Delta ASDA-A3 Series, User Manual

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ASDA-A3 CANopen Mode
12-37
12
Object 100Dh: Life time factor
Index 100Dh
Name Life time factor
Object code VAR
Data format UNSIGNED8
Access RW
PDO mapping No
Setting range UNSIGNED8
Default 0
Object function:
The Life Guarding Protocol includes OD 100Ch and 100Dh. OD 100Ch is the guard time in
milliseconds and OD 100Dh is the multiplying factor. Therefore, OD 100Ch multiplied by
OD 100Dh gives the life time for the Life Guarding Protocol. If the time (OD 100Ch) is set to 0,
then this setting is invalid.
Example: if OD 100Ch = 5 ms and OD 100Dh = 10, then life time equals 50 ms.
Object 1014h: COB-ID EMCY
Index 1014h
Name COB-ID emergency message
Object code VAR
Data format UNSIGNED32
Access RO
PDO mapping No
Setting range UNSIGNED32
Default 80h + Node-ID
Object function:
31 30 29 28 27 26 25 24
Bit
15 14 13 12 11 10 9 8
Bit
7 6 5 4 3 2 1 0
23 22 21 20 19 18 17 16
Bit Function Description
Bit 31 Emergency (EMCY) function
0: the emergency (EMCY) function is enabled
(servo drive sends the EMCY command).
1: the emergency (EMCY) function is disabled
(servo drive does not send the EMCY
command).
Bit 30 - Bit 11 Reserved -
Bit 10 - Bit 0 11-bit Identifier COB-ID 80h + Node-ID
The emergency (EMCY) function is as follows:
Communication
object
Function
code
Node ID COB-ID
Object parameter
index
EMCY object 0001 1 - 127 129 (81h) - 255 (FFh) 1014h