1<!DOCTYPE html> 2<html><head> 3 <meta http-equiv='Content-Type' content='text/html; charset=UTF-8'> 4 <title>IO Example - CANopenNode</title> 5 <link rel='stylesheet' type='text/css' href='lib/CANopenUI.css'/> 6 <style type='text/css'> 7 body{background-color: rgb(165, 186, 221);} 8 li{list-style-type: none;} 9 table, th, td{border: 1px solid black; padding: 0 5px; border-collapse: collapse;} 10 #ODList{position: relative; width: 450px; margin: 0; padding: 0;} 11 #ODList ul{padding-left: 30px;} 12 #ODList > li{margin: 0 0 20px;} 13 #ODList > li > *:first-child{font-family: sans-serif; background-color: LightBlue; margin: 0; padding: 5px 10px; cursor: pointer;} 14 #ODList > li li.expandable{list-style-type: circle;} 15 .expandable > *:first-child{cursor: pointer;} 16 .expandable > *:nth-child(2){display: none;} 17 #ODList input[addr]{position: absolute; left: 320px; width: 120px;} 18 #ODList > li li.expandable input[addr]{left: 325px; width: 115px;} 19 #ODList a{cursor: pointer; color: blue;} 20 #ODDoc{position: fixed; overflow: auto; height: 95%; width: 500px; left: 500px; top: 10px;} 21 #ODDoc > li{display: none;} 22 .PFContainer .ODUpdatedAndDefault{background-color:lightGreen;} 23 .PFContainer .ODUpdated{background-color:MediumSpringGreen;} 24 .PFContainer .ODChanged{background-color:yellow;} 25 .PFContainer .ODError{background-color:red;} 26 </style> 27 <script type='text/javascript' src='lib/CANopen.js'></script> 28 <script type='text/javascript' src='lib/CANopenUI.js'></script> 29 <script type='text/javascript'> 30 //<![CDATA[ 31 var ODDocDisplayed = null; 32 var ui = null; 33 function toggle(){ 34 var tStyle = this.nextElementSibling.style; 35 if(tStyle.display == 'block') tStyle.display = 'none'; 36 else tStyle.display = 'block'; 37 } 38 function toggleAll(){ 39 if(document.styleSheets[1].cssRules[9].style.display == 'none'){ 40 document.styleSheets[1].cssRules[9].style.display = 'block'; 41 document.styleSheets[1].cssRules[14].style.display = 'block'; 42 document.styleSheets[1].cssRules[13].style.position = 'absolute'; 43 document.styleSheets[1].cssRules[13].style.overflow = 'visible'; 44 } 45 else{ 46 document.styleSheets[1].cssRules[9].style.display = 'none'; 47 document.styleSheets[1].cssRules[14].style.display = 'none'; 48 document.styleSheets[1].cssRules[13].style.position = 'fixed'; 49 document.styleSheets[1].cssRules[13].style.overflow = 'auto'; 50 } 51 } 52 function showDoc(e){ 53 var docAttr = e.target.getAttribute('docref'); 54 if(docAttr){ 55 var docRef = document.getElementById(docAttr); 56 if(docRef){ 57 if(ODDocDisplayed) ODDocDisplayed.style.display = 'none'; 58 ODDocDisplayed = docRef; 59 docRef.style.display = 'block'; 60 } 61 } 62 } 63 function init(){ 64 var expandables = document.getElementsByClassName('expandable'); 65 for(var i=0; i<expandables.length; i++){ 66 expandables[i].firstElementChild.addEventListener('click', toggle, false); 67 } 68 var ODList = document.getElementById('ODList'); 69 ODList.addEventListener('click', showDoc, false); 70 //try{ 71 ui = new CANopenUI(); 72 //} 73 //catch(e){} 74 } 75 window.addEventListener('load', init, false); 76 //]]> 77 </script> 78</head> 79<body> 80 <h3>CANopen object dictionary for IO Example</h3> 81 <ul id="ODList"> 82 <li class="expandable"> 83 <h2>Device information</h2> 84 <ul> 85 <li class="expandable"> 86 <div> 87 <h3>File information</h3> 88 </div> 89 <ul> 90 <table> 91 <tr> 92 <th>File Name</th> 93 <td>IO Example</td> 94 </tr> 95 <tr> 96 <th>File Version</th> 97 <td>-</td> 98 </tr> 99 <tr> 100 <th>Creation Time</th> 101 <td>17:24:43</td> 102 </tr> 103 <tr> 104 <th>Creation Date</th> 105 <td>2016-03-25</td> 106 </tr> 107 <tr> 108 <th>Created By</th> 109 <td>JP</td> 110 </tr> 111 </table> 112 </ul> 113 </li> 114 <li class="expandable"> 115 <div> 116 <h3>Device Identity</h3> 117 </div> 118 <ul> 119 <table> 120 <tr> 121 <th>Vendor name</th> 122 <td>CANopenNode</td> 123 </tr> 124 <tr> 125 <th>Product Name</th> 126 <td>CANopenNode</td> 127 </tr> 128 <tr> 129 <th>Product Text</th> 130 <td> 131 <div class="description lang_en"> 132 <h4>en: CANopenNode</h4> 133 <div>CANopenNode is an open source software stack used for serial communication of multiple devices over the CAN/CANopen Network.