Festo Электромотор MTR-DCI - 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