ONLINE HELP SOPAS Chapter 5
LECTOR®620
Parameters
8013778/Y269/2013-11-27 © SICK AG · Germany · All rights reserved · Subject to change without notice 139
5.10.10.1.28 Diagnostics timeout
The Diagnostics timeout parameter defines an interval in ms within which reading diagnosis
data is made available in the object dictionary for upload by the control. Once this interval
has elapsed, the reading diagnostic data is discarded.
Alternatively, the timeout values can be modified directly in the object dictionary via objects
0x3010/01 to 0x3010/02. The changes are not accepted until the device has been restar-
ted.
When monitoring the reading diagnostic data, the data is stored in the object dictionary and
downloaded by the control. A timeout must be specified for the upload.
5.10.10.1.29 CANopen heartbeat rate / ms
The CANopen heartbeat rate / ms parameter defines an interval in mm that lies between
the CANopen heartbeat objects.
The heartbeat protocol is used in CANopen networks to check the CAN nodes. The CANopen
heartbeat protocol stipulates that every CAN node must send out heartbeat objects at cycli-
cal intervals and receive them from other bus participants. The transmission cycle must be
configured.
5.10.10.1.30 COB ID Emergency Obj
The COB ID Emergency Obj parameter defines the CAN identifier for emergency objects in
the CANopen protocol.
CANopen protocol requires emergency objects to transmit error codes. The error codes are
defined in communication protocol DS-301 and in device profile DSP-40x.
5.10.10.1.31 Emergency Inhibit Time
The Emergency Inhibit Time parameter defines an interval in ms that must lie between the
repeated transmission of emergency objects.
5.10.10.1.32 CANopen Transmit PDOs 1-4
The process data objects (PDOs) sent by the device are configured in the CANopen Transmit
PDOs 1-4 group. The values entered must correspond to the CANopen specification.
• P
REDEF. CONN.: A YES value indicates that the identifier for the Predefined Connection Set
should be used for the CANopen specification. The configured COB identifiers are ignored.
• M
AP OBJ.1-8: Up to eight objects can be mapped for each TPDO. If the number of mapping
objects specified is lower, the last entries in the table are ignored.
Validation of the values entered does not take place via the SOPAS ET user interface. If
invalid or inconsistent values have been entered, an incorrect entry is created during PDO
initialization.
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