</div> 134 <a href="http://canopennode.sourceforge.net" target="infoWindow">More...</a> 135 </div> 136 </td> 137 </tr> 138 </table> 139 </ul> 140 </li> 141 <li class="expandable"> 142 <div> 143 <h3>CANopen features</h3> 144 </div> 145 <ul> 146 <div id="feature_SYNC" class="elements"> 147 <h3>SYNC, value = 1</h3> 148 <h4>Associated objects:</h4> 149 <table> 150 <tr> 151 <th>Name</th> 152 <th>Index</th> 153 <th>Max Index</th> 154 <th>Index step</th> 155 </tr> 156 <tr> 157 <td>COB-ID SYNC message</td> 158 <td>1005</td> 159 <td/> 160 <td/> 161 </tr> 162 <tr> 163 <td>Communication cycle period</td> 164 <td>1006</td> 165 <td/> 166 <td/> 167 </tr> 168 <tr> 169 <td>Synchronous window length</td> 170 <td>1007</td> 171 <td/> 172 <td/> 173 </tr> 174 <tr> 175 <td>SYNC counter</td> 176 <td>2103</td> 177 <td/> 178 <td/> 179 </tr> 180 <tr> 181 <td>SYNC time</td> 182 <td>2104</td> 183 <td/> 184 <td/> 185 </tr> 186 </table> 187 <div class="description lang_en"> 188 <h4>en: Synchronization object (Sync)</h4> 189 <div> 190 The Sync Object is broadcast periodically by the Sync Producer. 191 <br/> 192 <br/> 193 Permissible value for SYNC is 0 or 1. 194 </div> 195 <a href="http://www.can-cia.org/canopen/protocol/special.html" target="infoWindow">More...</a> 196 </div> 197 </div> 198 <div id="feature_EMERGENCY" class="elements"> 199 <h3>Emergency, value = 1</h3> 200 <h4>Associated objects:</h4> 201 <table> 202 <tr> 203 <th>Name</th> 204 <th>Index</th> 205 <th>Max Index</th> 206 <th>Index step</th> 207 </tr> 208 <tr> 209 <td>COB-ID EMCY</td> 210 <td>1014</td> 211 <td/> 212 <td/> 213 </tr> 214 <tr> 215 <td>inhibit time EMCY</td> 216 <td>1015</td> 217 <td/> 218 <td/> 219 </tr> 220 </table> 221 <div class="description lang_en"> 222 <h4>en: Emergency object (Emcy)</h4> 223 <div> 224 The Emergency message is triggered by the occurrence of a device internal error situation. 225 <br/> 226 <br/> 227 Permissible value for Emergency is 0 or 1. 228 </div> 229 <a href="http://www.can-cia.org/canopen/protocol/special.html" target="infoWindow">More...</a> 230 </div> 231 </div> 232 <div id="feature_SDO_SERVER" class="elements"> 233 <h3>SDO server, value = 1</h3> 234 <h4>Associated objects:</h4> 235 <table> 236 <tr> 237 <th>Name</th> 238 <th>Index</th> 239 <th>Max Index</th> 240 <th>Index step</th> 241 </tr> 242 <tr> 243 <td>SDO server parameter</td> 244 <td>1200</td> 245 <td>1201</td> 246 <td>1</td> 247 </tr> 248 </table> 249 <div class="description lang_en"> 250 <h4>en: Service Data Object (SDO)</h4> 251 <div> 252 A Service Data Object (SDO) reads from entries or writes to entries of the Object Dictionary. 253 <br/> 254 SDO server is implemented on all CANopen devices. 255 <br/> 256 <br/> 257 Permissible value for SDO sever is 0 or 1. 258 </div> 259 <a href="http://www.can-cia.org/canopen/protocol/sdo.html" target="infoWindow">More...</a> 260 </div> 261 </div> 262 <div id="feature_RPDO" class="elements"> 263 <h3>RPDO, value = 4</h3> 264 <h4>Associated objects:</h4> 265 <table> 266 <tr> 267 <th>Name</th> 268 <th>Index</th> 269 <th>Max Index</th> 270 <th>Index step</th> 271 </tr> 272 <tr> 273 <td>RPDO communication parameter</td> 274 <td>1400</td> 275 <td>140F</td> 276 <td>1</td> 277 </tr> 278 <tr> 279 <td>RPDO mapping parameter</td> 280 <td>1600</td> 281 <td>160F</td> 282 <td>1</td> 283 </tr> 284 </table> 285 <div class="description lang_en"> 286 <h4>en: Recive Process Data Object (RPDO)</h4> 287 <div> 288 Process Data Objects (PDOs) are mapped to a single CAN frame using up to 8 bytes of the data field to transmit application objects. Each PDO has a unique identifier and is transmitted by only one node, but it can be received by more than one (producer/consumer communication). 289 <br/> 290 <br/> 291 Permissible value for RPDO is 0 to 16. For larger value Max Index must be changed. 292 </div> 293 <a href="http://www.can-cia.org/canopen/protocol/pdo.html" target="infoWindow">More...