1<?xml version="1.0" encoding="utf-8"?>
2<device xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
3  <CANopenObjectList>
4    <CANopenObject index="1000" name="Device type" objectType="VAR" memoryType="ROM" dataType="0x07" accessType="ro" PDOmapping="no" defaultValue="0x00000000" subNumber="0" disabled="false" TPDOdetectCOS="false">
5      <description>bit  0-15: Device profile number
6bit 16-31: Additional information</description>
7    </CANopenObject>
8    <CANopenObject index="1001" name="Error register" objectType="VAR" memoryType="RAM" dataType="0x05" accessType="ro" PDOmapping="optional" defaultValue="0" subNumber="0" disabled="false" TPDOdetectCOS="false">
9      <description>bit 0: generic error
10bit 1: current
11bit 2: voltage
12bit 3: temperature
13bit 4: communication error (overrun, error state)
14bit 5: device profile specific
15bit 6: Reserved (always 0)
16bit 7: manufacturer specific</description>
17    </CANopenObject>
18    <CANopenObject index="1002" name="Manufacturer status register" objectType="VAR" memoryType="RAM" dataType="0x07" accessType="ro" PDOmapping="optional" defaultValue="0" subNumber="0" disabled="false" TPDOdetectCOS="false">
19      <description>bit 0-31: Not used by stack (available for user)</description>
20    </CANopenObject>
21    <CANopenObject index="1003" name="Pre-defined error field" objectType="ARRAY" memoryType="RAM" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="" subNumber="9" accessFunctionName="CO_ODF_1003" disabled="false" TPDOdetectCOS="false">
22      <description>Number of Errors
23bit 0-7: Zero can be written to erase error history
24
25Standard Error Field
26bit  0-15: Error code as transmitted in the Emergency object
27bit 16-31: Manufacturer specific additional information</description>
28      <CANopenSubObject subIndex="00" name="Number of errors" objectType="VAR" dataType="0x05" accessType="rw" PDOmapping="no" defaultValue="0x00" TPDOdetectCOS="false">
29        <description />
30      </CANopenSubObject>
31      <CANopenSubObject subIndex="01" name="Standard error field" objectType="VAR" dataType="0x00" accessType="ro" PDOmapping="no" defaultValue="0" TPDOdetectCOS="false">
32        <description />
33      </CANopenSubObject>
34      <CANopenSubObject subIndex="02" name="Standard error field" objectType="VAR" dataType="0x00" accessType="ro" PDOmapping="no" defaultValue="0" TPDOdetectCOS="false">
35        <description />
36      </CANopenSubObject>
37      <CANopenSubObject subIndex="03" name="Standard error field" objectType="VAR" dataType="0x00" accessType="ro" PDOmapping="no" defaultValue="0" TPDOdetectCOS="false">
38        <description />
39      </CANopenSubObject>
40      <CANopenSubObject subIndex="04" name="Standard error field" objectType="VAR" dataType="0x00" accessType="ro" PDOmapping="no" defaultValue="0" TPDOdetectCOS="false">
41        <description />
42      </CANopenSubObject>
43      <CANopenSubObject subIndex="05" name="Standard error field" objectType="VAR" dataType="0x00" accessType="ro" PDOmapping="no" defaultValue="0" TPDOdetectCOS="false">
44        <description />
45      </CANopenSubObject>
46      <CANopenSubObject subIndex="06" name="Standard error field" objectType="VAR" dataType="0x00" accessType="ro" PDOmapping="no" defaultValue="0" TPDOdetectCOS="false">
47        <description />
48      </CANopenSubObject>
49      <CANopenSubObject subIndex="07" name="Standard error field" objectType="VAR" dataType="0x00" accessType="ro" PDOmapping="no" defaultValue="0" TPDOdetectCOS="false">
50        <description />
51      </CANopenSubObject>
52      <CANopenSubObject subIndex="08" name="Standard error field" objectType="VAR" dataType="0x00" accessType="ro" PDOmapping="no" defaultValue="0" TPDOdetectCOS="false">
53        <description />
54      </CANopenSubObject>
55      <accessFunctionPreCode />
56    </CANopenObject>
57    <CANopenObject index="1005" name="COB-ID SYNC message" objectType="VAR" memoryType="ROM" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000080" subNumber="0" accessFunctionName="CO_ODF_1005" disabled="false" TPDOdetectCOS="false">
58      <description>bit  0-10: COB-ID for SYNC object
59bit 11-29: set to 0
60bit    30: 1(0) - node generates (does NOT generate) SYNC object
61bit    31: set to 0</description>
62    </CANopenObject>
63    <CANopenObject index="1006" name="Communication cycle period" objectType="VAR" memoryType="ROM" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0" subNumber="0" accessFunctionName="CO_ODF_1006" disabled="false" TPDOdetectCOS="false">
64      <description>bit 0-31:  period of SYNC transmission in µs (0 = no transmission, no checking)</description>
65    </CANopenObject>
66    <CANopenObject index="1007" name="Synchronous window length" objectType="VAR" memoryType="ROM" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0" subNumber="0" disabled="false" TPDOdetectCOS="false">
67      <description>bit 0-31:  window length after SYNC when PDOS must be transmitted in µs, (0 = not used)</description>
68    </CANopenObject>
69    <CANopenObject index="1008" name="Manufacturer device name" objectType="VAR" memoryType="ROM" dataType="0x09" accessType="const" PDOmapping="no" defaultValue="Zephyr RTOS/CANopenNode" subNumber="0" disabled="false" TPDOdetectCOS="false">
70      <description>Name of the manufacturer as string</description>
71    </CANopenObject>
72    <CANopenObject index="1009" name="Manufacturer hardware version" objectType="VAR" memoryType="ROM" dataType="0x09" accessType="const" PDOmapping="no" defaultValue="3.00" subNumber="0" disabled="false" TPDOdetectCOS="false">
73      <description>Name of the hardware version as string</description>
74    </CANopenObject>
75    <CANopenObject index="100a" name="Manufacturer software version" objectType="VAR" memoryType="ROM" dataType="0x09" accessType="const" PDOmapping="no" defaultValue="3.00" subNumber="0" disabled="false" TPDOdetectCOS="false">
76      <description>Name of the software version as string.</description>
77    </CANopenObject>
78    <CANopenObject index="100c" name="Guard Time" objectType="VAR" memoryType="ROM" dataType="0x06" accessType="ro" PDOmapping="no" defaultValue="" subNumber="0" accessFunctionName="" disabled="true" TPDOdetectCOS="false">
79      <description>The objects at index 100Ch and 100Dh include the guard time in milliseconds and the life time factor.
