iR-COP
19
6.1.12
1014h: COB-ID EMCY
According to DS301, before setting COB-ID for EMCY, Bit31 should be set to 1 (Invalid),
otherwise COB-ID cannot be set.
Bit31
Bit30 Bit11
Bit10 Bit0
0/1 (valid/invalid)
Reserved(0)
COB-ID
6.1.13
1015h: Inhibit Time EMCY
The interval between two EMCY messages must be longer than the Inhibit Time (unit:
100µs). 0 means disabling this function.
6.1.14
1016h: Consumer Heartbeat Time
Consumer Heartbeat Time specifies the interval at which the node receives
heartbeat messages in milliseconds (ms). If Heartbeat Time is 0 or Node-ID equals to
0 / greater than 127, no heartbeat message is sent.
Word index 00h: Number of word index
Word index 01h: Consumer heartbeat time
31 24 23 16 15 0
Reserved (00
h
)
Node-ID
Heartbeat time
MSB
LSB
6.1.15
1017h: Producer Heartbeat Time
Producer Heartbeat Time specifies the interval at which the node sends heartbeat
messages (0x700+Node-ID) in milliseconds (ms). By default this object is set to 0
which means no heartbeat message is sent.
6.1.16
1029h: Error Behavior Object
When the following communication errors occur:
CAN Bus-OFF
Life Guarding Event
Heartbeat Event
This object can be used to give the following commands:
Value
Description
00h
Change to NMT state Pre-operational.
(If currently in NMT state Operational)
