| Object Dictionary Documenation of slave1xmc |
| Object: 0x1000 Device Type | |
|---|---|
| Object Code | Variable |
| Description | This objects contains the CANopen device type of the device. |
| Sub | 0x00 |
| Name | Device Type |
| Data Type | UNSIGNED32 |
| Access | ro |
| Defaultvalue | 0 |
| PDO Mapping | no |
| Object: 0x1001 Error Register | |
|---|---|
| Object Code | Variable |
| Description | This object contains a register of 8 error information bits. |
| Sub | 0x00 |
| Name | Error Register |
| Data Type | UNSIGNED8 |
| Access | ro |
| Defaultvalue | 0 |
| PDO Mapping | optional, TPDO only |
| Object: 0x1008 Manufacturer device name | |
|---|---|
| Object Code | Variable |
| Sub | 0x00 |
| Name | Manufacturer device name |
| Data Type | VISIBLE_STRING |
| Access | const |
| Defaultvalue | CANopen slave - very simple |
| PDO Mapping | no |
| Object: 0x1014 COB ID EMCY | |
|---|---|
| Object Code | Variable |
| Description | This object shall indicate the configured COB-ID for the EMCY write service. |
| Sub | 0x00 |
| Name | COB ID EMCY |
| Data Type | UNSIGNED32 |
| Access | rw |
| Defaultvalue | $NODEID+0x80 |
| PDO Mapping | no |
| Object: 0x1015 Inhibit Time Emergency | |
|---|---|
| Object Code | Variable |
| Description | This object shall indicate the configured inhibit time for the EMCY message. The value shall be given in multiples of 100 μs. The value 0 shall disable the inhibit time. |
| Sub | 0x00 |
| Name | Inhibit Time Emergency |
| Data Type | UNSIGNED16 |
| Access | rw |
| Defaultvalue | 0 |
| PDO Mapping | no |
| Object: 0x1017 Producer Heartbeat Time | |
|---|---|
| Object Code | Variable |
| Description | The producer heartbeat time shall indicate the configured cycle time of the heartbeat produced by the device. The value shall be given in multiples of 1 ms. The value 0 shall disable the producer heartbeat. |
| Sub | 0x00 |
| Name | Producer Heartbeat Time |
| Data Type | UNSIGNED16 |
| Access | rw |
| Defaultvalue | 1000 |
| PDO Mapping | no |
| Object: 0x1018 Identity Object | |
|---|---|
| Object Code | Record |
| Description | This objects contains the identity information of the device. |
| Sub | 0x00 |
| Name | Number of entries |
| Data Type | UNSIGNED8 |
| Access | ro |
| Defaultvalue | 4 |
| PDO Mapping | no |
| Sub | 0x01 |
| Name | Vendor Id |
| Data Type | UNSIGNED32 |
| Access | ro |
| Defaultvalue | 0x319 |
| PDO Mapping | no |
| Sub | 0x02 |
| Name | Product Code |
| Data Type | UNSIGNED32 |
| Access | ro |
| Defaultvalue | 0x0815 |
| PDO Mapping | no |
| Sub | 0x03 |
| Name | Revision number |
| Data Type | UNSIGNED32 |
| Access | ro |
| Defaultvalue | 0x00010001 |
| PDO Mapping | no |
| Sub | 0x04 |
| Name | Serial number |
| Data Type | UNSIGNED32 |
| Access | ro |
| Defaultvalue | 123 |
| PDO Mapping | no |
| Object: 0x1200 SDO server parameter | |
|---|---|
| Object Code | Record |
| Sub | 0x00 |
| Name | Highest sub-index supported |
| Data Type | UNSIGNED8 |
| Access | const |
| Defaultvalue | 2 |
| PDO Mapping | no |
| Sub | 0x01 |
| Name | COB-ID client to server |
| Data Type | UNSIGNED32 |
| Access | const |
| Defaultvalue | $NODEID+0x600 |
| PDO Mapping | no |
| Sub | 0x02 |
| Name | COB-ID server to client |
| Data Type | UNSIGNED32 |
| Access | ro |
| Defaultvalue | $NODEID+0x580 |
| PDO Mapping | no |
| Object: 0x1400 Receive PDO Communication Parameter | |
|---|---|
| Object Code | Record |
| Description | This object contains the communication parameters for the PDO the CANopen device is able to receive. |
| Sub | 0x00 |
| Name | Highest sub-index supported |
| Data Type | UNSIGNED8 |
| Access | ro |
| Defaultvalue | 2 |
| PDO Mapping | no |
| Sub | 0x01 |
| Name | COB ID |
| Data Type | UNSIGNED32 |
| Access | rw |
