SICK DL100 User Manual

8015416/ZPN2/2017-09-08 • © SICK AG • Subject to change without notice 99
Operating instructions Distance measuring device DL100 – CANopen®
CANopen®-interface
10.10.10 Object 1014h COB-ID EMCY
Indication of the COB-ID of the EMCY object
10.10.11 Object 1016h Heartbeat Consumer Entries
Theobject1016hdeneswhenaheartbeatisexpectedfromotherslaves.
Themonitoringstartsaftertherstheartbeatreceived.
Note: The “Consumer Heartbeat Time” should be higher than the corre-
sponding“ProducerHeartbeatTime”.Beforereceivingtherstheartbeat,
the status of the “Producer Heartbeat” is unknown.
The “Consumer Heartbeat Time” comprises of 4 bytes and contains the
Node-ID and the “Heartbeat Time” in milliseconds.
MSB LSB
31 24 23 16 15 0
Reserved (00h) Node-ID Heartbeat time
MSB LSB
Table 65: Structure of “Consumer heartbeat time”, according to
CiA 301-specication, version 4.2
If the “Consumer Heartbeat Time” is equal to 0, the Node-ID equal to 0
or above 127, the corresponding “Consumer Heartbeat” is deactivated. If
several “Consumer Heartbeat times” unequal 0 are assigned for a Node-ID,
the device answers with the SDO abort message “06040043h”.
Subindex Name Description
0h Number of Entries The default value of 2 indicates that two “Consumer Heartbeats” are available.
One “Consumer Heartbeat” (subindex 1h) is mandatory. All others are optional.
1h Consumer Heartbeat
Time 1
2h Consumer Heartbeat
Time 2
10.10.12 Object 1017h Producer Heartbeat Time
Theobjectdenesthecycletimeoftheheartbeatasamultipleofmil-
liseconds. The value 0 deactivates the “Producer Heartbeat”. A heartbeat
message comprises of a byte and contains the current slave communica-
tions condition.
The following functions are possible:
• 00h: Bootup
• 04h: Stopped
• 05h: Operational
• 7Fh: Pre-Operational

SICK DL100 Specifications

General

Brand	SICK
Model	DL100
Category	Measuring Instruments
Language	English