80
81The life time factor multiplied with the guard time gives the life time for the Life Guarding Protocol. It is
82
830 if not used.</description>
84      <accessFunctionPreCode />
85    </CANopenObject>
86    <CANopenObject index="100d" name="Life time factor" objectType="VAR" memoryType="RAM" dataType="0x05" accessType="ro" PDOmapping="no" defaultValue="" subNumber="0" accessFunctionName="" disabled="true" TPDOdetectCOS="false">
87      <description>The life time factor multiplied with the guard time gives the life time for the node guarding protocol. It is
88
890 if not used.</description>
90      <accessFunctionPreCode />
91    </CANopenObject>
92    <CANopenObject index="1010" name="Store parameters" objectType="ARRAY" memoryType="RAM" dataType="0x07" accessType="rw" PDOmapping="no" subNumber="2" accessFunctionName="CO_ODF_1010" disabled="false" TPDOdetectCOS="false">
93      <description>Writing value 0x65766173 ('s','a','v','e' from LSB to MSB) into this location stores all ROM variables into EEPROM.</description>
94      <CANopenSubObject subIndex="00" name="max sub-index" objectType="VAR" dataType="0x05" accessType="ro" PDOmapping="no" defaultValue="1" TPDOdetectCOS="false">
95        <description />
96      </CANopenSubObject>
97      <CANopenSubObject subIndex="01" name="save all parameters" objectType="VAR" dataType="0x00" accessType="rw" PDOmapping="no" defaultValue="0x00000003" TPDOdetectCOS="false">
98        <description />
99      </CANopenSubObject>
100    </CANopenObject>
101    <CANopenObject index="1011" name="Restore default parameters" objectType="ARRAY" memoryType="RAM" dataType="0x07" accessType="rw" PDOmapping="no" subNumber="2" accessFunctionName="CO_ODF_1011" disabled="false" TPDOdetectCOS="false">
102      <description>Writing value 0x64616F6C ('l','o','a','d' from LSB to MSB) into this location restores all ROM and EEPROM variables after reset. (After reset read form EEPROM is not performed, so default values are used.)</description>
103      <CANopenSubObject subIndex="00" name="max sub-index" objectType="VAR" dataType="0x05" accessType="ro" PDOmapping="no" defaultValue="1" TPDOdetectCOS="false">
104        <description />
105      </CANopenSubObject>
106      <CANopenSubObject subIndex="01" name="restore all default parameters" objectType="VAR" dataType="0x00" accessType="rw" PDOmapping="no" defaultValue="0x00000001" TPDOdetectCOS="false">
107        <description />
108      </CANopenSubObject>
109    </CANopenObject>
110    <CANopenObject index="1012" name="COB-ID TIME" objectType="VAR" memoryType="ROM" dataType="0x07" accessType="ro" PDOmapping="no" defaultValue="" highValue="" lowValue="" subNumber="0" accessFunctionName="" disabled="false" TPDOdetectCOS="false">
111      <description>Index 1012h defines the COB-ID of the Time-Stamp Object (TIME). Further, it defines whether the
112
113device consumes the TIME or whether the device generates the TIME.</description>
114      <accessFunctionPreCode />
115    </CANopenObject>
116    <CANopenObject index="1013" name="High resolution time stamp" objectType="VAR" memoryType="RAM" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="" subNumber="0" accessFunctionName="" disabled="true" TPDOdetectCOS="false">
117      <description>This object contains a time stamp with a resolution of 1 µs (see 9.3.2). It can be mapped into a PDO in
118
119order to define a high resolution time stamp message. (Note that the data type of the standard time
120
121stamp message (TIME) is fixed). Further application specific use is encouraged.</description>
122      <accessFunctionPreCode />
123    </CANopenObject>
124    <CANopenObject index="1014" name="COB-ID EMCY" objectType="VAR" memoryType="ROM" dataType="0x07" accessType="ro" PDOmapping="no" defaultValue="$NODEID+0x80" subNumber="0" accessFunctionName="CO_ODF_1014" disabled="false" TPDOdetectCOS="false">
125      <description>bit  0-10: COB-ID
126bit 11-30: set to 0 for 11 bit COB-ID
127bit    31: 0(1) - node uses (does NOT use) Emergency object</description>
128    </CANopenObject>
129    <CANopenObject index="1015" name="inhibit time EMCY" objectType="VAR" memoryType="ROM" dataType="0x06" accessType="rw" PDOmapping="no" defaultValue="100" subNumber="0" disabled="false" TPDOdetectCOS="false">
130      <description>bit 0-15: Inhibit time of emergency message in 100µs</description>
131    </CANopenObject>
132    <CANopenObject index="1016" name="Consumer heartbeat time" objectType="ARRAY" memoryType="ROM" dataType="0x07" accessType="rw" PDOmapping="no" subNumber="5" accessFunctionName="CO_ODF_1016" disabled="false" TPDOdetectCOS="false">
133      <description>max sub-index
134
135Consumer Heartbeat Time
136bit  0-15: Heartbeat consumer time in ms (0 = node is not monitored)
137bit 16-23: Node ID
138bit 24-31: set to 0</description>
139      <CANopenSubObject subIndex="00" name="max sub-index" objectType="VAR" dataType="0x05" accessType="ro" PDOmapping="no" defaultValue="4" TPDOdetectCOS="false">
140        <description />
141      </CANopenSubObject>
142      <CANopenSubObject subIndex="01" name="Consumer heartbeat time" objectType="VAR" dataType="0x00" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
143        <description />
144      </CANopenSubObject>
145      <CANopenSubObject subIndex="02" name="Consumer heartbeat time" objectType="VAR" dataType="0x00" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
146        <description />
147      </CANopenSubObject>
148      <CANopenSubObject subIndex="03" name="Consumer heartbeat time" objectType="VAR" dataType="0x00" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
149        <description />
150      </CANopenSubObject>
151      <CANopenSubObject subIndex="04" name="Consumer heartbeat time" objectType="VAR" dataType="0x00" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
152        <description />
153      </CANopenSubObject>
154    </CANopenObject>
155    <CANopenObject index="1017" name="Producer heartbeat time" objectType="VAR" memoryType="ROM" dataType="0x06" accessType="rw" PDOmapping="no" defaultValue="1000" subNumber="0" disabled="false" TPDOdetectCOS="false">
156      <description>bit 0-15: Heartbeat producer time in ms (0 = disable transmission)</description>
157    </CANopenObject>
158    <CANopenObject index="1018" name="Identity" objectType="REC" memoryType="ROM" dataType="0x23" accessType="rw" PDOmapping="no" subNumber="5" disabled="false" TPDOdetectCOS="false">
159      <description>max sub-index
160
161Vendor-ID
162bit 0-31: Assigned by CiA
163
164Product code
165bit 0-31: Manufacturer specific
166
167Revision number
168bit 0-15:  Minor revision num. (CANopen behavior has not changed)
169bit 16-31: Major revision number (CANopen behavior has changed)
170
171Serial number
172bit 0-31: Manufacturer specific</description>
173      <CANopenSubObject subIndex="00" name="max sub-index" objectType="VAR" dataType="0x05" accessType="ro" PDOmapping="no" defaultValue="4" TPDOdetectCOS="false">
174        <description />
175      </CANopenSubObject>
176      <CANopenSubObject subIndex="01" name="Vendor-ID" objectType="VAR" dataType="0x07" accessType="ro" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
177        <description />
178      </CANopenSubObject>
179      <CANopenSubObject subIndex="02" name="Product code" objectType="VAR" dataType="0x07" accessType="ro" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
180        <description />
181      </CANopenSubObject>
182      <CANopenSubObject subIndex="03" name="Revision number" objectType="VAR" dataType="0x07" accessType="ro" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
183        <description />
184      </CANopenSubObject>
185      <CANopenSubObject subIndex="04" name="Serial number" objectType="VAR" dataType="0x07" accessType="ro" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
186        <description />
187      </CANopenSubObject>
188    </CANopenObject>
189    <CANopenObject index="1019" name="Synchronous counter overflow value" objectType="VAR" memoryType="ROM" dataType="0x05" accessType="rw" PDOmapping="no" defaultValue="0" subNumber="0" accessFunctionName="CO_ODF_1019" disabled="false" TPDOdetectCOS="false">
190      <description>If value is zero, then SYNC message is transmitted with data length 0.
191
192If Value is from 2 to 240, then SYNC message has one data byte, which contains the counter.
193
194Other values are reserved.</description>
195    </CANopenObject>
196    <CANopenObject index="1029" name="Error behavior" objectType="ARRAY" memoryType="ROM" dataType="0x05" accessType="rw" PDOmapping="no" subNumber="7" disabled="false" TPDOdetectCOS="false">
197      <description>If error is detected and operating NMT state is NMT operational, this object defines behavior of the device.
198
199Value definition for all subindexes:
200   0x00 - if operational, switch to NMT pre-operational
201   0x01 - do nothing
202   0x02 - switch to NMT stopped
203
20401 - Communication error - bus off or Heartbeat consumer error.
20502 - Communication other error (critical errors - see 'Error status bits') except CAN bus passive but including bus off or Heartbeat consumer.
20603 - Communication passive - any communication error including CAN bus passive.
20704 - Generic error (critical errors - see 'Error status bits').
20805 - Device profile error - bit 5 in error register is set.
