WCS-10 User manual
23
Copyright © TK Engineering Oy 2009 - 2017
4.3 Hardware configuration
4.3.1 Disable/Enable Heartbeat
The WCS-10 has a configuration port that is using the CANopen stack specifications. This port uses
to configure the node, and it also transmits heartbeat and EMCY messages. This port can disable
and enable the heartbeat by writing to SDO object 0x2000. Writing 0 disables the heartbeat, writing
1 enables, which is default.
Table 23: 0x2000 object description
Attribute
Value
Index
0x2000
Name
Disable/Enable Heartbeat
Object code
Variable
Data type
U8
Category
Mandatory
Table 24: 0x2000 entry description
Attribute
Value
Sub-index
0x00
Access
rw
PDO mapping
No
Value range
U8
Default value
1 = Enabled (Default), 0 = Disabled
4.3.2 Bit rates (0x50x0)
Table 25: 0x5010..0x5050 object description
Attribute
Value
Index
0x5010 (CAN1), 0x5020 (CAN2), 0x5030 (CAN3), 0x5040 (CAN4),
0x5050 (CANA)
Name
Port [1..4, A] Bit rate
Object code
Variable
Data type
U8
Category
Optional
Table 26: 0x5010..0x5050 sub 0x01 BTR0 entry description
Attribute
Value
Sub-index
0x01
Access
RW
PDO mapping
No
Value range
See Table 28
Default value
0x01 (500 kbps)
