Object Dictionary Documenation of emotas_CANopen_Slave
0x1000 Device Type
0x1001 Error Register
0x1005 COB ID SYNC
0x1014 COB ID EMCY
0x1016 Consumer Heartbeat Time
0x1017 Producer Heartbeat Time
0x1018 Identity Object
0x1200 SDO server parameter
0x1400 Receive PDO Communication Parameter
0x1600 Receive PDO Mapping Parameter
0x1800 Transmit PDO Communication Parameter
0x1a00 Transmit PDO Mapping Parameter

0x2000 UNSIGNED8 Array
0x2001 UNSIGNED16 Array
0x2002 INTEGER16 Array
0x2003 Manufacturer Record

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: 0x1005 COB ID SYNC
Object Code Variable
Description This object shall indicate the configured COB-ID of the synchronization object (SYNC). Further, it defines whether the CANopen device generates the SYNC.

Sub 0x00
Name COB ID SYNC
Data Type UNSIGNED32
Access rw
Defaultvalue 0x00000080
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: 0x1016 Consumer Heartbeat Time
Object Code Array

Sub 0x00
Name Highest sub-index supported
Data Type UNSIGNED8
Access const
Defaultvalue 3
PDO Mapping no

Sub 0x01
Name Consumer Heartbeat Time 1
Data Type UNSIGNED32
Access rw
Defaultvalue 0x10000
PDO Mapping no

Sub 0x02
Name Consumer Heartbeat Time 2
Data Type UNSIGNED32
Access rw
Defaultvalue 0x20000
PDO Mapping no

Sub 0x03
Name Consumer Heartbeat Time 3
Data Type UNSIGNED32
Access rw
Defaultvalue 0x30000
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
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 5
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

Sub 0x03
Name Inhibit Time
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Description Sub-index 0x03 contains the inhibit time. The value is defined as multiple of 100 μs. The value of 0 shall disable the inhibit time. It is not allowed to change the value while the PDO exists (bit 31 of sub-index 01h is set to 0 b).
The RPDO may use the time implementation specific.
PDO Mapping no

Sub 0x05
Name Event Timer
Data Type UNSIGNED16
Access rw
Defaultvalue
Description Sub-index 0x05 contains the event-timer. The value is defined as multiple of 1 ms. The value of 0 shall disable the event-timer. The RPDO may use the time for deadline monitoring. The deadline monitoring is activated within the next reception of an RPDO after configuring the event-timer. A timeout results in an indication to the local application.
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 2
PDO Mapping no

Sub 0x01
Name Mapping Entry 1
Data Type UNSIGNED32
Access const
Defaultvalue 0x20020110
PDO Mapping no

Sub 0x02
Name Mapping Entry 2
Data Type UNSIGNED32
Access const
Defaultvalue 0x20020210
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 6
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
Defaultvalue 254
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 0x03
Name Inhibit Time
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Description Sub-index 0x03 contains the inhibit time. The time is the minimum interval for PDO
transmission if the transmission type is set to FEh and FF h . The value is defined as multiple of 100 μs. The value of 0 shall disable the inhibit time. The value shall not be changed while the PDO exists (bit 31 of sub-index 01h is set to 0 b ).
PDO Mapping no

Sub 0x05
Name Event Timer
Data Type UNSIGNED16
Access rw
Defaultvalue 2500
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

Sub 0x06
Name SYNC start value
Data Type UNSIGNED8
Access rw
Defaultvalue
Description Sub-index 0x06 contains the SYNC start value. The SYNC start value of 0 shall indicate that the counter of the SYNC message shall not be processed for this PDO. The SYNC start value 1 to 240 shall indicate that the counter of the SYNC message shall be processed for this PDO. In case the counter of the SYNC message is not enableds ub-index 0x06 shall be ignored.