20906 - Manufacturer specific error - bit 7 in error register is set.</description>
210      <CANopenSubObject subIndex="00" name="max sub-index" objectType="VAR" dataType="0x05" accessType="ro" PDOmapping="no" defaultValue="6" TPDOdetectCOS="false">
211        <description />
212      </CANopenSubObject>
213      <CANopenSubObject subIndex="01" name="Communication" objectType="VAR" dataType="0x00" accessType="rw" PDOmapping="no" defaultValue="0x00" TPDOdetectCOS="false">
214        <description />
215      </CANopenSubObject>
216      <CANopenSubObject subIndex="02" name="Communication other" objectType="VAR" dataType="0x00" accessType="rw" PDOmapping="no" defaultValue="0x00" TPDOdetectCOS="false">
217        <description />
218      </CANopenSubObject>
219      <CANopenSubObject subIndex="03" name="Communication passive" objectType="VAR" dataType="0x00" accessType="rw" PDOmapping="no" defaultValue="0x01" TPDOdetectCOS="false">
220        <description />
221      </CANopenSubObject>
222      <CANopenSubObject subIndex="04" name="Generic" objectType="VAR" dataType="0x00" accessType="rw" PDOmapping="no" defaultValue="0x00" TPDOdetectCOS="false">
223        <description />
224      </CANopenSubObject>
225      <CANopenSubObject subIndex="05" name="Device profile" objectType="VAR" dataType="0x00" accessType="rw" PDOmapping="no" defaultValue="0x00" TPDOdetectCOS="false">
226        <description />
227      </CANopenSubObject>
228      <CANopenSubObject subIndex="06" name="Manufacturer specific" objectType="VAR" dataType="0x00" accessType="rw" PDOmapping="no" defaultValue="0x00" TPDOdetectCOS="false">
229        <description />
230      </CANopenSubObject>
231    </CANopenObject>
232    <CANopenObject index="1200" name="SDO server parameter" objectType="REC" memoryType="ROM" dataType="0x22" accessType="rw" PDOmapping="no" subNumber="3" accessFunctionName="CO_ODF_1200" disabled="false" TPDOdetectCOS="false">
233      <description>0x1200 SDO server parameter
234max sub-index
235
236COB-ID client to server (Receive SDO)
237bit 0-31:  0x00000600 + Node ID
238
239COB-ID server to client (Transmit SDO)
240bit 0-31:  0x00000580 + Node ID
241
242
243
2440x1201 - 0x127F SDO server parameter
245max sub-index
246
247COB-ID client to server (Receive SDO)
248bit 0-10:  COB_ID
249bit 11-30: Set to 0
250bit 31*:   0(1) - node uses (does NOT use) SDO
251
252COB-ID server to client (Transmit SDO)
253bit 0-31:  same as previous
254
255Node-ID of the SDO client
256bit 0-7:   Node ID (optional)</description>
257      <CANopenSubObject subIndex="00" name="max sub-index" objectType="VAR" dataType="0x05" accessType="ro" PDOmapping="no" defaultValue="2" TPDOdetectCOS="false">
258        <description />
259      </CANopenSubObject>
260      <CANopenSubObject subIndex="01" name="COB-ID client to server" objectType="VAR" dataType="0x07" accessType="ro" PDOmapping="no" defaultValue="$NODEID+0x600" TPDOdetectCOS="false">
261        <description />
262      </CANopenSubObject>
263      <CANopenSubObject subIndex="02" name="COB-ID server to client" objectType="VAR" dataType="0x07" accessType="ro" PDOmapping="no" defaultValue="$NODEID+0x580" TPDOdetectCOS="false">
264        <description />
265      </CANopenSubObject>
266    </CANopenObject>
267    <CANopenObject index="1280" name="SDO client parameter" objectType="REC" memoryType="RAM" dataType="0x22" accessType="rw" PDOmapping="no" defaultValue="" subNumber="4" disabled="true" TPDOdetectCOS="false">
268      <description>0x1280 - 0x12FF SDO client parameter
269max sub-index
270
271COB-ID client to server (Transmit SDO)
272bit 0-10:  COB_ID
273bit 11-30: Set to 0
274bit 31:    0(1) - node uses (does NOT use) SDO
275
276COB-ID server to client (Receive SDO)
277bit 0-31:  same as previous
278
279Node-ID of the SDO server
2800-7:   Node ID</description>
281      <CANopenSubObject subIndex="00" name="max sub-index" objectType="VAR" dataType="0x05" accessType="ro" PDOmapping="no" defaultValue="3" TPDOdetectCOS="false">
282        <description />
283      </CANopenSubObject>
284      <CANopenSubObject subIndex="01" name="COB-ID client to server" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0" TPDOdetectCOS="false">
285        <description />
286      </CANopenSubObject>
287      <CANopenSubObject subIndex="02" name="COB-ID server to client" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0" TPDOdetectCOS="false">
288        <description />
289      </CANopenSubObject>
290      <CANopenSubObject subIndex="03" name="Node-ID of the SDO server" objectType="VAR" dataType="0x05" accessType="rw" PDOmapping="no" defaultValue="0" TPDOdetectCOS="false">
291        <description />
292      </CANopenSubObject>
293    </CANopenObject>
294    <CANopenObject index="1400" name="RPDO communication parameter" objectType="REC" memoryType="ROM" dataType="0x20" accessType="rw" PDOmapping="no" subNumber="3" accessFunctionName="CO_ODF_RPDOcom" disabled="false" TPDOdetectCOS="false">
295      <description>0x1400 - 0x15FF RPDO communication parameter
296max sub-index
297
298COB-ID
299bit  0-10: COB-ID for PDO, to change it bit 31 must be set
300bit 11-29: set to 0 for 11 bit COB-ID
301bit 30:    0(1) - rtr are allowed (are NOT allowed) for PDO
302bit 31:    0(1) - node uses (does NOT use) PDO
303
304Transmission type
305value = 0-240:   receiving is synchronous, process after next reception of SYNC object
306value = 241-253: not used
307value = 254:     manufacturer specific
308value = 255:     asynchronous</description>
309      <CANopenSubObject subIndex="00" name="max sub-index" objectType="VAR" dataType="0x05" accessType="ro" PDOmapping="no" defaultValue="2" TPDOdetectCOS="false">
310        <description />
311      </CANopenSubObject>
312      <CANopenSubObject subIndex="01" name="COB-ID used by RPDO" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="$NODEID+0x200" TPDOdetectCOS="false">
313        <description />
314      </CANopenSubObject>
315      <CANopenSubObject subIndex="02" name="transmission type" objectType="VAR" dataType="0x05" accessType="rw" PDOmapping="no" defaultValue="254" TPDOdetectCOS="false">
316        <description />
317      </CANopenSubObject>
318    </CANopenObject>
319    <CANopenObject index="1401" name="RPDO communication parameter" objectType="REC" memoryType="ROM" dataType="0x00" accessType="ro" PDOmapping="no" defaultValue="" subNumber="3" accessFunctionName="CO_ODF_RPDOcom" disabled="false" TPDOdetectCOS="false">
320      <description>0x1400 - 0x15FF RPDO communication parameter
321max sub-index
322
323COB - ID
324 bit  0 - 10: COB - ID for PDO, to change it bit 31 must be set
325 bit 11 - 29: set to 0 for 11 bit COB - ID
326 bit 30:    0(1) - rtr are allowed(are NOT allowed) for PDO
327 bit 31:    0(1) - node uses(does NOT use) PDO
328
329Transmission type
330 value = 0 - 240:   receiving is synchronous, process after next reception of SYNC object
331 value = 241 - 253: not used
332 value = 254:     manufacturer specific
333 value = 255:     asynchronous</description>
334      <CANopenSubObject subIndex="00" name="max sub-index" objectType="VAR" dataType="0x05" accessType="ro" PDOmapping="no" defaultValue="2" TPDOdetectCOS="false">
335        <description />
336      </CANopenSubObject>
337      <CANopenSubObject subIndex="01" name="COB-ID used by RPDO" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="$NODEID+0x300" TPDOdetectCOS="false">
338        <description />
339      </CANopenSubObject>
340      <CANopenSubObject subIndex="02" name="transmission type" objectType="VAR" dataType="0x05" accessType="rw" PDOmapping="no" defaultValue="254" TPDOdetectCOS="false">
341        <description />
342      </CANopenSubObject>
343      <accessFunctionPreCode />
344    </CANopenObject>
345    <CANopenObject index="1402" name="RPDO communication parameter" objectType="REC" memoryType="ROM" dataType="0x00" accessType="ro" PDOmapping="no" defaultValue="" subNumber="3" accessFunctionName="CO_ODF_RPDOcom" disabled="false" TPDOdetectCOS="false">
346      <description>0x1400 - 0x15FF RPDO communication parameter
347max sub-index
348
349COB - ID
350 bit  0 - 10: COB - ID for PDO, to change it bit 31 must be set
351 bit 11 - 29: set to 0 for 11 bit COB - ID
352 bit 30:    0(1) - rtr are allowed(are NOT allowed) for PDO
353 bit 31:    0(1) - node uses(does NOT use) PDO
354
355Transmission type
356 value = 0 - 240:   receiving is synchronous, process after next reception of SYNC object
357 value = 241 - 253: not used
358 value = 254:     manufacturer specific
359 value = 255:     asynchronous</description>
360      <CANopenSubObject subIndex="00" name="max sub-index" objectType="VAR" dataType="0x05" accessType="ro" PDOmapping="no" defaultValue="2" TPDOdetectCOS="false">
361        <description />
362      </CANopenSubObject>
363      <CANopenSubObject subIndex="01" name="COB-ID used by RPDO" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="$NODEID+0x400" TPDOdetectCOS="false">
364        <description />
365      </CANopenSubObject>
366      <CANopenSubObject subIndex="02" name="transmission type" objectType="VAR" dataType="0x05" accessType="rw" PDOmapping="no" defaultValue="254" TPDOdetectCOS="false">
367        <description />
368      </CANopenSubObject>
369      <accessFunctionPreCode />
370    </CANopenObject>
371    <CANopenObject index="1403" name="RPDO communication parameter" objectType="REC" memoryType="ROM" dataType="0x00" accessType="ro" PDOmapping="no" defaultValue="" subNumber="3" accessFunctionName="CO_ODF_RPDOcom" disabled="false" TPDOdetectCOS="false">
372      <description>0x1400 - 0x15FF RPDO communication parameter
373max sub-index
374
375COB - ID
376 bit  0 - 10: COB - ID for PDO, to change it bit 31 must be set
377 bit 11 - 29: set to 0 for 11 bit COB - ID
378 bit 30:    0(1) - rtr are allowed(are NOT allowed) for PDO
379 bit 31:    0(1) - node uses(does NOT use) PDO
380
381Transmission type
382 value = 0 - 240:   receiving is synchronous, process after next reception of SYNC object
383 value = 241 - 253: not used
384 value = 254:     manufacturer specific
385 value = 255:     asynchronous</description>
386      <CANopenSubObject subIndex="00" name="max sub-index" objectType="VAR" dataType="0x05" accessType="ro" PDOmapping="no" defaultValue="2" TPDOdetectCOS="false">
387        <description />
388      </CANopenSubObject>
