Festo Электромотор MTR-DCI User Manual
Page 289
C. Reference – CANopen and CI objects
C-13
Festo P.BE-MTR-DCI-CO-EN en 1209a
Manufacturer hardware version
CANopen / CI
1009h
– / 00h
Var
V-string
ro
Description
Hardware version in format = “V.xx.yy” (xx = main version, yy = secondary ver-
sion)
Compare PNU 100 / object 2069h
Manufacturer software version (manufacturer firmware version)
CANopen / CI
100Ah
– / 00h
Var
V-string
ro
Description
Firmware version in format = “V.xx.yy” (xx = main version, yy = secondary ver-
sion)
Compare PNU 101 / object 206Ah
Guard time (monitoring time)
CANopen
100Ch
–
Var
uint16
rw
Description
Monitoring time in [ms].
To define the “Life time” for the “Life guarding protocol” the guard time in ms is
multiplied by the “Life time factor” (object 100Dh).
Default: 0 (monitoring switched off )
Value range: 0 ... 32767 (0x0000 ... 0x7FFF)
Life time factor (monitoring time factor)
CANopen
100Dh
–
Var
uint8
rw
Description
Multiplication factor for the guard time (object 100Ch).
Default: 0. Value range: 0 ... 255 (0x00 ... 0xFF)
COB-ID Emergency object
CANopen
1014h
–
Var
uint32
rw
Description
COB ID of Emergency object (EMCY); see DS 301 specification.
The Emergency protocol is supported.
Default: 128 + Node-ID (0x80 + Node-ID)
Inhibit time EMCY
CANopen
1015h
–
Var
uint16
rw
Description
Inhibit time for the emergency message. The value is multiplied by 100 μs.
Default: 0