CANopen Object Dictionary Documenation for emotas_CANopen_Slave


Index:       0x1000 - Device Type
DataType:    UNSIGNED32
ObjectCode:  Variable
Description: This objects contains the CANopen device type of the device.
  Sub:          0x0 - Device Type
  DataType:     UNSIGNED32
  DefaultValue: 0
  AccessType:   ro
  PDOMapping:   0

Index:       0x1001 - Error Register
DataType:    UNSIGNED8
ObjectCode:  Variable
Description: This object contains a register of 8 error information bits.
  Sub:          0x0 - Error Register
  DataType:     UNSIGNED8
  DefaultValue: 0
  AccessType:   ro
  PDOMapping:   4

Index:       0x1005 - COB ID SYNC
DataType:    UNSIGNED32
ObjectCode:  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:          0x0 - COB ID SYNC
  DataType:     UNSIGNED32
  DefaultValue: 0x00000080
  AccessType:   rw
  PDOMapping:   0

Index:       0x1014 - COB ID EMCY
DataType:    UNSIGNED32
ObjectCode:  Variable
Description: This object shall indicate the configured COB-ID for the EMCY write service.

  Sub:          0x0 - COB ID EMCY
  DataType:     UNSIGNED32
  DefaultValue: $NODEID+0x80
  AccessType:   rw
  PDOMapping:   0

Index:       0x1016 - Consumer Heartbeat Time
DataType:    UNSIGNED32
ObjectCode:  Array
  Sub:          0x0 - Highest sub-index supported
  DataType:     UNSIGNED8
  DefaultValue: 3
  AccessType:   const
  PDOMapping:   0
  Sub:          0x1 - Consumer Heartbeat Time 1
  DataType:     UNSIGNED32
  DefaultValue: 0x10000
  AccessType:   rw
  PDOMapping:   0
  Sub:          0x2 - Consumer Heartbeat Time 2
  DataType:     UNSIGNED32
  DefaultValue: 0x20000
  AccessType:   rw
  PDOMapping:   0
  Sub:          0x3 - Consumer Heartbeat Time 3
  DataType:     UNSIGNED32
  DefaultValue: 0x30000
  AccessType:   rw
  PDOMapping:   0

Index:       0x1017 - Producer Heartbeat Time
DataType:    UNSIGNED16
ObjectCode:  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:          0x0 - Producer Heartbeat Time
  DataType:     UNSIGNED16
  DefaultValue: 1000
  AccessType:   rw
  PDOMapping:   0

Index:       0x1018 - Identity Object
DataType:    UNSIGNED8
ObjectCode:  Record
Description: This objects contains the identity information of the device.

  Sub:          0x0 - Number of entries
  DataType:     UNSIGNED8
  DefaultValue: 4
  AccessType:   ro
  PDOMapping:   0
  Sub:          0x1 - Vendor Id
  DataType:     UNSIGNED32
  DefaultValue: 0x319
  AccessType:   ro
  PDOMapping:   0
  Sub:          0x2 - Product Code
  DataType:     UNSIGNED32
  DefaultValue: 0x0815
  AccessType:   ro
  PDOMapping:   0
  Sub:          0x3 - Revision number
  DataType:     UNSIGNED32
  DefaultValue: 0x00010001
  AccessType:   ro
  PDOMapping:   0
  Sub:          0x4 - Serial number
  DataType:     UNSIGNED32
  DefaultValue: 1
  AccessType:   ro
  PDOMapping:   0

Index:       0x1200 - SDO server parameter
DataType:    UNSIGNED8
ObjectCode:  Record
  Sub:          0x0 - Highest sub-index supported
  DataType:     UNSIGNED8
  DefaultValue: 2
  AccessType:   const
  PDOMapping:   0
  Sub:          0x1 - COB-ID client to server
  DataType:     UNSIGNED32
  DefaultValue: $NODEID+0x600
  AccessType:   const
  PDOMapping:   0
  Sub:          0x2 - COB-ID server to client
  DataType:     UNSIGNED32
  DefaultValue: $NODEID+0x580
  AccessType:   ro
  PDOMapping:   0

Index:       0x1400 - Receive PDO Communication Parameter
DataType:    UNSIGNED8
ObjectCode:  Record
Description: This object contains the communication parameters for the PDO the CANopen device is able to receive.