389      <CANopenSubObject subIndex="01" name="COB-ID used by RPDO" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="$NODEID+0x500" TPDOdetectCOS="false">
390        <description />
391      </CANopenSubObject>
392      <CANopenSubObject subIndex="02" name="transmission type" objectType="VAR" dataType="0x05" accessType="rw" PDOmapping="no" defaultValue="254" TPDOdetectCOS="false">
393        <description />
394      </CANopenSubObject>
395      <accessFunctionPreCode />
396    </CANopenObject>
397    <CANopenObject index="1600" name="RPDO mapping parameter" objectType="REC" memoryType="ROM" dataType="0x21" accessType="rw" PDOmapping="no" defaultValue="" subNumber="9" accessFunctionName="CO_ODF_RPDOmap" disabled="false" TPDOdetectCOS="false">
398      <description>0x1600 - 0x17FF RPDO mapping parameter (To change mapping, 'Number of mapped objects' must be set to 0)
399Number of mapped objects
400
401mapped object  (subindex 1...8)
402 bit  0 - 7:  data length in bits
403 bit 8 - 15:  subindex from OD
404 bit 16 - 31: index from OD</description>
405      <CANopenSubObject subIndex="00" name="Number of mapped objects" objectType="VAR" dataType="0x05" accessType="rw" PDOmapping="no" defaultValue="0" TPDOdetectCOS="false">
406        <description />
407      </CANopenSubObject>
408      <CANopenSubObject subIndex="01" name="mapped object 1" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
409        <description />
410      </CANopenSubObject>
411      <CANopenSubObject subIndex="02" name="mapped object 2" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
412        <description />
413      </CANopenSubObject>
414      <CANopenSubObject subIndex="03" name="mapped object 3" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
415        <description />
416      </CANopenSubObject>
417      <CANopenSubObject subIndex="04" name="mapped object 4" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
418        <description />
419      </CANopenSubObject>
420      <CANopenSubObject subIndex="05" name="mapped object 5" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
421        <description />
422      </CANopenSubObject>
423      <CANopenSubObject subIndex="06" name="mapped object 6" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
424        <description />
425      </CANopenSubObject>
426      <CANopenSubObject subIndex="07" name="mapped object 7" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
427        <description />
428      </CANopenSubObject>
429      <CANopenSubObject subIndex="08" name="mapped object 8" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
430        <description />
431      </CANopenSubObject>
432    </CANopenObject>
433    <CANopenObject index="1601" name="RPDO mapping parameter" objectType="REC" memoryType="ROM" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="" subNumber="9" accessFunctionName="CO_ODF_RPDOmap" disabled="false" TPDOdetectCOS="false">
434      <description>0x1600 - 0x17FF RPDO mapping parameter (To change mapping, 'Number of mapped objects' must be set to 0)
435Number of mapped objects
436
437mapped object  (subindex 1...8)
438 bit  0 - 7:  data length in bits
439 bit 8 - 15:  subindex from OD
440 bit 16 - 31: index from OD</description>
441      <CANopenSubObject subIndex="00" name="Number of mapped objects" objectType="VAR" dataType="0x05" accessType="rw" PDOmapping="no" defaultValue="0" TPDOdetectCOS="false">
442        <description />
443      </CANopenSubObject>
444      <CANopenSubObject subIndex="01" name="mapped object 1" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
445        <description />
446      </CANopenSubObject>
447      <CANopenSubObject subIndex="02" name="mapped object 2" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
448        <description />
449      </CANopenSubObject>
450      <CANopenSubObject subIndex="03" name="mapped object 3" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
451        <description />
452      </CANopenSubObject>
453      <CANopenSubObject subIndex="04" name="mapped object 4" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
454        <description />
455      </CANopenSubObject>
456      <CANopenSubObject subIndex="05" name="mapped object 5" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
457        <description />
458      </CANopenSubObject>
459      <CANopenSubObject subIndex="06" name="mapped object 6" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
460        <description />
461      </CANopenSubObject>
462      <CANopenSubObject subIndex="07" name="mapped object 7" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
463        <description />
464      </CANopenSubObject>
465      <CANopenSubObject subIndex="08" name="mapped object 8" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
466        <description />
467      </CANopenSubObject>
468      <accessFunctionPreCode />
469    </CANopenObject>
470    <CANopenObject index="1602" name="RPDO mapping parameter" objectType="REC" memoryType="ROM" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="" subNumber="9" accessFunctionName="CO_ODF_RPDOmap" disabled="false" TPDOdetectCOS="false">
471      <description>0x1600 - 0x17FF RPDO mapping parameter (To change mapping, 'Number of mapped objects' must be set to 0)
472Number of mapped objects
473
474mapped object  (subindex 1...8)
475 bit  0 - 7:  data length in bits
476 bit 8 - 15:  subindex from OD
477 bit 16 - 31: index from OD</description>
478      <CANopenSubObject subIndex="00" name="Number of mapped objects" objectType="VAR" dataType="0x05" accessType="rw" PDOmapping="no" defaultValue="0" TPDOdetectCOS="false">
479        <description />
480      </CANopenSubObject>
481      <CANopenSubObject subIndex="01" name="mapped object 1" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
482        <description />
483      </CANopenSubObject>
484      <CANopenSubObject subIndex="02" name="mapped object 2" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
485        <description />
486      </CANopenSubObject>
487      <CANopenSubObject subIndex="03" name="mapped object 3" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
488        <description />
489      </CANopenSubObject>
490      <CANopenSubObject subIndex="04" name="mapped object 4" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
491        <description />
492      </CANopenSubObject>
493      <CANopenSubObject subIndex="05" name="mapped object 5" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
494        <description />
495      </CANopenSubObject>
496      <CANopenSubObject subIndex="06" name="mapped object 6" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
497        <description />
498      </CANopenSubObject>
499      <CANopenSubObject subIndex="07" name="mapped object 7" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
500        <description />
501      </CANopenSubObject>
502      <CANopenSubObject subIndex="08" name="mapped object 8" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
503        <description />
504      </CANopenSubObject>
505      <accessFunctionPreCode />
506    </CANopenObject>
507    <CANopenObject index="1603" name="RPDO mapping parameter" objectType="REC" memoryType="ROM" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="" subNumber="9" accessFunctionName="CO_ODF_RPDOmap" disabled="false" TPDOdetectCOS="false">
508      <description>0x1600 - 0x17FF RPDO mapping parameter (To change mapping, 'Number of mapped objects' must be set to 0)
509Number of mapped objects
510
511mapped object  (subindex 1...8)
512 bit  0 - 7:  data length in bits
513 bit 8 - 15:  subindex from OD
514 bit 16 - 31: index from OD</description>
515      <CANopenSubObject subIndex="00" name="Number of mapped objects" objectType="VAR" dataType="0x05" accessType="rw" PDOmapping="no" defaultValue="0" TPDOdetectCOS="false">
516        <description />
517      </CANopenSubObject>
518      <CANopenSubObject subIndex="01" name="mapped object 1" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
519        <description />
520      </CANopenSubObject>
521      <CANopenSubObject subIndex="02" name="mapped object 2" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
522        <description />
523      </CANopenSubObject>
524      <CANopenSubObject subIndex="03" name="mapped object 3" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
525        <description />
526      </CANopenSubObject>
527      <CANopenSubObject subIndex="04" name="mapped object 4" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
528        <description />
529      </CANopenSubObject>
530      <CANopenSubObject subIndex="05" name="mapped object 5" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
531        <description />
532      </CANopenSubObject>
533      <CANopenSubObject subIndex="06" name="mapped object 6" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
534        <description />
535      </CANopenSubObject>
536      <CANopenSubObject subIndex="07" name="mapped object 7" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
537        <description />
538      </CANopenSubObject>
539      <CANopenSubObject subIndex="08" name="mapped object 8" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
540        <description />
541      </CANopenSubObject>
542      <accessFunctionPreCode />
543    </CANopenObject>
544    <CANopenObject index="1800" name="TPDO communication parameter" objectType="REC" memoryType="ROM" dataType="0x20" accessType="rw" PDOmapping="no" defaultValue="" subNumber="7" accessFunctionName="CO_ODF_TPDOcom" disabled="false" TPDOdetectCOS="false">
545      <description>0x1800 - 0x19FF TPDO communication parameter
546max sub-index
547
548COB-ID
549bit  0-10: COB-ID for PDO, to change it bit 31 must be set
550bit 11-29: set to 0 for 11 bit COB-ID
551bit 30:    0(1) - rtr are allowed (are NOT allowed) for PDO
552bit 31:    0(1) - node uses (does NOT use) PDO
553
554Transmission type
555value = 0:       transmitting is synchronous, specification in device profile
556value = 1-240:   transmitting is synchronous after every N-th SYNC object
557value = 241-251: not used
558value = 252-253: Transmitted only on reception of Remote Transmission Request
559value = 254:     manufacturer specific
560value = 255:     asynchronous, specification in device profile
561
562inhibit time
563bit 0-15:  Minimum time between transmissions of the PDO in 100µs. Zero disables functionality.
