Communication specific standard objects (CiA DS-301)
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7.13 Object 1014h: COB-ID EMERGENCY (EMCY)
This object indicates the configured COB-ID for the EMCY write service.
Default value = 80h + Node-ID.
EMCY Identifier, rw:
31
30
29
28
11 10
0
Valid
0
Frame
0 0000h
11-Bit CAN-ID
MSB
LSB
Bit(s)
Description
Valid
0: EMCY exists / is valid
1: EMCY does not exist / is not valid
30
reserved, always 0
Frame
0: 11-Bit CAN-ID valid, CAN base frame
1: 29-Bit CAN-ID valid, CAN extended frame (not supported)
11-Bit CAN-ID
11-Bit CAN-ID of the CAN base frame
The bits 0 to 29 must not be changed, while the object exists and is valid (bit 31 = 0).
If a new value shall be written, bit 31 must be set to 1 together with the new value. In
this connection the Node-ID must be considered.
7.14 Object 1016h: Consumer heartbeat time
The consumer heartbeat time object indicates the expected heartbeat cycle time.
Monitoring of the heartbeat producer starts after the reception of the first heartbeat.
The consumer heartbeat time should be higher than the corresponding producer
heartbeat time. If the heartbeat is not received within the heartbeat consumer time, the
emergency 8130h is transmitted and both nodes, Producer/Consumer, will be set into
PRE-OPERATIONAL state. Hereupon, the timer values of the Producer/Consumer are
set to 0.
Index
Sub-Index Comment
Type
Attribute
1016h
0
largest supported Sub-Index = 1
Unsigned8
ro
1
Consumer heartbeat time
Unsigned32
rw
Consumer heartbeat time:
31
24 23
16 15
0
reserved, 00h
Node-ID, default = 1
Heartbeat time [ms], Default = 0
MSB
LSB
If the heartbeat time is 0 or the node-ID is 0 or greater than 127 the object entry is not
used and the error code 0609 0030h is transmitted. The heartbeat time is given in
multiples of 1ms. The entry for the Node-ID corresponds to the Node-ID of the node to
be guarded.