The SYNC message of which the counter value equals the SYNC start value
shall be regarded as the first received SYNC message. The value shall not be changed while the PDO exists (bit 31 of sub-index 01 h is set to 0 b ).
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 4
PDO Mapping no

Sub 0x01
Name Mapping Entry 1
Data Type UNSIGNED32
Access const
Defaultvalue 0x20000108
PDO Mapping no

Sub 0x02
Name Mapping Entry 2
Data Type UNSIGNED32
Access const
Defaultvalue 0x20000208
PDO Mapping no

Sub 0x03
Name Mapping Entry 3
Data Type UNSIGNED32
Access const
Defaultvalue 0x20000308
PDO Mapping no

Sub 0x04
Name Mapping Entry 4
Data Type UNSIGNED32
Access const
Defaultvalue 0x20000408
PDO Mapping no

Object: 0x2000 UNSIGNED8 Array
Object Code Array

Sub 0x00
Name Highest sub-index supported
Data Type UNSIGNED8
Access ro
Defaultvalue 4
PDO Mapping no

Sub 0x01
Name Subindex 1
Data Type UNSIGNED8
Access rw
Defaultvalue 1
PDO Mapping optional

Sub 0x02
Name Subindex 2
Data Type UNSIGNED8
Access rw
Defaultvalue 2
PDO Mapping optional

Sub 0x03
Name Subindex 3
Data Type UNSIGNED8
Access rw
Defaultvalue 3
PDO Mapping optional

Sub 0x04
Name Subindex 4
Data Type UNSIGNED8
Access rw
Defaultvalue 4
PDO Mapping optional

Object: 0x2001 UNSIGNED16 Array
Object Code Array

Sub 0x00
Name Highest sub-index supported
Data Type UNSIGNED8
Access ro
Defaultvalue 4
PDO Mapping no

Sub 0x01
Name Subindex 1
Data Type UNSIGNED16
Access rw
Defaultvalue 0x101
PDO Mapping optional

Sub 0x02
Name Subindex 2
Data Type UNSIGNED16
Access rw
Defaultvalue 0x202
PDO Mapping optional

Sub 0x03
Name Subindex 3
Data Type UNSIGNED16
Access rw
Defaultvalue 0x303
PDO Mapping optional

Sub 0x04
Name Subindex 4
Data Type UNSIGNED16
Access rw
Defaultvalue 0x404
PDO Mapping optional

Object: 0x2002 INTEGER16 Array
Object Code Array

Sub 0x00
Name Highest sub-index supported
Data Type UNSIGNED8
Access ro
Defaultvalue 4
PDO Mapping no

Sub 0x01
Name Subindex 1
Data Type INTEGER16
Access rw
Defaultvalue -101
PDO Mapping optional, RPDO only

Sub 0x02
Name Subindex 2
Data Type INTEGER16
Access rw
Defaultvalue -202
PDO Mapping optional, RPDO only

Sub 0x03
Name Subindex 3
Data Type INTEGER16
Access rw
Defaultvalue -303
PDO Mapping optional, RPDO only

Sub 0x04
Name Subindex 4 (write only)
Data Type INTEGER16
Access wo
Defaultvalue -404
PDO Mapping optional, RPDO only

Object: 0x2003 Manufacturer Record
Object Code Record

Sub 0x00
Name Highest sub-index supported
Data Type UNSIGNED8
Access ro
Defaultvalue 8
PDO Mapping no

Sub 0x01
Name U8
Data Type UNSIGNED8
Access rw
Defaultvalue 1
PDO Mapping no

Sub 0x02
Name U16
Data Type UNSIGNED16
Access rw
Defaultvalue 2
PDO Mapping no

Sub 0x03
Name U32
Data Type UNSIGNED32
Access rw
Defaultvalue 3
PDO Mapping no

Sub 0x04
Name I8
Data Type INTEGER8
Access rw
Defaultvalue -1
PDO Mapping no

Sub 0x05
Name I16
Data Type INTEGER16
Access rw
Defaultvalue -2
PDO Mapping no

Sub 0x06
Name I32
Data Type INTEGER32
Access rw
Defaultvalue -3
PDO Mapping no

Sub 0x07
Name R32
Data Type REAL32
Access rw
Defaultvalue 42.0
PDO Mapping no

Sub 0x08
Name VS
Data Type VISIBLE_STRING
Access const
Defaultvalue emotas evaluation example
PDO Mapping no