VIPA CPU 21 Series - Page 249

Manual VIPA CPU 21x Chapter 8 Deployment CPU 21xCAN
HB103E - Rev. 05/45 8-25
Index Sub-
index
Name Type Attr. Map. Default value Meaning
0x100A 0 Manufacturer
Software
version
Visible string ro N Software version number
CANopen software
1.xx
Since the returned value is longer than 4Byte, the segmented SDO
protocol is used for transmission.
Index Sub-
index
Name Type Attr. Map. Default value Meaning
0x100C 0 Guard time
[ms]
Unsigned16 rw N 0x0000 Interval between two guard
telegrams. Is set by the NMT
master or configuration tool.
Index Sub-
index
Name Type Attr. Map. Default value Meaning
0x100D 0 Life time
factor
Unsigned8 rw N 0x00 Life time factor x guard time
= life time (watchdog for life
guarding)
If a guarding telegram is not received within the life time, the node enters
the error state. If the life time factor and/or guard time =0, the node does
not carry out any life guarding, but can itself be monitored by the master
(node guarding).
Index Sub-
index
Name Type Attr. Map. Default value Meaning
0x1016 0 Consumer
heartbeat
time
Unsigned8 ro N 0x05 Number of entries
1...127 Unsigned32 rw N 0x00000000 Consumer heartbeat time
Structure of the "Consumer Heartbeat Time" entry::
Bits 31-24 23-16 15-0
Value Reserved Node-ID Heartbeat time
Encoded as Unsigned8 Unsigned8 Unsigned16
As soon as you try to configure a consumer heartbeat time unequal zero
for the same node-ID, the node interrupts the SDO download and throws
the error code 0604 0043hex.
Software version
Guard time
Life time factor
Consumer
Heartbeat Time