IFM CR2012, Device Manual, Page: 21 / 28

UK
CabinetModule CR2012
21
Index S-Idx Name Type Default Description
1014
0 COB ID EMCY rw u32 0x40000080
+ NodeID
module generates EMCY
messages
(bit 30 = 1)
1016 0 number of monitored
devices
ro u8 0x01
1 consumer heartbeat
time
rw u32 0x00000000 heartbeat monitoring time for
node n
monitoring of only one node is
supported
0x0nn tttt = monitoring time [ms]
0x0 nn tttt = node number
(if nn or tttt = 0, no monitoring is
carried out)
1017
0 producer heartbeat
time
rw u16 0x0000 time interval [ms] where the
module generates a producer
heartbeat
1018 0 number of identity
objects
ro u8 0x04
1 vendor ID ro u32 0x0069666D
1400 0 highest numbered
subindex Receive
PDO 1
ro u8 0x02
1 COB ID Receive
PDO 1
rw u32 0x00000200
+ NodeID
PDO is valid (bit 31 = 0)
2 transmission type Rec
PDO 1
rw u8 0x01 0x01���0xF0 = synch cyclic
0xFE���0xFF = asynch
(immediately)
1401 0 highest numbered
subindex Receive
PDO 2
ro u8 0x02
1 COB ID Receive
PDO 2
rw u32 0x00000300
+ NodeID
PDO is valid (bit 31 = 0)
2 transmission type Rec
PDO 2
rw u8 0x01 0x01���0xF0 = synch cyclic
0xFE���0xFF = asynch
(immediately)
1600
0 number of application
objects linked with Rec
PDO 1
rw u8 0x01
1 1st mapping object
Rec PDO 1
rw u32 0x08010062 index 6200, subindex 1, 8 bits
2 2nd mapping object
Rec PDO 1
rw u32 0x00000000 no object
3 3rd mapping object
Rec PDO 1
rw u32 0x00000000 no object
4 4th mapping object
Rec PDO 1
rw u32 0x00000000 no object