heartbeat Consumer Entries

The device can act as the heartbeat consumer. Up to 8 devices can be monitored, as defined in the
table below. If the heartbeat transmission delay of a defined node ID exceeds the heartbeat time,
the error behaviour is activated according to the error behaviour object.
Table 39: 0x1016 Heartbeat consumer entries
Index
0x1016
Table 40: Consumer heartbeat time entry
31
Not used, must be
zeroes.
3
Sub-index Value
0x00000080+
-
node id
Sub-index Value
0 0x0000 0008
1 0x0000 0000
2 0x0000 0000
3 0x0000 0000
4 0x0000 0000
5 0x0000 0000
6 0x0000 0000
7 0x0000 0000
8 0x0000 0000
24 23
CANopen protocol description
Name Data type
COB ID EMCY UNSIGNED32
Name
COB ID EMCY
Consumer heart beat
time 1
Consumer heart beat
time 2
Consumer heart beat
time 3
Consumer heart beat
time 4
Consumer heart beat
time 5
Consumer heart beat
time 6
Consumer heart beat
time 7
Consumer heart beat
time 8
16 15
Node ID Heartbeat time
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Access
r/w
Data type Access
UNSIGNED32 ro
UNSIGNED32 r/w
UNSIGNED32 r/w
UNSIGNED32 r/w
UNSIGNED32 r/w
UNSIGNED32 r/w
UNSIGNED32 r/w
UNSIGNED32 r/w
UNSIGNED32 r/w
0