Festo Электромотор MTR-DCI - Manual (Page 330)

C. Reference – CANopen and CI objects
C-54
Festo P.BE-MTR-DCI-CO-EN en 1209a
Type Format Hex
UINT16 4H 16 bits without sign: 0 ... 65535
INT16 16 bits with sign: -32768 ... 32767
UINT32 8H 32 bits without sign: 0 ...(2 32 -1)
INT32 32 bits with sign: -2 31 ... +(2 31 -1)
V-string corresponds to the preset string
Tab. C/10: Data types
Note
The following applies when writing the objects:
– Discrete values:
A non-permitted value will not be accepted, the
previously valid value will be retained.
– Concrete values (e. g. lengths, speeds, etc.):
A non-permitted value will be limited up to the next
permitted minimum or maximum value.
Note
Direct transfer of values via the serial interface with CI
commands always takes place in the basis system and
requires conversion into increments.
All parameters are always saved in increments in the con-
troller and are not converted into the relevant measuring
system until they are written or downloaded. All physical
variables (position, speed and acceleration) must be con-
verted into increment values before they can be trans-
ferred.
Further information on converting can be found in
chapter A.4.
All values are transferred in hexadecimal figures; 1 character
represents 4 bits; it is known as a tetrad . The first tetrad
transferred contains the higher-value bits of the value.
Generally: Tetrad contains the bits b
n ...b n+3