</a> 294 </div> 295 </div> 296 <div id="feature_TPDO" class="elements"> 297 <h3>TPDO, value = 4</h3> 298 <h4>Associated objects:</h4> 299 <table> 300 <tr> 301 <th>Name</th> 302 <th>Index</th> 303 <th>Max Index</th> 304 <th>Index step</th> 305 </tr> 306 <tr> 307 <td>TPDO communication parameter</td> 308 <td>1800</td> 309 <td>180F</td> 310 <td>1</td> 311 </tr> 312 <tr> 313 <td>TPDO mapping parameter</td> 314 <td>1A00</td> 315 <td>1A0F</td> 316 <td>1</td> 317 </tr> 318 </table> 319 <div class="description lang_en"> 320 <h4>en: Transmit Process Data Object (TPDO)</h4> 321 <div> 322 Process Data Objects (PDOs) are mapped to a single CAN frame using up to 8 bytes of the data field to transmit application objects. Each PDO has a unique identifier and is transmitted by only one node, but it can be received by more than one (producer/consumer communication). 323 <br/> 324 <br/> 325 Permissible value for TPDO is 0 to 16. For larger value Max Index must be changed. 326 </div> 327 <a href="http://www.can-cia.org/canopen/protocol/pdo.html" target="infoWindow">More...</a> 328 </div> 329 </div> 330 <div id="feature_TRACE" class="elements"> 331 <h3>Trace, value = 2</h3> 332 <h4>Associated objects:</h4> 333 <table> 334 <tr> 335 <th>Name</th> 336 <th>Index</th> 337 <th>Max Index</th> 338 <th>Index step</th> 339 </tr> 340 <tr> 341 <td>Trace config</td> 342 <td>2301</td> 343 <td>2320</td> 344 <td>1</td> 345 </tr> 346 <tr> 347 <td>Trace enable</td> 348 <td>2400</td> 349 <td/> 350 <td/> 351 </tr> 352 <tr> 353 <td>Trace</td> 354 <td>2401</td> 355 <td>2420</td> 356 <td>1</td> 357 </tr> 358 </table> 359 <div class="description lang_en"> 360 <h4>en: Trace</h4> 361 <div>Trace is used for recording variables.</div> 362 </div> 363 </div> 364 </ul> 365 </li> 366 </ul> 367 </li> 368 <li class="expandable"> 369 <h2>Communication Profile</h2> 370 <ul class="PFContainer" style="display:block;"> 371 <li> 372 <input type="button" pf="butReadAll" value="Read All"/> 373 <input type="button" pf="butReadRR" value="Read RAM"/> 374 <input type="button" pf="butRead" value="Read marked"/> 375 <input type="button" pf="butWrite" value="Write marked"/> 376 </li> 377 <li> 378 <a docref="IO Example_1000">1000</a> 379 - Device type: 380 <input addr="1000000004" format="X32" pf="ro" value="0x00000000"/> 381 </li> 382 <li> 383 <a docref="IO Example_1001">1001</a> 384 - Error register: 385 <input addr="1001000001" format="U08" pf="rro" value="0"/> 386 </li> 387 <li> 388 <a docref="IO Example_1002">1002</a> 389 - Manufacturer status register: 390 <input addr="1002000004" format="U32" pf="rro" value="0"/> 391 </li> 392 <li class="expandable"> 393 <a docref="IO Example_1003">1003 - Pre-defined error field</a> 394 <ul> 395 <li> 396 00 - Number of errors: 397 <input addr="1003000001" format="U08" pf="rro" value="0"/> 398 </li> 399 <li> 400 01 - Standard error field: 401 <input addr="1003010004" format="U32" pf="rro" value="0"/> 402 </li> 403 <li> 404 02 - Standard error field: 405 <input addr="1003020004" format="U32" pf="rro" value="0"/> 406 </li> 407 <li> 408 03 - Standard error field: 409 <input addr="1003030004" format="U32" pf="rro" value="0"/> 410 </li> 411 <li> 412 04 - Standard error field: 413 <input addr="1003040004" format="U32" pf="rro" value="0"/> 414 </li> 415 <li> 416 05 - Standard error field: 417 <input addr="1003050004" format="U32" pf="rro" value="0"/> 418 </li> 419 <li> 420 06 - Standard error field: 421 <input addr="1003060004" format="U32" pf="rro" value="0"/> 422 </li> 423 <li> 424 07 - Standard error field: 425 <input addr="1003070004" format="U32" pf="rro" value="0"/> 426 </li> 427 <li> 428 08 - Standard error field: 429 <input addr="1003080004" format="U32" pf="rro" value="0"/> 430 </li> 431 </ul> 432 </li> 433 <li> 434 <a docref="IO Example_1005">1005</a> 435 - COB-ID SYNC message: 436 <input addr="1005000004" format="X32" pf="rw" value="0x00000080"/> 437 </li> 438 <li> 439 <a docref="IO Example_1006">1006</a> 440 - Communication cycle period: 441 <input addr="1006000004" format="U32" pf="rw" value="0"/> 442 </li> 443 <li> 444 <a docref="IO Example_1007">1007</a> 445 - Synchronous window length: 446 <input addr="1007000004" format="U32" pf="rw" value="0"/> 447 </li> 448 <li> 449 <a docref="IO Example_1008">1008</a> 450 - Manufacturer device name: 451 <input addr="1008000011" format="S0b" pf="ro" value="CANopenNode"/> 452 </li> 453 <li> 454 <a docref="IO Example_1009">1009</a> 455 - Manufacturer hardware version: 456 <input addr="1009000004" format="S04" pf="ro" value="3.00"/> 457 </li> 458 <li> 459 <a docref="IO Example_100A">100A</a> 460 - Manufacturer software version: 461 <input addr="100A000004" format="S04" pf="ro" value="3.00"/> 462 </li> 463 <li class="expandable"> 464 <a docref="IO Example_1010">1010 - Store parameters</a> 465 <ul> 466 <li> 467 00 - max sub-index: 468 <input addr="1010000001" format="U08" pf="rrw" value="1"/> 469 </li> 470 <li> 471 01 - save all parameters: 472 <input addr="1010010004" format="X32" pf="rrw" value="0x00000003"/> 473 </li> 474 </ul> 475 </li> 476 <li class="expandable"> 477 <a docref="IO Example_1011">1011 - Restore default parameters</a> 478 <ul> 479 <li> 480 00 - max sub-index: 481 <input addr="1011000001" format="U08" pf="rrw" value="1"/> 482 </li> 483 <li> 484 01 - restore all default parameters: 485 <input addr="1011010004" format="X32" pf="rrw" value="0x00000001"/> 486 </li> 487 </ul> 488 </li> 489 <li> 490 <a docref="IO Example_1014">1014</a> 491 - COB-ID EMCY: 492 <input addr="1014000004" format="X32" pf="ro" value="$NODEID+0x80"/> 493 </li> 494 <li> 495 <a docref="IO Example_1015">1015</a> 496 - inhibit time EMCY: 497 <input addr="1015000002" format="U16" pf="rw" value="100"/> 498 </li> 499 <li class="expandable"> 500 <a docref="IO Example_1016">1016 - Consumer heartbeat time</a> 501 <ul> 502 <li> 503 00 - max sub-index: 504 <input addr="1016000001" format="U08" pf="rw" value="4"/> 505 </li> 506 <li> 507 01 - Consumer heartbeat time: 508 <input addr="1016010004" format="X32" pf="rw" value="0x00000000"/> 509 </li> 510 <li> 511 02 - Consumer heartbeat time: 512 <input addr="1016020004" format="X32" pf="rw" value="0x00000000"/> 513 </li> 514 <li> 515 03 - Consumer heartbeat time: 516 <input addr="1016030004" format="X32" pf="rw" value="0x00000000"/> 517 </li> 518 <li> 519 04 - Consumer heartbeat time: 520 <input addr="1016040004" format="X32" pf="rw" value="0x00000000"/> 521 </li> 522 </ul> 523 </li> 524 <li> 525 <a docref="IO Example_1017">1017</a> 526 - Producer heartbeat time: 527 <input addr="1017000002" format="U16" pf="rw" value="1000"/> 528 </li> 529 <li class="expandable"> 530 <a docref="IO Example_1018">1018 - Identity</a> 531 <ul> 532 <li> 533 00 - max sub-index: 534 <input addr="1018000001" format="U08" pf="ro" value="4"/> 535 </li> 536 <li> 537 01 - Vendor-ID: 538 <input addr="1018010004" format="X32" pf="ro" value="0x00000000"/> 539 </li> 540 <li> 541 02 - Product code: 542 <input addr="1018020004" format="X32" pf="ro" value="0x00000000"/> 543 </li> 544 <li> 545 03 - Revision number: 546 <input addr="1018030004" format="X32" pf="ro" value="0x00000000"/> 547 </li> 548 <li> 549 04 - Serial number: 550 <input addr="1018040004" format="X32" pf="ro" value="0x00000000"/> 551 </li> 552 </ul> 553 </li> 554 <li> 555 <a docref="IO Example_1019">1019</a> 556 - Synchronous counter overflow value: 557 <input addr="1019000001" format="U08" pf="rw" value="0"/> 558 </li> 559 <li class="expandable"> 560 <a docref="IO Example_1029">1029 - Error behavior</a> 561 <ul> 562 <li> 563 00 - max sub-index: 564 <input addr="1029000001" format="U08" pf="rw" value="6"/> 565 </li> 566 <li> 567 01 - Communication: 568 <input addr="1029010001" format="X08" pf="rw" value="0x00"/> 569 </li> 570 <li> 571 02 - Communication other: 572 <input addr="1029020001" format="X08" pf="rw" value="0x00"/> 573 </li> 574 <li> 575 03 - Communication passive: 576 <input addr="1029030001" format="X08" pf="rw" value="0x01"/> 577 </li> 578 <li> 579 04 - Generic: 580 <input addr="1029040001" format="X08" pf="rw" value="0x00"/> 581 </li> 582 <li> 583 05 - Device profile: 584 <input addr="1029050001" format="X08" pf="rw" value="0x00"/> 585 </li> 586 <li> 587 06 - Manufacturer specific: 588 <input addr="1029060001" format="X08" pf="rw" value="0x00"/> 589 </li> 590 </ul> 591 </li> 592 <li class="expandable"> 593 <a docref="IO Example_1200">1200 - SDO server parameter</a> 594 <ul> 595 <li> 596 00 - max sub-index: 597 <input addr="1200000001" format="U08" pf="ro" value="2"/> 598 </li> 599 <li> 600 01 - COB-ID client to server: 601 <input addr="1200010004" format="X32" pf="ro" value="$NODEID+0x600"/> 602 </li> 603 <li> 604 02 - COB-ID server to client: 605 <input addr="1200020004" format="X32" pf="ro" value="$NODEID+0x580"/> 606 </li> 607 </ul> 608 </li> 609 <li class="expandable"> 610 <a docref="IO Example_1400">1400 - RPDO communication parameter</a> 611 <ul> 612 <li> 613 00 - max sub-index: 614 <input addr="1400000001" format="U08" pf="ro" value="2"/> 615 </li> 616 <li> 617 01 - COB-ID used by RPDO: 618 <input addr="1400010004" format="X32" pf="rw" value="$NODEID+0x200"/> 619 </li> 620 <li> 621 02 - transmission type: 622 <input addr="1400020001" format="U08" pf="rw" value="255"/> 623 </li> 624 </ul> 625 </li> 626 <li class="expandable"> 627 <a docref="IO Example_1401">1401 - RPDO communication parameter</a> 628 <ul> 629 <li> 630 00 - max sub-index: 631 <input addr="1401000001" format="U08" pf="ro" value="2"/> 632 </li> 633 <li> 634 01 - COB-ID used by RPDO: 635 <input addr="1401010004" format="X32" pf="rw" value="$NODEID+0x300"/> 636 </li> 637 <li> 638 02 - transmission type: 639 <input addr="1401020001" format="U08" pf="rw" value="254"/> 640 </li> 641 </ul> 642 </li> 643 <li class="expandable"> 644 <a docref="IO Example_1402">1402 - RPDO communication parameter</a> 645 <ul> 646 <li> 647 00 - max sub-index: 648 <input addr="1402000001" format="U08" pf="ro" value="2"/> 649 </li> 650 <li> 651 01 - COB-ID used by RPDO: 652 <input addr="1402010004" format="X32" pf="rw" value="$NODEID+0x400"/> 653 </li> 654 <li> 655 02 - transmission type: 656 <input addr="1402020001" format="U08" pf="rw" value="254"/> 657 </li> 658 </ul> 659 </li> 660 <li class="expandable"> 661 <a docref="IO Example_1403">1403 - RPDO communication parameter</a> 662 <ul> 663 <li> 664 00 - max sub-index: 665 <input addr="1403000001" format="U08" pf="ro" value="2"/> 666 </li> 667 <li> 668 01 - COB-ID used by RPDO: 669 <input addr="1403010004" format="X32" pf="rw" value="$NODEID+0x500"/> 670 </li> 671 <li> 672 02 - transmission type: 673 <input addr="1403020001" format="U08" pf="rw" value="254"/> 674 </li> 675 </ul> 676 </li> 677 <li class="expandable"> 678 <a docref="IO Example_1600">1600 - RPDO mapping parameter</a> 679 <ul> 680 <li> 681 00 - Number of mapped objects: 682 <input addr="1600000001" format="U08" pf="rw" value="2"/> 683 </li> 684 <li> 685 01 - mapped object 1: 686 <input addr="1600010004" format="X32" pf="rw" value="0x62000108"/> 687 </li> 688 <li> 689 02 - mapped object 2: 690 <input addr="1600020004" format="X32" pf="rw" value="0x62000208"/> 691 </li> 692 <li> 693 03 - mapped object 3: 694 <input addr="1600030004" format="X32" pf="rw" value="0x00000000"/> 695 </li> 696 <li> 697 04 - mapped object 4: 698 <input addr="1600040004" format="X32" pf="rw" value="0x00000000"/> 699 </li> 700 <li> 701 05 - mapped object 5: 702 <input addr="1600050004" format="X32" pf="rw" value="0x00000000"/> 703 </li> 704 <li> 705 06 - mapped object 6: 706 <input addr="1600060004" format="X32" pf="rw" value="0x00000000"/> 707 </li> 708 <li> 709 07 - mapped object 7: 710 <input addr="1600070004" format="X32" pf="rw" value="0x00000000"/> 711 </li> 712 <li> 713 08 - mapped object 8: 714 <input addr="1600080004" format="X32" pf="rw" value="0x00000000"/> 715 </li> 716 </ul> 717 </li> 718 <li class="expandable"> 719 <a docref="IO Example_1601">1601 - RPDO mapping parameter</a> 720 <ul> 721 <li> 722 00 - Number of mapped objects: 723 <input addr="1601000001" format="U08" pf="rw" value="0"/> 724 </li> 725 <li> 726 01 - mapped object 1: 727 <input addr="1601010004" format="X32" pf="rw" value="0x00000000"/> 728 </li> 729 <li> 730 02 - mapped object 2: 731 <input addr="1601020004" format="X32" pf="rw" value="0x00000000"/> 732 </li> 733 <li> 734 03 - mapped object 3: 735 <input addr="1601030004" format="X32" pf="rw" value="0x00000000"/> 736 </li> 737 <li> 738 04 - mapped object 4: 739 <input addr="1601040004" format="X32" pf="rw" value="0x00000000"/> 740 </li> 741 <li> 742 05 - mapped object 5: 743 <input addr="1601050004" format="X32" pf="rw" value="0x00000000"/> 744 </li> 745 <li> 746 06 - mapped object 6: 747 <input addr="1601060004" format="X32" pf="rw" value="0x00000000"/> 748 </li> 749 <li> 750 07 - mapped object 7: 751 <input addr="1601070004" format="X32" pf="rw" value="0x00000000"/> 752 </li> 753 <li> 754 08 - mapped object 8: 755 <input addr="1601080004" format="X32" pf="rw" value="0x00000000"/> 756 </li> 757 </ul> 758 </li> 759 <li class="expandable"> 760 <a docref="IO Example_1602">1602 - RPDO mapping parameter</a> 761 <ul> 