  Sub:          0x0 - Highest sub-index supported
  DataType:     UNSIGNED8
  DefaultValue: 5
  AccessType:   ro
  PDOMapping:   0
  Sub:          0x1 - COB ID
  DataType:     UNSIGNED32
  DefaultValue: $NODEID+0x200
  AccessType:   rw
  PDOMapping:   0
  Sub:          0x2 - Transmission Type
  DataType:     UNSIGNED8
  DefaultValue: 254
  AccessType:   rw
  PDOMapping:   0
  Description: Sub-index 0x2 defines the reception character of the RPDO. 
  Sub:          0x3 - Inhibit Time
  DataType:     UNSIGNED16
  DefaultValue: 0
  AccessType:   rw
  PDOMapping:   0
  Description: Sub-index 0x03 contains the inhibit time. The value is defined as multiple of 100 s. 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.

  Sub:          0x5 - Event Timer
  DataType:     UNSIGNED16
  AccessType:   rw
  PDOMapping:   0
  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.


Index:       0x1600 - Receive PDO Mapping Parameter
DataType:    UNSIGNED8
ObjectCode:  Record
Description: This object contains the mapping parameters for the PDO the CANopen device is able to receive.

  Sub:          0x0 - Highest sub-index supported
  DataType:     UNSIGNED8
  DefaultValue: 2
  AccessType:   const
  PDOMapping:   0
  Sub:          0x1 - Mapping Entry 1
  DataType:     UNSIGNED32
  DefaultValue: 0x20020110
  AccessType:   const
  PDOMapping:   0
  Sub:          0x2 - Mapping Entry 2
  DataType:     UNSIGNED32
  DefaultValue: 0x20020210
  AccessType:   const
  PDOMapping:   0

Index:       0x1800 - Transmit PDO Communication Parameter
DataType:    UNSIGNED8
ObjectCode:  Record
Description: This object contains the communication parameters for the PDO the CANopen device is able to transmit.

  Sub:          0x0 - Highest sub-index supported
  DataType:     UNSIGNED8
  DefaultValue: 6
  AccessType:   ro
  PDOMapping:   0
  Sub:          0x1 - COB ID
  DataType:     UNSIGNED32
  DefaultValue: $NODEID+0x180
  AccessType:   rw
  PDOMapping:   0
  Sub:          0x2 - Transmission Type
  DataType:     UNSIGNED8
  DefaultValue: 254
  AccessType:   rw
  PDOMapping:   0
  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)
  Sub:          0x3 - Inhibit Time
  DataType:     UNSIGNED16
  DefaultValue: 0
  AccessType:   rw
  PDOMapping:   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 s. 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 ).

  Sub:          0x5 - Event Timer
  DataType:     UNSIGNED16
  DefaultValue: 2500
  AccessType:   rw
  PDOMapping:   0
  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.

  Sub:          0x6 - SYNC start value
  DataType:     UNSIGNED8
  AccessType:   rw
  PDOMapping:   0
  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 ).


Index:       0x1a00 - Transmit PDO Mapping Parameter
DataType:    UNSIGNED8
ObjectCode:  Record
Description: This object contains the mapping for the PDO the device is able to transmit.

  Sub:          0x0 - Highest sub-index supported
  DataType:     UNSIGNED8
  DefaultValue: 4
  AccessType:   const
  PDOMapping:   0
  Sub:          0x1 - Mapping Entry 1
  DataType:     UNSIGNED32
  DefaultValue: 0x20000108
  AccessType:   const
  PDOMapping:   0
  Sub:          0x2 - Mapping Entry 2
  DataType:     UNSIGNED32
  DefaultValue: 0x20000208
  AccessType:   const
  PDOMapping:   0
  Sub:          0x3 - Mapping Entry 3
  DataType:     UNSIGNED32
  DefaultValue: 0x20000308
  AccessType:   const
  PDOMapping:   0
  Sub:          0x4 - Mapping Entry 4
  DataType:     UNSIGNED32
  DefaultValue: 0x20000408
  AccessType:   const
  PDOMapping:   0

