Applied Motion ST10-C-CE - Manual (Page 27)

27 920-0025 Rev K
3/5/2015
CANopen User Manual
Devices supporting the standard CAN frame type only, an attempt to set bit 29 is respond-
ed with an abort message (abort code: 0609 0030h). It is not allowed to change Bits 0-29,
while the object exists (Bit 31=0).
Object Type Data Type Access Type PDO Mapping COS Default value
Var UNSIGNED32 ro no no 0x80+$NODEID
bit 0-10: COB-ID
bit 11-30: set to 0 for 11 bit COB-ID
bit 31: 0(1) - node uses (does NOT use) Emergency object
0x1015 inhibit time EMCY
The inhibit time for the EMCY message can be adjusted via this entry. The time has to be
a multiple of 100ms.
Object Type Data Type Access Type PDO Mapping COS Default value
Var UNSIGNED16 rw no no 200
bit 0-15: Inhibit time of emergency message in 100µs
0x1017 Producer heartbeat time
The producer hartbeat time defines the cycle time of the heartbeat. The producer
heartbeat time is 0 if it not used. The time has to be a multiple of 1ms.
Object Type Data Type Access Type PDO Mapping COS Default value
Var UNSIGNED16 rw no no 1000
bit 0-15: Heartbeat producer time in ms (0 = disable transmission)
0x1018 Identity
The object at index 1018h contains general information about the device.
1. The Vendor ID (sub-index 1h) contains a unique value allocated to each manufacturer.
2. The manufacturer-specific Product code (sub-index 2h) identifies a specific device
version.
3. The manufacturer-specific Revision number (sub-index 3h) consists of a major revision
number and a minor revision number. The major revision number identifies a specific CANopen
behaviour. If theCANopen functionality is expanded, the major revision has to be incremented.
The minor revision number identifies different versions with the same CANopen behaviour.
4. The manufacturer-specific Serial number (sub-index 4h) identifies a specific device.