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User manual SCAIME: NU-soft-eNod4B-E-0716_236704-C.doc
5.9.3 0x1005 / 0x00 : synchronization messages COB-ID
• access : R/W
• data type : unsigned32
• default value : 0x80
• mappable ? : N
• admitted values : 0x80 or from 0x7E0 up to to 0x7E3
Description: This object contains the message COB-ID value supported by eNod4 as synchronization messages (used
for PDO activating).
5.9.4 0x100C / 0x00 : guard time
• access : R/W
• data type : unsigned16
• default value : 0
• mappable ? : N
• admitted values : from 0 up to 65535
Description: The ‘life guard’ is one of the two parameters used by the node guarding protocol (errors detection).
When ‘Heartbeat time’ is inactive and ‘life guard’ is different from 0, eNod4 responds to NMT master periodic (period
equal to life guard) remote transmit requests.
5.9.5 0x100D / 0x00 : life time factor
• access : R/W
• data type : unsigned8
• default value : 0
• mappable ? : N
• admitted values : from 0 up to 255
Description: By multiplying the ‘life guard’ by the ‘life time factor’, the node life time (cf. §4) can be determined.
When node guarding is active, if the node has not be polled within this duration (in ms), eNod4 state is set to stopped.
eNod4 behavior while stopped can be configured via the object at index 0x4800.
5.9.6 0x1010 : Store parameters
In CANoppen® communication protocol, storing all settings into eNod4 EEPROM memory requires writing through
SDO the ASCII string « save » (65766173
H
) to sub-index 0x01 of entry 0x1010 of the object dictionary (called ‘save all
parameters’ in the EDS file).
• 0x65 e
• 0x76 v
• 0x61 a
• 0x73 s
When accessing to sub-index 1 with a SDO read request, eNod4 cell responds with a value of 1 that means that
parameters are stored in non-volatile memory only on request.
Note: Restore to default settings functional command is not available in CANopen® communication protocol.
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