564
565event timer
566bit 0-15:  Time between periodic transmissions of the PDO in ms. Zero disables functionality.
567
568SYNC start value
569value = 0:       Counter of the SYNC message shall not be processed.
570value = 1-240:   The SYNC message with the counter value equal to this value shall be regarded as the first received SYNC message.</description>
571      <CANopenSubObject subIndex="00" name="max sub-index" objectType="VAR" dataType="0x05" accessType="ro" PDOmapping="no" defaultValue="6" TPDOdetectCOS="false">
572        <description />
573      </CANopenSubObject>
574      <CANopenSubObject subIndex="01" name="COB-ID used by TPDO" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="$NODEID+0x180" TPDOdetectCOS="false">
575        <description />
576      </CANopenSubObject>
577      <CANopenSubObject subIndex="02" name="transmission type" objectType="VAR" dataType="0x05" accessType="rw" PDOmapping="no" defaultValue="254" TPDOdetectCOS="false">
578        <description />
579      </CANopenSubObject>
580      <CANopenSubObject subIndex="03" name="inhibit time" objectType="VAR" dataType="0x06" accessType="rw" PDOmapping="no" defaultValue="0" TPDOdetectCOS="false">
581        <description />
582      </CANopenSubObject>
583      <CANopenSubObject subIndex="04" name="compatibility entry" objectType="VAR" dataType="0x05" accessType="ro" PDOmapping="no" defaultValue="0" TPDOdetectCOS="false">
584        <description />
585      </CANopenSubObject>
586      <CANopenSubObject subIndex="05" name="event timer" objectType="VAR" dataType="0x06" accessType="rw" PDOmapping="no" defaultValue="0" TPDOdetectCOS="false">
587        <description />
588      </CANopenSubObject>
589      <CANopenSubObject subIndex="06" name="SYNC start value" objectType="VAR" dataType="0x05" accessType="rw" PDOmapping="no" defaultValue="0" TPDOdetectCOS="false">
590        <description />
591      </CANopenSubObject>
592    </CANopenObject>
593    <CANopenObject index="1801" name="TPDO communication parameter" objectType="REC" memoryType="ROM" dataType="0x07" accessType="ro" PDOmapping="no" defaultValue="" subNumber="7" accessFunctionName="CO_ODF_TPDOcom" disabled="false" TPDOdetectCOS="false">
594      <description>0x1800 - 0x19FF TPDO communication parameter
595max sub-index
596
597COB - ID
598 bit  0 - 10: COB - ID for PDO, to change it bit 31 must be set
599 bit 11 - 29: set to 0 for 11 bit COB - ID
600 bit 30:    0(1) - rtr are allowed(are NOT allowed) for PDO
601 bit 31:    0(1) - node uses(does NOT use) PDO
602
603Transmission type
604 value = 0:       transmitting is synchronous, specification in device profile
605 value = 1 - 240:   transmitting is synchronous after every N - th SYNC object
606 value = 241 - 251: not used
607 value = 252 - 253: Transmitted only on reception of Remote Transmission Request
608 value = 254:     manufacturer specific
609 value = 255:     asynchronous, specification in device profile
610
611inhibit time
612 bit 0 - 15:  Minimum time between transmissions of the PDO in 100µs.Zero disables functionality.
613
614event timer
615 bit 0-15:  Time between periodic transmissions of the PDO in ms.Zero disables functionality.
616
617SYNC start value
618 value = 0:       Counter of the SYNC message shall not be processed.
619 value = 1-240:   The SYNC message with the counter value equal to this value shall be regarded as the first received SYNC message.</description>
620      <CANopenSubObject subIndex="00" name="max sub-index" objectType="VAR" dataType="0x05" accessType="ro" PDOmapping="no" defaultValue="6" TPDOdetectCOS="false">
621        <description />
622      </CANopenSubObject>
623      <CANopenSubObject subIndex="01" name="COB-ID used by TPDO" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="$NODEID+0x280" TPDOdetectCOS="false">
624        <description />
625      </CANopenSubObject>
626      <CANopenSubObject subIndex="02" name="transmission type" objectType="VAR" dataType="0x05" accessType="rw" PDOmapping="no" defaultValue="254" TPDOdetectCOS="false">
627        <description />
628      </CANopenSubObject>
629      <CANopenSubObject subIndex="03" name="inhibit time" objectType="VAR" dataType="0x06" accessType="rw" PDOmapping="no" defaultValue="0" TPDOdetectCOS="false">
630        <description />
631      </CANopenSubObject>
632      <CANopenSubObject subIndex="04" name="compatibility entry" objectType="VAR" dataType="0x05" accessType="ro" PDOmapping="no" defaultValue="0" TPDOdetectCOS="false">
633        <description />
634      </CANopenSubObject>
635      <CANopenSubObject subIndex="05" name="event timer" objectType="VAR" dataType="0x06" accessType="rw" PDOmapping="no" defaultValue="0" TPDOdetectCOS="false">
636        <description />
637      </CANopenSubObject>
638      <CANopenSubObject subIndex="06" name="SYNC start value" objectType="VAR" dataType="0x05" accessType="rw" PDOmapping="no" defaultValue="0" TPDOdetectCOS="false">
639        <description />
640      </CANopenSubObject>
641      <accessFunctionPreCode />
642    </CANopenObject>
643    <CANopenObject index="1802" name="TPDO communication parameter" objectType="REC" memoryType="ROM" dataType="0x07" accessType="ro" PDOmapping="no" defaultValue="" subNumber="7" accessFunctionName="CO_ODF_TPDOcom" disabled="false" TPDOdetectCOS="false">
644      <description>0x1800 - 0x19FF TPDO communication parameter
645max sub-index
646
647COB - ID
648 bit  0 - 10: COB - ID for PDO, to change it bit 31 must be set
649 bit 11 - 29: set to 0 for 11 bit COB - ID
650 bit 30:    0(1) - rtr are allowed(are NOT allowed) for PDO
651 bit 31:    0(1) - node uses(does NOT use) PDO
652
653Transmission type
654 value = 0:       transmitting is synchronous, specification in device profile
655 value = 1 - 240:   transmitting is synchronous after every N - th SYNC object
656 value = 241 - 251: not used
657 value = 252 - 253: Transmitted only on reception of Remote Transmission Request
658 value = 254:     manufacturer specific
659 value = 255:     asynchronous, specification in device profile
660
661inhibit time
662 bit 0 - 15:  Minimum time between transmissions of the PDO in 100µs.Zero disables functionality.
663
664event timer
665 bit 0-15:  Time between periodic transmissions of the PDO in ms.Zero disables functionality.
666
667SYNC start value
668 value = 0:       Counter of the SYNC message shall not be processed.
