Siko IKM360M, User Manual

Page: 41 / 58

Communication via CAN bus (CANopen and CANopen Safety)
IKM360M
Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 41 of 58
5.8.2.13 1014h: COB ID Emergency message
The COB ID of the Emergency object is set via object 1014h (see chapter 5.6.1 ).
Sub-index 00h
Description Defines the COB ID of the Emergency object (EMCY)
Access rw (writable in the "Pre-Operational" state only see chapter 5.2.1 )
PDO mapping no
Data type UNSIGNED 32
Default 80h + Node ID
EEPROM yes
Data content Bit 31 0: EMCY object exists / is valid
1: EMCY object does not exists / is invalid
Bit 30 always 0b
Bit 29 0: 11bits identifier (CAN 2.0A)
1: 29bits identifier (CAN 2.0B)
Bit 28 … 11 0: if bit 29 = 0b
X: Bits 28 … 11 of the EMCY-COB ID, if Bit 29 = 1b
Bit 10 … 0 X: Bits 10 … 0 of the EMCY-COB ID
5.8.2.14 1017h: Producer Heartbeat Time
The cycle time "Heartbeat Time" for the heartbeat protocol is set via object 1017h. The cycle
time is indicated in milliseconds.
Sub-index 00h
Description defines the cycle time of the heartbeat monitoring service
Access rw
PDO mapping no
Data type UNSIGNED 16
Default 0h
EEPROM yes
Data content 0d, 10d ... 65535d (0h, Ah ... FFFFh); the numerical value corresponds to
a multiple of 1 ms. Value 0h disables the service.
5.8.2.15 1018h: Identity Object
The manufacturer identification number (Vendor ID) is indicated by object 1018h.
Sub-index 00h
Description indicates the largest supported sub-index
Access const
PDO mapping no
Data type UNSIGNED 8
Default 4h
EEPROM no