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9 Communication 9.7.4 CANopen Conguration
② Heartbeat attributes
Enable Heartbeat
: If this option is selected, heartbeats will be generated. By default, the option is selected.
When the option is selected, the master station will monitor the heartbeat state by default.
Production Time (ms)
: Indicates the cycle for heartbeat sending.
Change heartbeat consumer properties
: It is used to set heartbeats of other stations to be monitored by the
congured station. This function is disabled by default. The function can be enabled only when the slave
station supports heartbeat monitoring.
③ Synchronous (if supported)
Enable Sync Generator
: If this option is selected, the congured station will send a sync frame repeatedly
in the set synchronization cycle.
COB-ID
: Indicates the ID for sync frame sending. The default value is 0x80. The parameter cannot be
congured.
Synchronous Cycle (ms)
: Indicates the cycle for sync frame sending. The default value is 200, in the unit of
milliseconds.
Window Length (ms)
: The value is 0 by default. The parameter cannot be congured.
• On a network, only one sync frame can be sent.
C)
Emergency message
If this option is selected, you can set the COB-ID of an emergency message. By default, the option is not
selected.
d)
Inspect When Restart
If
Check Supplier ID
,
Check Product ID
, or
Check Version
is selected, corresponding data will be
checked before conguration of the slave station. If the check fails, the network cannot be connected.
3) Receiving/sending PDO parameters
Click
Receive PDO
or
Send PDO
. The following page is displayed.
① Receive PDO Parameter: Indicates the data sent by the master station to a slave station.
② Send PDO Parameter: Indicates the data sent by a slave station to the master station.
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