Mitsubishi Electric MELSEC iQ-R Series User Manual page 211

Consumer heartbeat time
• Index: 1016H
• Subindex: 01H to 7FH
Set the CANopen node to monitor and the heartbeat time for monitoring the CANopen node in heartbeat.
Monitoring of the producer starts after reception of the first heartbeat message.
The heartbeat time set by this object must be larger than the one set by the corresponding Producer heartbeat time (index
1017H). (Approximately a value 1.5 times larger)
Before reception of the first heartbeat message, the status of the producer is unknown.
• b0 to b15: Heartbeat time in ms units
• b16 to b23: Node ID
• b24 to b31: Fixed to 0
If the heartbeat time is 0 or the node ID is 0 or greater than 127, the corresponding object entry is not used.
Producer heartbeat time
• Index: 1017H
Set the transmission cycle of heartbeat messages sent from the own node in heartbeat.
Set a 16-bit value in ms units. Setting the value 0 to this object disables heartbeat message transmission.
Verify Configuration
• Index: 1020H
• Subindex: 01H to 02H
This object is used to indicate the date and time when the NMT slave parameters are set on the configuration manager.
The configuration manager uses this object to verify whether reconfiguration of the NMT slave after it is reset is necessary. If
the setting of the object dictionary of the NMT slave has been changed, subindexes 01H and 02H of this object are set to 0.
During NMT slave boot-up, the configuration manager compares RJ71CN91 settings of Expected configuration date (index
1F26H, subindex 01H to 7FH) and Expected configuration time (index 1F27H, subindex 01H to 7FH) with the NMT slave
object entry corresponding to this object to determine if reconfiguration is necessary. This reduces the NMT slave boot-up
time.
■Subindex 01H: Configuration date
This object stores the elapsed days since January 1, 1984.
■Subindex 02H: Configuration time
This object stores the elapsed time from midnight. (ms units)
Emergency consumer object
• Index: 1028H
• Subindex: 01H to 7FH
Set the COB-ID of EMCY messages to be received by the RJ71CN91. The subindex indicates the related node ID.
Bit Item
b0 to b10 11-bit CAN-ID
b11 to b30 Fixed to 0
b31 Enabled
Description
11-bit CAN-ID of the CAN base frame
0: EMCY message reception by remote node is valid.
1: EMCY message reception by remote node is invalid.
APPX
Appendix 3 Object Dictionary
A
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