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3
CANopen access procedure
Description of the Objects
Object 100C
: guard_time
h
To activate the Nodeguarding monitoring, the maximum time between two remote requests of the mas-
ter is parametrised. This time is established in the motor controller from the product of guard_time
(100C
) and life_time_factor (100D
h
node_guarding_time = guard_time * life_time_factor
It is therefore recommended to write the life_time_factor with 1 and then specify the time directly via
the guard_time in milliseconds.
Index
Name
Object Code
Data Type
Access
PDO Mapping
Units
Value Range
Default Value
Object 100D
: life_time_factor
h
Recommendation: Write the life_time_factor with 1 to specify the guard_time directly.
Index
Name
Object Code
Data Type
Access
PDO Mapping
Units
Value Range
Default Value
44
):
h
100C
h
guard_time
VAR
UINT16
rw
no
ms
0 ... 65535
0
100D
h
life_time_factor
VAR
UINT8
rw
no
–
0.255
0
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
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