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UK
CANopen encoder
15
Index S-Idx Name
Type,
access
default value
Description
1012
0
COB ID time
stamp object
u32, rw
100h
The object contains the COB ID of the
time stamp object�
1013
0
High resolution
time stamp
u32, rw
0
The object contains a time stamp with a
resolution of 1 µs�
1014
0
COB ID
emergency
object
u32, rw
80h + node ID
The object contains the EMCY
emergency message identifier�
1016
Consumer
heartbeat time
The consumer heartbeat time defines the
heartbeat cycle time to be expected in
ms� The encoder can only monitor one
device� When the time is set to zero, this
service is not activated� The set time
must be higher than the corresponding
time (object 1017) of the device to be
monitored�
0
Number of sub
indices
u8, ro
1
1
Consumer
heartbeat time
u32, rw
0
The contents of the sub index 1 is composed as follows:
Bit
31 to 24
23 to 16
15 to 0
value
0h (reserved)
address of the
device to be
monitored
monitoring time
(ms)
1017
0
Producer
heartbeat time
u16, rw
0
This object contains the time interval in
milliseconds during which it has to send
the message�
1018
Identity object
This object contains the device
information
0
Number of
entries
u8, ro
1
1
Vendor ID
u32, ro
0x0069666D
2
Product code
u32, ro
0x43 0x41
3
Revision
number
u32, ro
0x10000
4
Serial number
u32, ro
see type label
Summary of Contents for RM8004
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