Festo Электромотор MTR-DCI - Manual (Page 245)

B. Reference – Festo Handling and Positioning Profile (FHPP)
B-27
Festo P.BE-MTR-DCI-CO-EN en 1209a
CANopen Diagnosis
FHPP 206 1...6 Array uint8 ro
Description Read out the CANopen diagnostic data
Connection state 206 1 uint8 ro
Current status of the CANopen connection and status machine
Connection state:
16, 32, 64 (0xX0):
No error
17, 33, 65 (0xX1): CAN warning limit reached
18, 34, 66 (0xX2): Guarding error
Status machine status:
16, 17, 18 (0x1X):
Stopped
32, 33, 34 (0x2X): preoperational
64, 65, 66 (0x4X): operational
Missing bus parameters:
255 (0xFF):
No bus parameters
Bit rate 204 2 uint8 ro
Current bit rate.
0 (0x00): 1 MBit/s
5 (0x05): 100 kBit/s
1 (0x01): 800 kBit/s 6 (0x06): 50 kBit/s
2 (0x02): 500 kBit/s 7 (0x07): 20 kBit/s
3 (0x03): 250 kBit/s 255 (0xFF): invalid bit rate (default)
4 (0x04): 125 kBit/s
Master address 206 3 uint8 ro
Master address.
Fixed: 0 (0x00)
Slave address 206 4 uint8 ro
Slave address (node ID).
Value range: 1 ... 127 (0x01 ... 0x7F)
Default: 0 (0x00) - invalid address
Configuration 206 5 uint8 ro
Data Profile
0 (0x00):
CiA 402
1 (0x01): FHPP Standard
255 (0xFF): Invalid value (default)
CO diagnosis 206 6 uint8 ro
reserved
CANopen / CI 2FF2h 01h...06h Array uint8 ro