669 value = 1-240:   The SYNC message with the counter value equal to this value shall be regarded as the first received SYNC message.</description>
670      <CANopenSubObject subIndex="00" name="max sub-index" objectType="VAR" dataType="0x05" accessType="ro" PDOmapping="no" defaultValue="6" TPDOdetectCOS="false">
671        <description />
672      </CANopenSubObject>
673      <CANopenSubObject subIndex="01" name="COB-ID used by TPDO" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="$NODEID+0x380" TPDOdetectCOS="false">
674        <description />
675      </CANopenSubObject>
676      <CANopenSubObject subIndex="02" name="transmission type" objectType="VAR" dataType="0x05" accessType="rw" PDOmapping="no" defaultValue="254" TPDOdetectCOS="false">
677        <description />
678      </CANopenSubObject>
679      <CANopenSubObject subIndex="03" name="inhibit time" objectType="VAR" dataType="0x06" accessType="rw" PDOmapping="no" defaultValue="0" TPDOdetectCOS="false">
680        <description />
681      </CANopenSubObject>
682      <CANopenSubObject subIndex="04" name="compatibility entry" objectType="VAR" dataType="0x05" accessType="ro" PDOmapping="no" defaultValue="0" TPDOdetectCOS="false">
683        <description />
684      </CANopenSubObject>
685      <CANopenSubObject subIndex="05" name="event timer" objectType="VAR" dataType="0x06" accessType="rw" PDOmapping="no" defaultValue="0" TPDOdetectCOS="false">
686        <description />
687      </CANopenSubObject>
688      <CANopenSubObject subIndex="06" name="SYNC start value" objectType="VAR" dataType="0x05" accessType="rw" PDOmapping="no" defaultValue="0" TPDOdetectCOS="false">
689        <description />
690      </CANopenSubObject>
691      <accessFunctionPreCode />
692    </CANopenObject>
693    <CANopenObject index="1803" name="TPDO communication parameter" objectType="REC" memoryType="ROM" dataType="0x07" accessType="ro" PDOmapping="no" defaultValue="" subNumber="7" accessFunctionName="CO_ODF_TPDOcom" disabled="false" TPDOdetectCOS="false">
694      <description>0x1800 - 0x19FF TPDO communication parameter
695max sub-index
696
697COB - ID
698 bit  0 - 10: COB - ID for PDO, to change it bit 31 must be set
699 bit 11 - 29: set to 0 for 11 bit COB - ID
700 bit 30:    0(1) - rtr are allowed(are NOT allowed) for PDO
701 bit 31:    0(1) - node uses(does NOT use) PDO
702
703Transmission type
704 value = 0:       transmitting is synchronous, specification in device profile
705 value = 1 - 240:   transmitting is synchronous after every N - th SYNC object
706 value = 241 - 251: not used
707 value = 252 - 253: Transmitted only on reception of Remote Transmission Request
708 value = 254:     manufacturer specific
709 value = 255:     asynchronous, specification in device profile
710
711inhibit time
712 bit 0 - 15:  Minimum time between transmissions of the PDO in 100µs.Zero disables functionality.
713
714event timer
715 bit 0-15:  Time between periodic transmissions of the PDO in ms.Zero disables functionality.
716
717SYNC start value
718 value = 0:       Counter of the SYNC message shall not be processed.
719 value = 1-240:   The SYNC message with the counter value equal to this value shall be regarded as the first received SYNC message.</description>
720      <CANopenSubObject subIndex="00" name="max sub-index" objectType="VAR" dataType="0x05" accessType="ro" PDOmapping="no" defaultValue="6" TPDOdetectCOS="false">
721        <description />
722      </CANopenSubObject>
723      <CANopenSubObject subIndex="01" name="COB-ID used by TPDO" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="$NODEID+0x480" TPDOdetectCOS="false">
724        <description />
725      </CANopenSubObject>
726      <CANopenSubObject subIndex="02" name="transmission type" objectType="VAR" dataType="0x05" accessType="rw" PDOmapping="no" defaultValue="254" TPDOdetectCOS="false">
727        <description />
728      </CANopenSubObject>
729      <CANopenSubObject subIndex="03" name="inhibit time" objectType="VAR" dataType="0x06" accessType="rw" PDOmapping="no" defaultValue="0" TPDOdetectCOS="false">
730        <description />
731      </CANopenSubObject>
732      <CANopenSubObject subIndex="04" name="compatibility entry" objectType="VAR" dataType="0x05" accessType="ro" PDOmapping="no" defaultValue="0" TPDOdetectCOS="false">
733        <description />
734      </CANopenSubObject>
735      <CANopenSubObject subIndex="05" name="event timer" objectType="VAR" dataType="0x06" accessType="rw" PDOmapping="no" defaultValue="0" TPDOdetectCOS="false">
736        <description />
737      </CANopenSubObject>
738      <CANopenSubObject subIndex="06" name="SYNC start value" objectType="VAR" dataType="0x05" accessType="rw" PDOmapping="no" defaultValue="0" TPDOdetectCOS="false">
739        <description />
740      </CANopenSubObject>
741      <accessFunctionPreCode />
742    </CANopenObject>
743    <CANopenObject index="1a00" name="TPDO mapping parameter" objectType="REC" memoryType="ROM" dataType="0x21" accessType="rw" PDOmapping="no" defaultValue="" subNumber="9" accessFunctionName="CO_ODF_TPDOmap" disabled="false" TPDOdetectCOS="false">
744      <description>0x1A00 - 0x1BFF TPDO mapping parameter. (To change mapping, 'Number of mapped objects' must be set to 0).
745Number of mapped objects
746
747mapped object  (subindex 1...8)
748 bit   0 - 7: data length in bits
749 bit  8 - 15: subindex from OD
750 bit 16 - 31: index from OD</description>
751      <CANopenSubObject subIndex="00" name="Number of mapped objects" objectType="VAR" dataType="0x05" accessType="rw" PDOmapping="no" defaultValue="0" TPDOdetectCOS="false">
752        <description />
753      </CANopenSubObject>
754      <CANopenSubObject subIndex="01" name="mapped object 1" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
755        <description />
756      </CANopenSubObject>
757      <CANopenSubObject subIndex="02" name="mapped object 2" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
758        <description />
759      </CANopenSubObject>
760      <CANopenSubObject subIndex="03" name="mapped object 3" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
761        <description />
762      </CANopenSubObject>
763      <CANopenSubObject subIndex="04" name="mapped object 4" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
764        <description />
765      </CANopenSubObject>
766      <CANopenSubObject subIndex="05" name="mapped object 5" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
767        <description />
768      </CANopenSubObject>
769      <CANopenSubObject subIndex="06" name="mapped object 6" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
770        <description />
771      </CANopenSubObject>
772      <CANopenSubObject subIndex="07" name="mapped object 7" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
773        <description />
774      </CANopenSubObject>
775      <CANopenSubObject subIndex="08" name="mapped object 8" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
776        <description />
777      </CANopenSubObject>
778    </CANopenObject>
779    <CANopenObject index="1a01" name="TPDO mapping parameter" objectType="REC" memoryType="ROM" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="" subNumber="9" accessFunctionName="CO_ODF_TPDOmap" disabled="false" TPDOdetectCOS="false">
780      <description>0x1A00 - 0x1BFF TPDO mapping parameter. (To change mapping, 'Number of mapped objects' must be set to 0).
781Number of mapped objects
782
783mapped object  (subindex 1...8)
784 bit   0 - 7: data length in bits
785 bit  8 - 15: subindex from OD
786 bit 16 - 31: index from OD</description>
787      <CANopenSubObject subIndex="00" name="Number of mapped objects" objectType="VAR" dataType="0x05" accessType="rw" PDOmapping="no" defaultValue="0" TPDOdetectCOS="false">
788        <description />
789      </CANopenSubObject>
790      <CANopenSubObject subIndex="01" name="mapped object 1" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
791        <description />
792      </CANopenSubObject>
793      <CANopenSubObject subIndex="02" name="mapped object 2" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
794        <description />
795      </CANopenSubObject>
796      <CANopenSubObject subIndex="03" name="mapped object 3" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
797        <description />
798      </CANopenSubObject>
799      <CANopenSubObject subIndex="04" name="mapped object 4" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
800        <description />
801      </CANopenSubObject>
802      <CANopenSubObject subIndex="05" name="mapped object 5" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
803        <description />
804      </CANopenSubObject>
805      <CANopenSubObject subIndex="06" name="mapped object 6" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
806        <description />
807      </CANopenSubObject>
808      <CANopenSubObject subIndex="07" name="mapped object 7" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
809        <description />
810      </CANopenSubObject>
811      <CANopenSubObject subIndex="08" name="mapped object 8" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
812        <description />
813      </CANopenSubObject>
814      <accessFunctionPreCode />
815    </CANopenObject>
816    <CANopenObject index="1a02" name="TPDO mapping parameter" objectType="REC" memoryType="ROM" dataType="0x00" accessType="rw" PDOmapping="no" defaultValue="" subNumber="9" accessFunctionName="CO_ODF_TPDOmap" disabled="false" TPDOdetectCOS="false">
817      <description>0x1A00 - 0x1BFF TPDO mapping parameter. (To change mapping, 'Number of mapped objects' must be set to 0).
