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User manual SCAIME: NU-soft-eNod4B-E-0716_236704-C.doc
5.9.7 0x1014 / 0x00 : Emergency COB-ID
• access : RO
• data type : unsigned32
• default value : 0x81
• mappable ? : N
• admitted values : from 0x81 up to 0xFF
Description: The COB-ID of emergency messages transmitted by eNod4 is stored at this index. Its value automatically
is updated if the node identifier is modified.
5.9.8 0x1016 : Heartbeat consumer time
Sub-index
Description
Access
Default value
Mappable
(PDO) ?
Type
0x00
max. sub-index
RO
1
N
unsigned8
0x01
heartbeat consumer
time
RW
0
N
unsigned32
Description: eNod4 is able to monitor the Heartbeat generated by another node (see §4) of the network (in general
the master). Two settings must be defined through the object at sub-index 0x01:
 the heartbeat time period, coded on the 16 LSB bits
 the node ID of the heartbeat producer to monitor, coded on the 16 MSB bits (from 0x01 up to
0x7F)
5.9.9 0x1017 / 0x00 : Heartbeat producer time
• access : R/W
• data type : unsigned16
• default value : 0
• mappable ? : N
• admitted values : from 0 up to 65535
Description: If a period different from 0 is written into this index, eNod4 periodically generates a Heartbeat frame. It is
expressed in ms and must be comprised between 1 and 65535.
5.9.10 0x4800 : Safety mode
• access : R/W
• data type : unsigned8
• default value : 0H
• admitted values : see table below
Description: This entry defines eNod4 functioning when in stopped NMT state. The safety mode is used when the bit
b0 of the byte is set to 1. The functioning mode is then inhibited and outputs logical level are given by b1, b2, b3 and
b4 bits. The eNod4 leaves the safety mode upon reception of a new NMT command.
Warning: In safety mode, when the eNod4 is in stopped NMT state, functioning is also
inhibited using Modbus and SCMBus communication. For example, it is not possible to tare or make a zero using RS
485 AUX port, or eNodView connected via USB.