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ASDA-A3

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CANopen Mode

Object 1016h: Consumer heartbeat time

Index

Name

Object code

Data type

Access

PDO mapping

1016h

Consumer heartbeat time

ARRAY

UNSIGNED32

RW

No

12

Sub-index

Description

Data type

Access

PDO mapping

Setting range

Default

0

Number of sub-index

UNSIGNED8

RO

No

1

1

Sub-index

Description

Data type

Access

PDO mapping

Setting range

Default

1

Consumer heartbeat time

UNSIGNED32

RW

No

UNSIGNED32

0

Object function:

Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16

Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Bit

Bit 0 - Bit 15

Bit 16 - Bit 23

Bit 24 - Bit 31

Function

Heartbeat time

Node-ID

Reserved

Description

UNSIGNED8; unit: ms

UNSIGNED8

-

Consumer heartbeat time is defined as the time the servo drive expects to receive a

heartbeat. When the heartbeat consumer does not receive the heartbeat signal within the

receiving time, it triggers the heartbeat event, meaning AL180 is triggered. The consumer

heartbeat time must be greater than the producer heartbeat time. Since there are delays and

other uncontrollable external factors in transmitting the heartbeat message, you must retain a

tolerance time for the transmission.

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