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
Summary of Contents for CPU 21 Series
Page 1: ...Manual VIPA CPU 21x Order No VIPA HB103E Rev 05 45 ...
Page 2: ...Lerrzeichen ...
Page 6: ...About this Manual Manual VIPA CPU 21x Subject to change to cater for technical progress ...
Page 10: ...Contents Manual VIPA CPU 21x iv HB103E Rev 05 45 ...
Page 30: ...Chapter 1 Principles Manual VIPA CPU 21x 1 18 HB103E Rev 05 45 ...
Page 58: ...Chapter 2 Hardware description Manual VIPA CPU 21x 2 28 HB103E Rev 05 45 ...
Page 80: ...Chapter 3 Deployment CPU 21x Manual VIPA CPU 21x 3 22 HB103E Rev 05 45 ...
Page 178: ...Chapter 5 Deployment CPU 21x 2BT02 with H1 TCP IP Manual VIPA CPU 21x 5 48 HB103E Rev 05 45 ...