ifm electronic RM9000 - Manual (Page 15)

UK
CANopen encoder
15
Index S-Idx Name Type,
access
default value Description
1012 0 COB ID time
stamp object
u32, rw 100h The object contains the COB ID of the
time stamp object�
1013 0 High resolution
time stamp
u32, rw 0 The object contains a time stamp with a
resolution of 1 µs�
1014 0 COB ID
emergency
object
u32, rw 80h + node ID The object contains the EMCY
emergency message identifier�
1016 Consumer
heartbeat time
The consumer heartbeat time defines the
heartbeat cycle time to be expected in
ms� The encoder can only monitor one
device� When the time is set to zero, this
service is not activated� The set time
must be higher than the corresponding
time (object 1017) of the device to be
monitored�
0 Number of sub
indices
u8, ro 1
1 Consumer
heartbeat time
u32, rw 0
The contents of the sub index 1 is composed as follows:
Bit 31 to 24 23 to 16 15 to 0
value 0h (reserved) address of the
device to be
monitored
monitoring time
(ms)
1017 0 Producer
heartbeat time
u16, rw 0 This object contains the time interval in
milliseconds during which it has to send
the message�
1018 Identity object This object contains the device
information
0 Number of
entries
u8, ro 1
1 Vendor ID u32, ro 0x0069666D
2 Product code u32, ro 0x43 0x41
3 Revision
number
u32, ro 0x10000
4 Serial number u32, ro see type label