762 <li> 763 00 - Number of mapped objects: 764 <input addr="1602000001" format="U08" pf="rw" value="0"/> 765 </li> 766 <li> 767 01 - mapped object 1: 768 <input addr="1602010004" format="X32" pf="rw" value="0x00000000"/> 769 </li> 770 <li> 771 02 - mapped object 2: 772 <input addr="1602020004" format="X32" pf="rw" value="0x00000000"/> 773 </li> 774 <li> 775 03 - mapped object 3: 776 <input addr="1602030004" format="X32" pf="rw" value="0x00000000"/> 777 </li> 778 <li> 779 04 - mapped object 4: 780 <input addr="1602040004" format="X32" pf="rw" value="0x00000000"/> 781 </li> 782 <li> 783 05 - mapped object 5: 784 <input addr="1602050004" format="X32" pf="rw" value="0x00000000"/> 785 </li> 786 <li> 787 06 - mapped object 6: 788 <input addr="1602060004" format="X32" pf="rw" value="0x00000000"/> 789 </li> 790 <li> 791 07 - mapped object 7: 792 <input addr="1602070004" format="X32" pf="rw" value="0x00000000"/> 793 </li> 794 <li> 795 08 - mapped object 8: 796 <input addr="1602080004" format="X32" pf="rw" value="0x00000000"/> 797 </li> 798 </ul> 799 </li> 800 <li class="expandable"> 801 <a docref="IO Example_1603">1603 - RPDO mapping parameter</a> 802 <ul> 803 <li> 804 00 - Number of mapped objects: 805 <input addr="1603000001" format="U08" pf="rw" value="0"/> 806 </li> 807 <li> 808 01 - mapped object 1: 809 <input addr="1603010004" format="X32" pf="rw" value="0x00000000"/> 810 </li> 811 <li> 812 02 - mapped object 2: 813 <input addr="1603020004" format="X32" pf="rw" value="0x00000000"/> 814 </li> 815 <li> 816 03 - mapped object 3: 817 <input addr="1603030004" format="X32" pf="rw" value="0x00000000"/> 818 </li> 819 <li> 820 04 - mapped object 4: 821 <input addr="1603040004" format="X32" pf="rw" value="0x00000000"/> 822 </li> 823 <li> 824 05 - mapped object 5: 825 <input addr="1603050004" format="X32" pf="rw" value="0x00000000"/> 826 </li> 827 <li> 828 06 - mapped object 6: 829 <input addr="1603060004" format="X32" pf="rw" value="0x00000000"/> 830 </li> 831 <li> 832 07 - mapped object 7: 833 <input addr="1603070004" format="X32" pf="rw" value="0x00000000"/> 834 </li> 835 <li> 836 08 - mapped object 8: 837 <input addr="1603080004" format="X32" pf="rw" value="0x00000000"/> 838 </li> 839 </ul> 840 </li> 841 <li class="expandable"> 842 <a docref="IO Example_1800">1800 - TPDO communication parameter</a> 843 <ul> 844 <li> 845 00 - max sub-index: 846 <input addr="1800000001" format="U08" pf="ro" value="6"/> 847 </li> 848 <li> 849 01 - COB-ID used by TPDO: 850 <input addr="1800010004" format="X32" pf="rw" value="$NODEID+0x180"/> 851 </li> 852 <li> 853 02 - transmission type: 854 <input addr="1800020001" format="U08" pf="rw" value="255"/> 855 </li> 856 <li> 857 03 - inhibit time: 858 <input addr="1800030002" format="U16" pf="rw" value="100"/> 859 </li> 860 <li> 861 04 - compatibility entry: 862 <input addr="1800040001" format="U08" pf="rw" value="0"/> 863 </li> 864 <li> 865 05 - event timer: 866 <input addr="1800050002" format="U16" pf="rw" value="0"/> 867 </li> 868 <li> 869 06 - SYNC start value: 870 <input addr="1800060001" format="U08" pf="rw" value="0"/> 871 </li> 872 </ul> 873 </li> 874 <li class="expandable"> 875 <a docref="IO Example_1801">1801 - TPDO communication parameter</a> 876 <ul> 877 <li> 878 00 - max sub-index: 879 <input addr="1801000001" format="U08" pf="ro" value="6"/> 880 </li> 881 <li> 882 01 - COB-ID used by TPDO: 883 <input addr="1801010004" format="X32" pf="rw" value="$NODEID+0x280"/> 884 </li> 885 <li> 886 02 - transmission type: 887 <input addr="1801020001" format="U08" pf="rw" value="254"/> 888 </li> 889 <li> 890 03 - inhibit time: 891 <input addr="1801030002" format="U16" pf="rw" value="0"/> 892 </li> 893 <li> 894 04 - compatibility entry: 895 <input addr="1801040001" format="U08" pf="rw" value="0"/> 896 </li> 897 <li> 898 05 - event timer: 899 <input addr="1801050002" format="U16" pf="rw" value="0"/> 900 </li> 901 <li> 902 06 - SYNC start value: 903 <input addr="1801060001" format="U08" pf="rw" value="0"/> 904 </li> 905 </ul> 906 </li> 907 <li class="expandable"> 908 <a docref="IO Example_1802">1802 - TPDO communication parameter</a> 909 <ul> 910 <li> 911 00 - max sub-index: 912 <input addr="1802000001" format="U08" pf="ro" value="6"/> 913 </li> 914 <li> 915 01 - COB-ID used by TPDO: 916 <input addr="1802010004" format="X32" pf="rw" value="$NODEID+0x380"/> 917 </li> 918 <li> 919 02 - transmission type: 920 <input addr="1802020001" format="U08" pf="rw" value="254"/> 921 </li> 922 <li> 923 03 - inhibit time: 924 <input addr="1802030002" format="U16" pf="rw" value="0"/> 925 </li> 926 <li> 927 04 - compatibility entry: 928 <input addr="1802040001" format="U08" pf="rw" value="0"/> 929 </li> 930 <li> 931 05 - event timer: 932 <input addr="1802050002" format="U16" pf="rw" value="0"/> 933 </li> 934 <li> 935 06 - SYNC start value: 936 <input addr="1802060001" format="U08" pf="rw" value="0"/> 937 </li> 938 </ul> 939 </li> 940 <li class="expandable"> 941 <a docref="IO Example_1803">1803 - TPDO communication parameter</a> 942 <ul> 943 <li> 944 00 - max sub-index: 945 <input addr="1803000001" format="U08" pf="ro" value="6"/> 946 </li> 947 <li> 948 01 - COB-ID used by TPDO: 949 <input addr="1803010004" format="X32" pf="rw" value="$NODEID+0x480"/> 950 </li> 951 <li> 952 02 - transmission type: 953 <input addr="1803020001" format="U08" pf="rw" value="254"/> 954 </li> 955 <li> 956 03 - inhibit time: 957 <input addr="1803030002" format="U16" pf="rw" value="0"/> 958 </li> 959 <li> 960 04 - compatibility entry: 961 <input addr="1803040001" format="U08" pf="rw" value="0"/> 962 </li> 963 <li> 964 05 - event timer: 965 <input addr="1803050002" format="U16" pf="rw" value="0"/> 966 </li> 967 <li> 968 06 - SYNC start value: 969 <input addr="1803060001" format="U08" pf="rw" value="0"/> 970 </li> 971 </ul> 972 </li> 973 <li class="expandable"> 974 <a docref="IO Example_1A00">1A00 - TPDO mapping parameter</a> 975 <ul> 976 <li> 977 00 - Number of mapped objects: 978 <input addr="1A00000001" format="U08" pf="rw" value="2"/> 979 </li> 980 <li> 981 01 - mapped object 1: 982 <input addr="1A00010004" format="X32" pf="rw" value="0x60000108"/> 983 </li> 984 <li> 985 02 - mapped object 2: 986 <input addr="1A00020004" format="X32" pf="rw" value="0x60000208"/> 987 </li> 988 <li> 989 03 - mapped object 3: 990 <input addr="1A00030004" format="X32" pf="rw" value="0x00000000"/> 991 </li> 992 <li> 993 04 - mapped object 4: 994 <input addr="1A00040004" format="X32" pf="rw" value="0x00000000"/> 995 </li> 996 <li> 997 05 - mapped object 5: 998 <input addr="1A00050004" format="X32" pf="rw" value="0x00000000"/> 999 </li> 1000 <li> 1001 06 - mapped object 6: 1002 <input addr="1A00060004" format="X32" pf="rw" value="0x00000000"/> 1003 </li> 1004 <li> 1005 07 - mapped object 7: 1006 <input addr="1A00070004" format="X32" pf="rw" value="0x00000000"/> 1007 </li> 1008 <li> 1009 08 - mapped object 8: 1010 <input addr="1A00080004" format="X32" pf="rw" value="0x00000000"/> 1011 </li> 1012 </ul> 1013 </li> 1014 <li class="expandable"> 1015 <a docref="IO Example_1A01">1A01 - TPDO mapping parameter</a> 1016 <ul> 1017 <li> 1018 00 - Number of mapped objects: 1019 <input addr="1A01000001" format="U08" pf="rw" value="0"/> 1020 </li> 1021 <li> 1022 01 - mapped object 1: 1023 <input addr="1A01010004" format="X32" pf="rw" value="0x00000000"/> 1024 </li> 1025 <li> 1026 02 - mapped object 2: 1027 <input addr="1A01020004" format="X32" pf="rw" value="0x00000000"/> 1028 </li> 1029 <li> 1030 03 - mapped object 3: 1031 <input addr="1A01030004" format="X32" pf="rw" value="0x00000000"/> 1032 </li> 1033 <li> 1034 04 - mapped object 4: 1035 <input addr="1A01040004" format="X32" pf="rw" value="0x00000000"/> 1036 </li> 1037 <li> 1038 05 - mapped object 5: 1039 <input addr="1A01050004" format="X32" pf="rw" value="0x00000000"/> 1040 </li> 1041 <li> 1042 06 - mapped object 6: 1043 <input addr="1A01060004" format="X32" pf="rw" value="0x00000000"/> 1044 </li> 1045 <li> 1046 07 - mapped object 7: 1047 <input addr="1A01070004" format="X32" pf="rw" value="0x00000000"/> 1048 </li> 1049 <li> 1050 08 - mapped object 8: 1051 <input addr="1A01080004" format="X32" pf="rw" value="0x00000000"/> 1052 </li> 1053 </ul> 1054 </li> 1055 <li class="expandable"> 1056 <a docref="IO Example_1A02">1A02 - TPDO mapping parameter</a> 1057 <ul> 1058 <li> 1059 00 - Number of mapped objects: 1060 <input addr="1A02000001" format="U08" pf="rw" value="0"/> 1061 </li> 1062 <li> 1063 01 - mapped object 1: 1064 <input addr="1A02010004" format="X32" pf="rw" value="0x00000000"/> 