818Number of mapped objects
819
820mapped object  (subindex 1...8)
821 bit   0 - 7: data length in bits
822 bit  8 - 15: subindex from OD
823 bit 16 - 31: index from OD</description>
824      <CANopenSubObject subIndex="00" name="Number of mapped objects" objectType="VAR" dataType="0x05" accessType="rw" PDOmapping="no" defaultValue="0" TPDOdetectCOS="false">
825        <description />
826      </CANopenSubObject>
827      <CANopenSubObject subIndex="01" name="mapped object 1" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
828        <description />
829      </CANopenSubObject>
830      <CANopenSubObject subIndex="02" name="mapped object 2" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
831        <description />
832      </CANopenSubObject>
833      <CANopenSubObject subIndex="03" name="mapped object 3" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
834        <description />
835      </CANopenSubObject>
836      <CANopenSubObject subIndex="04" name="mapped object 4" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
837        <description />
838      </CANopenSubObject>
839      <CANopenSubObject subIndex="05" name="mapped object 5" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
840        <description />
841      </CANopenSubObject>
842      <CANopenSubObject subIndex="06" name="mapped object 6" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
843        <description />
844      </CANopenSubObject>
845      <CANopenSubObject subIndex="07" name="mapped object 7" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
846        <description />
847      </CANopenSubObject>
848      <CANopenSubObject subIndex="08" name="mapped object 8" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
849        <description />
850      </CANopenSubObject>
851      <accessFunctionPreCode />
852    </CANopenObject>
853    <CANopenObject index="1a03" name="TPDO mapping parameter" objectType="REC" memoryType="ROM" dataType="0x00" accessType="rw" PDOmapping="no" defaultValue="" subNumber="9" accessFunctionName="CO_ODF_TPDOmap" disabled="false" TPDOdetectCOS="false">
854      <description>0x1A00 - 0x1BFF TPDO mapping parameter. (To change mapping, 'Number of mapped objects' must be set to 0).
855Number of mapped objects
856
857mapped object  (subindex 1...8)
858 bit   0 - 7: data length in bits
859 bit  8 - 15: subindex from OD
860 bit 16 - 31: index from OD</description>
861      <CANopenSubObject subIndex="00" name="Number of mapped objects" objectType="VAR" dataType="0x05" accessType="rw" PDOmapping="no" defaultValue="0" TPDOdetectCOS="false">
862        <description />
863      </CANopenSubObject>
864      <CANopenSubObject subIndex="01" name="mapped object 1" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
865        <description />
866      </CANopenSubObject>
867      <CANopenSubObject subIndex="02" name="mapped object 2" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
868        <description />
869      </CANopenSubObject>
870      <CANopenSubObject subIndex="03" name="mapped object 3" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
871        <description />
872      </CANopenSubObject>
873      <CANopenSubObject subIndex="04" name="mapped object 4" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
874        <description />
875      </CANopenSubObject>
876      <CANopenSubObject subIndex="05" name="mapped object 5" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
877        <description />
878      </CANopenSubObject>
879      <CANopenSubObject subIndex="06" name="mapped object 6" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
880        <description />
881      </CANopenSubObject>
882      <CANopenSubObject subIndex="07" name="mapped object 7" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
883        <description />
884      </CANopenSubObject>
885      <CANopenSubObject subIndex="08" name="mapped object 8" objectType="VAR" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" TPDOdetectCOS="false">
886        <description />
887      </CANopenSubObject>
888      <accessFunctionPreCode />
889    </CANopenObject>
890    <CANopenObject index="1f50" name="Program data" objectType="ARRAY" memoryType="RAM" dataType="0x0f" accessType="wo" PDOmapping="no" defaultValue="" highValue="" lowValue="" subNumber="2" accessFunctionName="" disabled="false" TPDOdetectCOS="false">
891      <description />
892      <CANopenSubObject subIndex="00" name="max sub-index" objectType="VAR" dataType="0x05" accessType="ro" PDOmapping="no" defaultValue="1" highValue="" lowValue="" TPDOdetectCOS="false">
893        <description />
894      </CANopenSubObject>
895      <CANopenSubObject subIndex="01" name="" objectType="VAR" dataType="0x0f" accessType="wo" PDOmapping="no" defaultValue="" highValue="" lowValue="" TPDOdetectCOS="false">
896        <description />
897      </CANopenSubObject>
898      <accessFunctionPreCode />
899    </CANopenObject>
900    <CANopenObject index="1f51" name="Program control" objectType="ARRAY" memoryType="RAM" dataType="0x05" accessType="rw" PDOmapping="no" defaultValue="" highValue="" lowValue="" subNumber="2" accessFunctionName="" disabled="false" TPDOdetectCOS="false">
901      <description />
902      <CANopenSubObject subIndex="00" name="max sub-index" objectType="VAR" dataType="0x05" accessType="ro" PDOmapping="no" defaultValue="1" highValue="" lowValue="" TPDOdetectCOS="false">
903        <description />
904      </CANopenSubObject>
905      <CANopenSubObject subIndex="01" name="" objectType="VAR" dataType="0x05" accessType="rw" PDOmapping="no" defaultValue="" highValue="" lowValue="" TPDOdetectCOS="false">
906        <description />
907      </CANopenSubObject>
908      <accessFunctionPreCode />
909    </CANopenObject>
910    <CANopenObject index="1f56" name="Program software identification" objectType="ARRAY" memoryType="RAM" dataType="0x07" accessType="ro" PDOmapping="no" defaultValue="" highValue="" lowValue="" subNumber="2" accessFunctionName="" disabled="false" TPDOdetectCOS="false">
911      <description />
912      <CANopenSubObject subIndex="00" name="max sub-index" objectType="VAR" dataType="0x05" accessType="ro" PDOmapping="no" defaultValue="1" highValue="" lowValue="" TPDOdetectCOS="false">
913        <description />
914      </CANopenSubObject>
915      <CANopenSubObject subIndex="01" name="" objectType="VAR" dataType="0x07" accessType="ro" PDOmapping="no" defaultValue="" highValue="" lowValue="" TPDOdetectCOS="false">
916        <description />
917      </CANopenSubObject>
918      <accessFunctionPreCode />
919    </CANopenObject>
920    <CANopenObject index="1f57" name="Flash status identification" objectType="ARRAY" memoryType="RAM" dataType="0x07" accessType="ro" PDOmapping="no" defaultValue="" highValue="" lowValue="" subNumber="2" accessFunctionName="" disabled="false" TPDOdetectCOS="false">
921      <description />
922      <CANopenSubObject subIndex="00" name="max sub-index" objectType="VAR" dataType="0x05" accessType="ro" PDOmapping="no" defaultValue="1" highValue="" lowValue="" TPDOdetectCOS="false">
923        <description />
924      </CANopenSubObject>
925      <CANopenSubObject subIndex="01" name="" objectType="VAR" dataType="0x07" accessType="ro" PDOmapping="no" defaultValue="" highValue="" lowValue="" TPDOdetectCOS="false">
926        <description />
927      </CANopenSubObject>
928      <accessFunctionPreCode />
929    </CANopenObject>
930    <CANopenObject index="1f80" name="NMT startup" objectType="VAR" memoryType="ROM" dataType="0x07" accessType="rw" PDOmapping="no" defaultValue="0x00000000" subNumber="0" accessFunctionName="" disabled="false" TPDOdetectCOS="false">
931      <description>bit 0: 0(1) - device is not (is) NMT master
932bit 1: 0(1) - if bit3=0, start explicitly assigned (all) nodes
933bit 2: 0(1) - automatically enter (DO NOT automatically enter) the operational state on bootup
934bit 3: 0(1) - NMT master may (may not) start nodes automatically
935bit 4: 0(1) - if monitored node fails heartbeat handle that (all) node(s)
936bit 5: 0(1) - flying master process not (yes) supported
937bit 6: 0(1) - use bit 4 (ignore bit 4, stop all nodes)
938bit 7-31: reserved, set to 0</description>
939      <accessFunctionPreCode />
940    </CANopenObject>
941    <CANopenObject index="2100" name="Error status bits" objectType="VAR" memoryType="RAM" dataType="0x0a" accessType="ro" PDOmapping="optional" defaultValue="00 00 00 00 00 00 00 00 00 00" subNumber="0" accessFunctionName="" disabled="false" TPDOdetectCOS="false">
942      <description>Error Status Bits indicates error conditions inside stack or inside application. Specific bit is set by CO_errorReport() function, when error occurs in program. It can be reset by CO_errorReset() function, if error is solved. Emergency message is sent on each change of any Error Status Bit. If critical bits are set, node will not be able to stay in operational state. For more information see file CO_Emergency.h.
