CANopen Programmer's Manual - Maccon.de

CANopen Programmer’s Manual 2: Network Management
LIFE TIME FACTOR INDEX 0X100D
Type Access Units Range Map PDO Memory
Unsigned 8 RW - - NO R
Description
This object gives a multiple of the GUARD Time (index 0x100C, p. 46). The amplifier expects to
receive a node-guarding request within the time period defined by the product of the guard time
and the lifetime factor. If the amplifier has not received a node-guarding request within this time
period, it treats this condition as a fault.
HIGH-RESOLUTION TIME STAMP INDEX 0X1013
Type Access Units Range Map PDO Memory
Unsigned 32 RW microseconds 0 - 294,967,295 YES R
Description
This object holds a time stamp indicating the amplifier's internal time (in microseconds) when the
last SYNC message was received (or transmitted for the SYNC producer). Writing to this object
will cause the amplifier to adjust its internal clocks to reconcile the difference between the value
passed and the internal value of the time stamp.
The purpose of this object is to allow multiple amplifiers to synchronize their clocks across the
CANopen network. To enable this feature, one amplifier should be selected as a high-resolution
time stamp producer. This amplifier should have a transmit PDO configured to transmit this object
to the rest of the network at a rate of approximately 10 Hertz (once every 100 milliseconds).
Every other amplifier should have a receive PDO configured (using the same COB-ID as the
producer's transmit PDO) to update its time stamp using the value passed by the producer.
PRODUCER HEARTBEAT TIME INDEX 0X1017
Type Access Units Range Map PDO Memory
Unsigned 16 RW milliseconds - NO R
Description
This object gives the frequency at which the amplifier will produce heartbeat messages. This
object may be set to zero to disable heartbeat production. Note that only one of the two nodeguarding
methods may be used at once. If this object is non-zero, then the heartbeat protocol is
used regardless of the settings of the node-guarding time and lifetime factor.
EMERGENCY OBJECT ID INDEX 0X1014
Type Access Units Range Map PDO Memory
Unsigned 32 RW - - NO R
Description
CAN message ID used with the emergency object. See Emergency Messages, p. 42 and the
CANopen Application Layer and Communication Profile (DS 301).
EMERGENCY OBJECT ID INHIBIT TIME INDEX 0X1015
Type Access Units Range Map PDO Memory
Unsigned 16 RW milliseconds - NO R
Description
Inhibit time for the emergency object. See Emergency Messages, p. 42 and the CANopen
Application Layer and Communication Profile (DS 301).
Copley Controls 47