gefran RK-5 C, Руководство пользователя, Страница: 22 / 35

22 85201A_RK5C_User Manual_02-2017_ENG
1015h – Inhibit time EMCY
This object indicates the configured inhibit time of the EMCY write service.
The inhibit time EMCY defines the minimum time that elapses between two consecutive invocations of the EMCY service.
The value is given in multiples of 100us. The accepted values must be multiples of 10, i.e. 1ms. The value 0 disables
the inhibit time.
Object description
Index Name
1015h Inhibit time EMCY
Entry description
Sub index Name Access Data Type Value Range Default
0 Inhibit time EMCY RW Unsigned16
0000h..FFFFh
as multiples of 10
0000h
NOTE
When using low baudrate values, setting the Inhibit time EMCY to the proper value can avoid possible bus
overloads due to the high frequency rate of transmission of the EMCY messages under certain circumstances.
1017h – Producer heartbeat time
The producer heartbeat time indicates the configured cycle time of the heartbeat, given in 1 ms. The value 0 disables
the producer heartbeat.
Object description
Index Name
1017h Producer heartbeat time
Entry description
SUB Index Name Access Data Type Value Range Default
0
Producer
heartbeat time
RW Unsigned16 0000h..FFFFh 0000h
1018h – Producer heartbeat time
This object provides general identification information of the device.
- Sub-index 1: contains the unique value that is allocated uniquely to each vendor of a CANopen device.
For GEFRAN s.p.a. manufacturer it is 00000093h.
- Sub-index 2: contain the unique value that identifies a specific type of CANopen device. For the GEFRAN RK5C
CANopen device it is 43354B52h.
- Sub-index 3: contains the major revision number and the minor revision number of the revision of the device.
Its value is device specific.
- Sub-index 4: contains the serial number that identifies uniquely the device. Its value is device specific.
Object description
Index Name
1018h Identity object