943
944Default error status bits are:
945
946Communication or protocol errors from driver (informative):
94700 - ERROR_NO_ERROR - Error Reset or No Error.
94801 - ERROR_CAN_BUS_WARNING - CAN bus warning.
94902 - ERROR_RXMSG_WRONG_LENGTH - Wrong data length of received CAN message.
95003 - ERROR_RXMSG_OVERFLOW - Previous received CAN message wasn't processed yet.
95104 - ERROR_RPDO_WRONG_LENGTH - Wrong data length of received PDO.
95205 - ERROR_RPDO_OVERFLOW - Previous received PDO wasn't processed yet.
95306 - ERROR_CAN_RX_BUS_PASSIVE - CAN receive bus is passive.
95407 - ERROR_CAN_TX_BUS_PASSIVE - CAN transmit bus is passive.
955
956Communication or protocol errors from driver (critical):
95708 - ERROR_08_reserved - (reserved)
95809 - ERROR_09_reserved - (reserved)
9590A - ERROR_CAN_TX_BUS_OFF - CAN transmit bus is off.
9600B - ERROR_CAN_RXB_OVERFLOW - CAN module receive buffer has overflowed.
9610C - ERROR_CAN_TX_OVERFLOW - CAN transmit buffer has overflowed.
9620D - ERROR_TPDO_OUTSIDE_WINDOW - TPDO is outside SYNC window.
9630E - ERROR_CAN_CONFIGURATION_FAILED - Configuration of CAN module CAN failed (Rx or Tx).
9640F - ERROR_0F_reserved - (reserved)
965
966Communication or protocol errors (informative):
96710 - ERROR_NMT_WRONG_COMMAND - Wrong NMT command received.
96811 - ERROR_SYNC_EARLY - SYNC message was too early.
96912 - ERROR_12_reserved - (reserved)
97013 - ERROR_13_reserved - (reserved)
97114 - ERROR_14_reserved - (reserved)
97215 - ERROR_15_reserved - (reserved)
97316 - ERROR_16_reserved - (reserved)
97417 - ERROR_17_reserved - (reserved)
975
976Communication or protocol errors (critical):
97718 - ERROR_SYNC_TIME_OUT - SYNC message timeout.
97819 - ERROR_SYNC_LENGTH - Unexpected SYNC data length
9791A - ERROR_PDO_WRONG_MAPPING - Error with PDO mapping.
9801B - ERROR_HEARTBEAT_CONSUMER - Heartbeat consumer timeout.
9811C - ERROR_HEARTBEAT_CONSUMER_REMOTE_RESET - Heartbeat consumer detected remote node reset.
9821D - ERROR_1D_reserved - (reserved)
9831E - ERROR_1E_reserved - (reserved)
9841F - ERROR_1F_reserved - (reserved)
985
986Generic errors (informative):
98720 - ERROR_20_reserved - (reserved)
98821 - ERROR_21_reserved - (reserved)
98922 - ERROR_22_reserved - (reserved)
99023 - ERROR_23_reserved - (reserved)
99124 - ERROR_24_reserved - (reserved)
99225 - ERROR_25_reserved - (reserved)
99326 - ERROR_26_reserved - (reserved)
99427 - ERROR_27_reserved - (reserved)
995
996Generic errors (critical):
99728 - ERROR_WRONG_ERROR_REPORT - Wrong parameters to &lt;CO_errorReport()&gt; function.
99829 - ERROR_ISR_TIMER_OVERFLOW - Timer task has overflowed.
9992A - ERROR_MEMORY_ALLOCATION_ERROR - Unable to allocate memory for objects.
10002B - ERROR_GENERIC_ERROR - Generic error, test usage.
10012C - ERROR_MAIN_TIMER_OVERFLOW - Mainline function exceeded maximum execution time.
10022D - ERROR_INTERNAL_STATE_APPL - Error in application software internal state.
10032E - ERROR_2E_reserved - (reserved)
10042F - ERROR_2F_reserved - (reserved)
1005
1006Manufacturer specific errors:
1007Manufacturer may define its own constants up to index 0xFF. Of course, he must then define large enough buffer for error status bits (up to 32 bytes).</description>
1008      <accessFunctionPreCode />
1009    </CANopenObject>
1010    <CANopenObject index="2101" name="Power-on counter" objectType="VAR" memoryType="EEPROM" dataType="0x07" accessType="ro" PDOmapping="optional" defaultValue="0" subNumber="0" accessFunctionName="" disabled="false" TPDOdetectCOS="false">
1011      <description>Power on Counter counts total microcontroller resets in its lifetime. This variable is an example of EEPROM usage.</description>
1012      <accessFunctionPreCode />
1013    </CANopenObject>
1014    <CANopenObject index="2102" name="Button press counter" objectType="VAR" memoryType="RAM" dataType="0x07" accessType="rw" PDOmapping="optional" defaultValue="0" subNumber="0" accessFunctionName="" disabled="false" TPDOdetectCOS="true">
1015      <description>This variable contains number of button presses registered since last reboot. This variable is an example of RAM usage.
1016The counter can be reset by writing the value 0.</description>
1017      <accessFunctionPreCode />
1018    </CANopenObject>
1019  </CANopenObjectList>
1020  <other>
1021    <file fileName="objdict.xml" fileCreator="" fileCreationDate="09-18-2019" fileCreationTime="2:52PM" fileModifedBy="" fileMotifcationDate="02-20-2020" fileModificationTime="12:28PM" fileVersion="1" fileRevision="1" exportFolder="samples/modules/canopennode/objdict" EdsFile="samples/modules/canopennode/objdict/objdict.eds" />
1022    <DeviceIdentity>
1023      <vendorName />
1024      <vendorNumber>0</vendorNumber>
1025      <productName>Zephyr RTOS CANopen sample</productName>
1026      <productNumber>0</productNumber>
1027      <productText>
1028        <description />
1029      </productText>
1030    </DeviceIdentity>
1031    <capabilities>
1032      <characteristicsList>
1033        <characteristic>
1034          <characteristicName>
1035            <label>SimpleBootUpSlave</label>
1036          </characteristicName>
1037          <characteristicContent>
1038            <label>False</label>
1039          </characteristicContent>
1040        </characteristic>
1041        <characteristic>
1042          <characteristicName>
1043            <label>SimpleBootUpMaster</label>
1044          </characteristicName>
1045          <characteristicContent>
1046            <label>False</label>
1047          </characteristicContent>
1048        </characteristic>
1049        <characteristic>
1050          <characteristicName>
1051            <label>DynamicChannelsSupported</label>
1052          </characteristicName>
1053          <characteristicContent>
1054            <label>False</label>
1055          </characteristicContent>
1056        </characteristic>
1057        <characteristic>
1058          <characteristicName>
1059            <label>CompactPDO</label>
1060          </characteristicName>
1061          <characteristicContent>
1062            <label>0</label>
1063          </characteristicContent>
1064        </characteristic>
1065        <characteristic>
1066          <characteristicName>
1067            <label>GroupMessaging</label>
1068          </characteristicName>
1069          <characteristicContent>
1070            <label>False</label>
1071          </characteristicContent>
1072        </characteristic>
1073        <characteristic>
1074          <characteristicName>
1075            <label>LSS_Supported</label>
1076          </characteristicName>
1077          <characteristicContent>
1078            <label>False</label>
1079          </characteristicContent>
1080        </characteristic>
1081        <characteristic>
1082          <characteristicName>
1083            <label>LSS_Type</label>
1084          </characteristicName>
1085          <characteristicContent>
1086            <label>Server</label>
1087          </characteristicContent>
1088        </characteristic>
1089        <characteristic>
1090          <characteristicName>
1091            <label>Granularity</label>
1092          </characteristicName>
1093          <characteristicContent>
1094            <label>0</label>
1095          </characteristicContent>
1096        </characteristic>
1097      </characteristicsList>
1098    </capabilities>
1099    <baudRate>
1100      <supportedBaudRate value="10 Kbps" />
1101      <supportedBaudRate value="20 Kbps" />
1102      <supportedBaudRate value="50 Kbps" />
1103      <supportedBaudRate value="125 Kbps" />
1104      <supportedBaudRate value="250 Kbps" />
1105      <supportedBaudRate value="500 Kbps" />
1106      <supportedBaudRate value="800 Kbps" />
1107      <supportedBaudRate value="1000 Kbps" />
1108    </baudRate>
1109    <dummyUsage>
1110      <dummy entry="False" />
1111      <dummy entry="False" />
1112      <dummy entry="False" />
1113      <dummy entry="False" />
1114      <dummy entry="False" />
1115      <dummy entry="False" />
1116      <dummy entry="False" />
1117    </dummyUsage>
1118  </other>
1119</device>