UMDIO128CO V2.0.1 Preliminary Documentation – May be Subject to Change 28-53
3.2.7.
Object 1016h: Consumer Heartbeat Time
The DIO128 Controller can be a consumer of heartbeat objects for up to one module. This object
defines the expected heartbeat cycle time for that module, and if set to zero, it is not used. When
non-zero, the time is a multiple of 1ms, and monitoring will start after the reception of the first
heartbeat from the module. If the DIO128 Controller fails to receive a heartbeat from a node in the
expected timeframe, it will indicate a communication error, and respond as per object 1029h.
Bits
31-24 23-16 15-0
Value Reserved 00h Node-ID
Heartbeat time
Encoded as
UNSIGNED8
UNSIGNED16
Object Description
Index 1016h
Name
Consumer heartbeat time
Object Type
ARRAY
Data Type
UNSIGNED32
Entry Description
Sub-Index 0h
Description Number
of
entries
Access RO
PDO Mapping
No
Value Range
4
Default Value
4
Sub-Index
1h to 4h
Description
Consumer heartbeat time
Access RW
PDO Mapping
No
Value Range
UNSIGNED32
Default Value
0
