11.1.6 Manufacturer Device Name .............................................................................................................. 51
11.1.7 Manufacturer Hardware Version ..................................................................................................... 51
11.1.8 Manufacturer Software Version.......................................................................................................51
11.1.9 Node ID .................................................................................................................................................. 51
11.1.10 Guard Time............................................................................................................................................ 51
11.1.11 Life Time Factor .................................................................................................................................... 52
11.1.12 Store Parameters .................................................................................................................................52
11.1.13 Restore Default Parameters .............................................................................................................. 52
11.1.14 COB-ID Emergency Object ................................................................................................................52
11.1.15 Inhibit Time Emergency Object ........................................................................................................52
11.1.16 Producer Heartbeat Time .................................................................................................................. 52
11.1.17 Identity Object ...................................................................................................................................... 53
11.1.18 Error Behaviour .................................................................................................................................... 53
11.1.19 Receive PDO Communication Parameter ......................................................................................53
11.1.20 Receive PDO Mapping Parameter ................................................................................................... 54
11.1.21 Transmit PDO Communication Parameter ................................................................................... 55
11.1.22 Transmit PDO Mapping ..................................................................................................................... 56
11.2 Manufacturer Specific Parameter Area.................................................................................................56
11.2.1 Device specification ............................................................................................................................56
11.2.2 MCM260X parameters ........................................................................................................................57
11.2.3 Encoder/Counter calculations .......................................................................................................... 58
11.2.4 Encoder/Counter preset .....................................................................................................................58
11.2.5 Encoder/Counter commands ............................................................................................................58
11.2.6 Encoder counter calculations 1s ......................................................................................................59
11.2.7 Encoder/Counter calculations 100ms ............................................................................................. 59
11.2.8 Status/error flags .................................................................................................................................59
11.3 Standard Device Profile Area ................................................................................................................... 60
11.3.1 Digital Input .......................................................................................................................................... 61
11.3.2 Global interrupt Enable Digital 8 bit ............................................................................................... 61
11.3.3 Interrupt Mask Any Change 8 bit ..................................................................................................... 61
11.3.4 Interrupt Mask Low-to-High 8 bit .................................................................................................... 61
11.3.5 Interrupt Mask High-to-Low 8 bit ....................................................................................................62
11.3.6 Digital Output ......................................................................................................................................62
11.3.7 Error Mode Output 8bit ......................................................................................................................62
11.3.8 Error Value Output 8bit ...................................................................................................................... 63
11.3.9 Analogue Input 16bit ..........................................................................................................................63
11.3.10 Analogue Output 16bit ......................................................................................................................63
11.3.11 Analogue Input Interrupt Trigger Selection ..................................................................................64
11.3.12 Analogue Input Global Interrupt Enable .......................................................................................64
11.3.13 Analogue Input Interrupt Upper Limit Integer .............................................................................64
11.3.14 Analogue Input Interrupt Lower Limit Integer .............................................................................65
11.3.15 Analogue Input Interrupt Delta Unsigned .....................................................................................65
11.3.16 Analogue Input Interrupt Negative Delta Unsigned ...................................................................65
11.3.17 Analogue Input Interrupt Positive Delta Unsigned .....................................................................66
11.3.18 Analogue Output Error Mode ........................................................................................................... 66
11.3.19 Analogue Output Error Value Integer ............................................................................................. 66
11.3.20 Error Behaviour ....................................................................................................................................66
11.4 PDO transmission .......................................................................................................................................67
11.4.1 PDO Mapping .......................................................................................................................................67
11.5 Monitoring via SYNC .................................................................................................................................67
11.6 Node Guarding ...........................................................................................................................................67
11.7 Monitoring via Heartbeat ........................................................................................................................68
11.8 Emergency ...................................................................................................................................................68
12 Error messages ............................................................................................................................................................69
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