Object 1016H: Consumer Heartbeat Time - Kollmorgen S300 Interface Manual

CANopen Drive Profile
4.2.1.15

Object 1016h: Consumer Heartbeat Time

The consumer heartbeat time defines the expected heartbeat cycle time and has to be higher than
the corresponding producer heartbeat time configured on the device producing this heartbeat. Moni-
toring starts after the reception of the first heartbeat. If the consumer heartbeat time is 0 the corre-
sponding entry is not used. The time is defined in milliseconds.
Index
Name
Object code
Data type
Category
Subindex
Description
Data type
Category
Access
PDO Mapping
Value range
Default value
Subindex
Description
Category
Access
PDO Mapping
Value range
Default value
Definition of the entry value of sub-index 1
Value
Encoded as
Bit
4.2.1.16 Object 1017h: Producer Heartbeat Time
The producer heartbeat time defines the cycle time of the heartbeat in ms. If it's 0, it is not used.
Index
Name
Object code
Data type
Category
Access
PDO mapping
Value range
Default value
34
11/2018
1016
h
consumer heartbeat time
ARRAY
UNSIGNED32
optional
0
number of entries
UNSIGNED8
mandatory
ro
not possible
1
1
1
Consumer heartbeat time
mandatory
rw
not possible
unsigned 32
no
MSB
reserved (value: 00)
-
31 24 23
1017
h
Producer heartbeat time
VAR
UNSIGNED16
conditional;
mandatory, if guarding is not supported
rw
not possible
UNSIGNED16
0
Node-ID
UNSIGNED8
16 15
CANopen for S300/S700
Kollmorgen
LSB
heartbeat time
UNSIGNED16
0