Index:       0x2000 - UNSIGNED8 Array
DataType:    UNSIGNED8
ObjectCode:  Array
  Sub:          0x0 - Highest sub-index supported
  DataType:     UNSIGNED8
  DefaultValue: 4
  AccessType:   ro
  PDOMapping:   0
  Sub:          0x1 - Subindex 1
  DataType:     UNSIGNED8
  DefaultValue: 1
  AccessType:   rw
  PDOMapping:   1
  Sub:          0x2 - Subindex 2
  DataType:     UNSIGNED8
  DefaultValue: 2
  AccessType:   rw
  PDOMapping:   1
  Sub:          0x3 - Subindex 3
  DataType:     UNSIGNED8
  DefaultValue: 3
  AccessType:   rw
  PDOMapping:   1
  Sub:          0x4 - Subindex 4
  DataType:     UNSIGNED8
  DefaultValue: 4
  AccessType:   rw
  PDOMapping:   1

Index:       0x2001 - UNSIGNED16 Array
DataType:    UNSIGNED16
ObjectCode:  Array
  Sub:          0x0 - Highest sub-index supported
  DataType:     UNSIGNED8
  DefaultValue: 4
  AccessType:   ro
  PDOMapping:   0
  Sub:          0x1 - Subindex 1
  DataType:     UNSIGNED16
  DefaultValue: 0x101
  AccessType:   rw
  PDOMapping:   1
  Sub:          0x2 - Subindex 2
  DataType:     UNSIGNED16
  DefaultValue: 0x202
  AccessType:   rw
  PDOMapping:   1
  Sub:          0x3 - Subindex 3
  DataType:     UNSIGNED16
  DefaultValue: 0x303
  AccessType:   rw
  PDOMapping:   1
  Sub:          0x4 - Subindex 4
  DataType:     UNSIGNED16
  DefaultValue: 0x404
  AccessType:   rw
  PDOMapping:   1

Index:       0x2002 - INTEGER16 Array
DataType:    INTEGER16
ObjectCode:  Array
  Sub:          0x0 - Highest sub-index supported
  DataType:     UNSIGNED8
  DefaultValue: 4
  AccessType:   ro
  PDOMapping:   0
  Sub:          0x1 - Subindex 1
  DataType:     INTEGER16
  DefaultValue: -101
  AccessType:   rw
  PDOMapping:   3
  Sub:          0x2 - Subindex 2
  DataType:     INTEGER16
  DefaultValue: -202
  AccessType:   rw
  PDOMapping:   3
  Sub:          0x3 - Subindex 3
  DataType:     INTEGER16
  DefaultValue: -303
  AccessType:   rw
  PDOMapping:   3
  Sub:          0x4 - Subindex 4 (write only)
  DataType:     INTEGER16
  DefaultValue: -404
  AccessType:   wo
  PDOMapping:   3

Index:       0x2003 - Manufacturer Record
DataType:    UNSIGNED8
ObjectCode:  Record
  Sub:          0x0 - Highest sub-index supported
  DataType:     UNSIGNED8
  DefaultValue: 8
  AccessType:   ro
  PDOMapping:   0
  Sub:          0x1 - U8
  DataType:     UNSIGNED8
  DefaultValue: 1
  AccessType:   rw
  PDOMapping:   0
  Sub:          0x2 - U16
  DataType:     UNSIGNED16
  DefaultValue: 2
  AccessType:   rw
  PDOMapping:   0
  Sub:          0x3 - U32
  DataType:     UNSIGNED32
  DefaultValue: 3
  AccessType:   rw
  PDOMapping:   0
  Sub:          0x4 - I8
  DataType:     INTEGER8
  DefaultValue: -1
  AccessType:   rw
  PDOMapping:   0
  Sub:          0x5 - I16
  DataType:     INTEGER16
  DefaultValue: -2
  AccessType:   rw
  PDOMapping:   0
  Sub:          0x6 - I32
  DataType:     INTEGER32
  DefaultValue: -3
  AccessType:   rw
  PDOMapping:   0
  Sub:          0x7 - R32
  DataType:     REAL32
  DefaultValue: 42.0
  AccessType:   rw
  PDOMapping:   0
  Sub:          0x8 - VS
  DataType:     VISIBLE_STRING
  DefaultValue: emotas evaluation example
  AccessType:   const
  PDOMapping:   0
