ElmoMC CANopen DS 301 Implementation Guide - Manual (Page 63)

Object 0x1016: Consumer heartbeat time
The consumer heartbeat time defines the expected heartbeat cycle time and thus has to be
higher than the corresponding producer heartbeat time configured on the device
producing this heartbeat. Monitoring starts after the reception of the first heartbeat. If the
consumer heartbeat time is 0, the corresponding entry is not used. The time period must
be a multiple of 1 ms.
UNSIGNED32
MSB
LSB
Bits 31…24 23…16 15…0
Value 0 Node-ID Heartbeat time, in milliseconds
Encoding - Unsigned8 Unsigned16
If more than one consumer heartbeat entry is configured for the same Node ID, the
device aborts the SDO download with abort code 0604 0043h.
ƒ Object description:
Index 1016h
Name Consumer heartbeat time
Object code ARRAY
Data type UNSIGNED32
Category Optional
ƒ Entry description:
Sub-index 0
Description Largest supported sub-index
Entry category Optional
Access Read only
PDO mapping No
Value range 1
Default value 1
CANopen DS 301 Implementation Guide Device-specific Objects
MAN-CAN301IG (Ver. 2.1)
12-12