Kollmorgen AKD User Manual

7.2.1.14 Object 1014h: COB-ID for Emergency Message (DS301)
This object defines the COB-ID of the Emergency message.
Index 1014h
Name COB-ID emergency message
Object code VAR
Data type UNSIGNED32
Category conditional; mandatory, if Emergency is supported
Access R/O
PDO mapping not possible
Value range UNSIGNED32
Default value 80h + Node - ID
7.2.1.15 Object 1016h: Consumer Heartbeat Time
The consumer heartbeat time defines the expected heartbeat cycle time (ms) and must be higher than the cor-
responding 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 ms the corresponding entry is not used.
Index 1016h
Name consumer heartbeat time
Object code ARRAY
Data type UNSIGNED32
Category optional
Subindex 0
Description number of entries
Data type UNSIGNED8
Category mandatory
Access R/O
PDO Mapping not possible
Value range 1
Default value 1
Subindex 1
Description Consumer heartbeat time
Category mandatory
Access R/W
PDO Mapping not possible
Value range unsigned 32
Default value no
Definition of the entry value of Subindex 1
MSB LSB
Value reserved (value: 00) Node-ID heartbeat time
Encoded as - UNSIGNED8 UNSIGNED16
Bit
31 24 23 16 15 0
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Kollmorgen™ | November 2012 55

Kollmorgen AKD Specifications

General

Control Modes	Torque, Velocity, Position
Communication Interfaces	EtherCAT, CANopen
Feedback Options	Resolver
Safety	STO (Safe Torque Off), SS1 (Safe Stop 1)
Protection Features	Overcurrent, Overvoltage, Undervoltage, Overtemperature
Operating Temperature Range	0°C to 55°C
Humidity	5% to 95% non-condensing