SICK DL100 Pro CANopen - Page 72

Object 1016h Heartbeat Consumer Entries
Object 1016h defines the cycle time of the heartbeat as a multiple of milliseconds with
which a heartbeat is to be expected from other CANopen devices. Monitoring starts
after the first heartbeat received.
Note: The “Consumer Heartbeat Time” should be higher than the corresponding “Pro‐
ducer Heartbeat Time.” Before receiving the first heartbeat, the status of the “Producer
Heartbeat” is unknown.
The “Consumer Heartbeat Time” consists of 4bytes and contains the node ID and the
“Heartbeat Time” in milliseconds.
Table 41: Structure of “Consumer heartbeat time”, according to CiA 301 specification, version
4.2
MSB LSB
31 24 23 16 15 0
Reserved (00h) Node ID Heartbeat time
MSB LSB
If the “Consumer Heartbeat Time” is 0, the node ID is 0 or greater than 127, the
corresponding “Consumer Heartbeat” is deactivated. If several “Consumer Heartbeat
Time” not equal to 0 are assigned for the same node ID, the device responds with SDO
Abort message “06040043h”.
Subindex Name Description
0h Number of Entries The default value of 2 indicates that two “Consumer Heart‐
beats” are available. One “Consumer Heartbeat” (subindex
1h) is mandatory, all others are optional.
1h Consumer Heart‐
beat Time 1
Heartbeat Time for monitoring Consumer 1
2h Consumer Heart‐
beat Time 2
Heartbeat Time for monitoring Consumer 2
Object 1017h Producer Heartbeat Time
The object defines the cycle time of the heartbeat as a multiple of milliseconds. Value
0 deactivates the “Producer Heartbeat.” A heartbeat message consists of one byte and
contains the current CANopen device communication state.
The following states are possible:
•
00h: Bootup
•
04h: Stopped
•
05h: Operational
•
7Fh: Pre-Operational
Object 1018h – Identity Object
The object contains general data about the CANopen device
Subindex Name Description
0h Number of Entries Specification of the number of subindices within the object
1018h.
1h Vendor ID The vendor ID (2000056h) uniquely identifies the manufac‐
turer and is issued by the CiA.
2h Product Code Consecutive, unique number within the vendor ID, which is
issued by the manufacturer.
10 CANOPEN INTERFACE
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O P E R A T I N G I N S T R U C T I O N S | DL100 Pro CANopen 8015418/19HA/2022-12-15 | SICK
Subject to change without notice