| Defaultvalue | $NODEID+0x200 |
| PDO Mapping | no |
| Sub | 0x02 |
| Name | Transmission Type |
| Data Type | UNSIGNED8 |
| Access | rw |
| Defaultvalue | 254 |
| Description | Sub-index 0x2 defines the reception character of the RPDO. |
| PDO Mapping | no |
| Object: 0x1600 Receive PDO Mapping Parameter | |
|---|---|
| Object Code | Record |
| Description | This object contains the mapping parameters for the PDO the CANopen device is able to receive. |
| Sub | 0x00 |
| Name | Highest sub-index supported |
| Data Type | UNSIGNED8 |
| Access | const |
| Defaultvalue | 3 |
| PDO Mapping | no |
| Sub | 0x01 |
| Name | Mapping to port 4 |
| Data Type | UNSIGNED32 |
| Access | const |
| Defaultvalue | 0x20020008 |
| PDO Mapping | no |
| Sub | 0x02 |
| Name | Mapping to port 1 |
| Data Type | UNSIGNED32 |
| Access | const |
| Defaultvalue | 0x20030008 |
| PDO Mapping | no |
| Sub | 0x03 |
| Name | Mapping to variable first |
| Data Type | UNSIGNED32 |
| Access | const |
| Defaultvalue | 0x20000010 |
| PDO Mapping | no |
| Object: 0x1800 Transmit PDO Communication Parameter | |
|---|---|
| Object Code | Record |
| Description | This object contains the communication parameters for the PDO the CANopen device is able to transmit. |
| Sub | 0x00 |
| Name | Highest sub-index supported |
| Data Type | UNSIGNED8 |
| Access | ro |
| Defaultvalue | 5 |
| PDO Mapping | no |
| Sub | 0x01 |
| Name | COB ID |
| Data Type | UNSIGNED32 |
| Access | rw |
| Defaultvalue | $NODEID+0x180 |
| PDO Mapping | no |
| Sub | 0x02 |
| Name | Transmission Type |
| Data Type | UNSIGNED8 |
| Access | rw |
| Description | Sub-index 0x2 defines the transmission type of the TPDO. 0 .. synchronous (acyclic) 1 .. synchronous (every SYNC) 2 .. synchronous (every 2nd SYNC) 240 .. synchronous (every 240th SYNC) 254 .. event-driven (manufacturer-specific) 255 .. event-driven (profile-specific) |
| PDO Mapping | no |
| Sub | 0x05 |
| Name | Event Timer |
| Data Type | UNSIGNED16 |
| Access | rw |
| Defaultvalue | |
| Description | Sub-index 0x05 contains the event-timer. The time is the maximum interval for PDO transmission if the transmission type is set to 254 and 255 . The value is defined as multiple of 1 ms. The value of 0 shall disable the event-timer. |
| PDO Mapping | no |
| Object: 0x1a00 Transmit PDO Mapping Parameter | |
|---|---|
| Object Code | Record |
| Description | This object contains the mapping for the PDO the device is able to transmit. |
| Sub | 0x00 |
| Name | Highest sub-index supported |
| Data Type | UNSIGNED8 |
| Access | const |
| Defaultvalue | 1 |
| PDO Mapping | no |
| Sub | 0x01 |
| Name | Mapping Entry 1 |
| Data Type | UNSIGNED32 |
| Access | const |
| Defaultvalue | 0x20010008 |
| PDO Mapping | no |
| Object: 0x2000 first | |
|---|---|
| Object Code | Variable |
| Description | Destination for the RPDO |
| Sub | 0x00 |
| Name | first |
| Data Type | INTEGER16 |
| Access | rww |
| Defaultvalue | |
| PDO Mapping | optional, RPDO only |
| Object: 0x2001 Button 1 | |
|---|---|
| Object Code | Variable |
| Description | Used to hold the value of Button1 in bit 0 |
| Sub | 0x00 |
| Name | Button 1 |
| Data Type | UNSIGNED8 |
| Access | rwr |
| Defaultvalue | |
| PDO Mapping | optional, TPDO only |
| Object: 0x2002 Port 4 | |
|---|---|
| Object Code | Variable |
| Description | controls LEDS P4.1, P4.2, P4.3 |
| Sub | 0x00 |
| Name | Port 4 |
| Data Type | UNSIGNED8 |
| Access | rww |
| Defaultvalue | 0 |
| PDO Mapping | optional, RPDO only |
| Object: 0x2003 Port 1 | |
|---|---|
| Object Code | Variable |
| Description | Port 1 pins P1[0-7] are digital outputs |
| Sub | 0x00 |
| Name | Port 1 |
| Data Type | UNSIGNED8 |
| Access | rww |
| Defaultvalue | 0 |
| PDO Mapping | optional, RPDO only |