Object 1016h: consumer heartbeat time, Object 1017h: producer heartbeat time, Object 1018h: identity object – BEI Sensors MHK5 Absolute Hollow Shaft Encoder User Manual
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Version 07/10
BEI Sensors CANopen Manual serie M
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Object 1016h: Consumer Heartbeat Time
The consumer heartbeat time defines the expected heartbeat cycle time in ms. The device can only
monitor one corresponding device. If the time is set to 0 the monitoring is not active. The value of this
object must be higher than the corresponding time (object 1017) of the monitored device.
Subindex Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Number of indices
Unsigned 8
1
ro
no
1h
Consumer heartbeat time
Unsigned 32
0
rw
yes
The context of subindex 1 is as follows:
Bit
31 to 24
23 to 16
15 to 0
Value 0h
(reserved)
Address
of
monitored
device
Monitoring time (ms
Object 1017h: Producer Heartbeat Time
The object contains the time intervall in milliseconds in which the device has to produce the a heartbeat
message.
Subindex Description
Data Type
Default Value
Access
Restore after
BootUp
0h -
Unsigned
16
0
rw
yes
Object 1018h: Identity Object
This object contains the device information. For further information, please see chapter 4.5 Layer Setting
Services.
Subindex Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Number of entries
Unsigned 8
4
ro
no
1h
Vendor ID
Unsigned 32
42h
ro
no
2h
Product Code
Unsigned 32
43h 41h
ro
no
3h
Revision Number
Unsigned 32
10000h
ro
no
4h
Serial Number
Unsigned 32
ro
no