Delta ASDA-B3 Series, Руководство пользователя

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ASDA-B3 CANopen Mode
11-39
11
Node ID and corresponding COB-ID
Node ID COB-ID
1 129 (81h)
2 130 (82h)
~ ~
127 255 (FFh)
Object 1016h: Consumer heartbeat time
Index 1016h
Name Consumer heartbeat time
Object code ARRAY
Data type UNSIGNED32
Access RW
PDO mapping No
Sub-index 0
Description Number of sub-index
Data type UNSIGNED8
Access RO
PDO mapping No
Setting range 1
Default 1
Sub-index 1
Description Consumer heartbeat time
Data type UNSIGNED32
Access RW
PDO mapping No
Setting range UNSIGNED32
Default 0
Object function:
31 30 29 28 27 26 25 24
Bit
15 14 13
12
11 10 9 8
Bit
7 6 5 4 3 2 1 0
23 22 21 20 19 18 17 16
Bit Function Description
Bit 31 - Bit 24 Reserved -
Bit 23 - Bit 16 Node-ID UNSIGNED8
Bit 15 - Bit 0 Heartbeat time UNSIGNED8; unit: ms
Consumer heartbeat time is defined as the time the servo drive expects to receive a heartbeat.
For the setting, consumer heartbeat time must be greater than the producer heartbeat time.
Due to delays and other uncontrollable external factors in transmitting the heartbeat, you must
retain a tolerance margin value. When the heartbeat consumer does not receive the heartbeat
signal within the receiving time, the heartbeat event is triggered, meaning AL180 is triggered.