5.2.1.15 Object 1016h: Consumer Heartbeat Time
The consumer heartbeat time defines the expected heartbeat cycle time and has to be higher
than the corresponding producer heartbeat time configured on the device producing this heart-
beat. Monitoring starts after the reception of the first heartbeat. If the consumer heartbeat time is 0
the corresponding entry is not used. The time is defined in milliseconds.
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 ro
PDO Mapping not possible
Value range 1
Default value 1
Subindex 1
Description Consumer heartbeat time
Category mandatory
Access rw
PDO Mapping not possible
Value range unsigned 32
Default value 0
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
5.2.1.16 Object 1017h: Producer Heartbeat Time
The producer heartbeat time defines the cycle time of the heartbeat in ms. If it’s 0, it is not used.
Index 1017h
Name Producer heartbeat time
Object code VAR
Data type UNSIGNED16
Category conditional;
mandatory, if guarding is not supported
Access rw
PDO mapping not possible
Value range UNSIGNED16
Default value 0
S300-S700 CANopen | 5 CANopen Drive Profile
Kollmorgen | kdn.kollmorgen.com | December 2019 35
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