1065 </li> 1066 <li> 1067 02 - mapped object 2: 1068 <input addr="1A02020004" format="X32" pf="rw" value="0x00000000"/> 1069 </li> 1070 <li> 1071 03 - mapped object 3: 1072 <input addr="1A02030004" format="X32" pf="rw" value="0x00000000"/> 1073 </li> 1074 <li> 1075 04 - mapped object 4: 1076 <input addr="1A02040004" format="X32" pf="rw" value="0x00000000"/> 1077 </li> 1078 <li> 1079 05 - mapped object 5: 1080 <input addr="1A02050004" format="X32" pf="rw" value="0x00000000"/> 1081 </li> 1082 <li> 1083 06 - mapped object 6: 1084 <input addr="1A02060004" format="X32" pf="rw" value="0x00000000"/> 1085 </li> 1086 <li> 1087 07 - mapped object 7: 1088 <input addr="1A02070004" format="X32" pf="rw" value="0x00000000"/> 1089 </li> 1090 <li> 1091 08 - mapped object 8: 1092 <input addr="1A02080004" format="X32" pf="rw" value="0x00000000"/> 1093 </li> 1094 </ul> 1095 </li> 1096 <li class="expandable"> 1097 <a docref="IO Example_1A03">1A03 - TPDO mapping parameter</a> 1098 <ul> 1099 <li> 1100 00 - Number of mapped objects: 1101 <input addr="1A03000001" format="U08" pf="rw" value="0"/> 1102 </li> 1103 <li> 1104 01 - mapped object 1: 1105 <input addr="1A03010004" format="X32" pf="rw" value="0x00000000"/> 1106 </li> 1107 <li> 1108 02 - mapped object 2: 1109 <input addr="1A03020004" format="X32" pf="rw" value="0x00000000"/> 1110 </li> 1111 <li> 1112 03 - mapped object 3: 1113 <input addr="1A03030004" format="X32" pf="rw" value="0x00000000"/> 1114 </li> 1115 <li> 1116 04 - mapped object 4: 1117 <input addr="1A03040004" format="X32" pf="rw" value="0x00000000"/> 1118 </li> 1119 <li> 1120 05 - mapped object 5: 1121 <input addr="1A03050004" format="X32" pf="rw" value="0x00000000"/> 1122 </li> 1123 <li> 1124 06 - mapped object 6: 1125 <input addr="1A03060004" format="X32" pf="rw" value="0x00000000"/> 1126 </li> 1127 <li> 1128 07 - mapped object 7: 1129 <input addr="1A03070004" format="X32" pf="rw" value="0x00000000"/> 1130 </li> 1131 <li> 1132 08 - mapped object 8: 1133 <input addr="1A03080004" format="X32" pf="rw" value="0x00000000"/> 1134 </li> 1135 </ul> 1136 </li> 1137 <li> 1138 <a docref="IO Example_1F80">1F80</a> 1139 - NMT startup: 1140 <input addr="1F80000004" format="X32" pf="rw" value="0x00000000"/> 1141 </li> 1142 </ul> 1143 </li> 1144 <li class="expandable"> 1145 <h2>Manufacturer specific</h2> 1146 <ul class="PFContainer"> 1147 <li> 1148 <input type="button" pf="butReadAll" value="Read All"/> 1149 <input type="button" pf="butReadRR" value="Read RAM"/> 1150 <input type="button" pf="butRead" value="Read marked"/> 1151 <input type="button" pf="butWrite" value="Write marked"/> 1152 </li> 1153 <li> 1154 <a docref="IO Example_2100">2100</a> 1155 - Error status bits: 1156 <input addr="2100000010" format="O0a" pf="rro" value="00 00 00 00 00 00 00 00 00 00"/> 1157 </li> 1158 <li> 1159 <a docref="IO Example_2101">2101</a> 1160 - CAN node ID: 1161 <input addr="2101000001" format="X08" pf="rw" value="0x30"/> 1162 </li> 1163 <li> 1164 <a docref="IO Example_2102">2102</a> 1165 - CAN bit rate: 1166 <input addr="2102000002" format="U16" pf="rw" value="250"/> 1167 </li> 1168 <li> 1169 <a docref="IO Example_2103">2103</a> 1170 - SYNC counter: 1171 <input addr="2103000002" format="U16" pf="rrw" value="0"/> 1172 </li> 1173 <li> 1174 <a docref="IO Example_2104">2104</a> 1175 - SYNC time: 1176 <input addr="2104000002" format="U16" pf="rro" value="0"/> 1177 </li> 1178 <li> 1179 <a docref="IO Example_2106">2106</a> 1180 - Power-on counter: 1181 <input addr="2106000004" format="U32" pf="ro" value="0"/> 1182 </li> 1183 <li class="expandable"> 1184 <a docref="IO Example_2107">2107 - Performance</a> 1185 <ul> 1186 <li> 1187 00 - max sub-index: 1188 <input addr="2107000001" format="U08" pf="rrw" value="5"/> 1189 </li> 1190 <li> 1191 01 - cycles per second: 1192 <input addr="2107010002" format="U16" pf="rrw" value="1000"/> 1193 </li> 1194 <li> 1195 02 - timer cycle time: 1196 <input addr="2107020002" format="U16" pf="rrw" value="0"/> 1197 </li> 1198 <li> 1199 03 - timer cycle max time: 1200 <input addr="2107030002" format="U16" pf="rrw" value="0"/> 1201 </li> 1202 <li> 1203 04 - main cycle time: 1204 <input addr="2107040002" format="U16" pf="rrw" value="0"/> 1205 </li> 1206 <li> 1207 05 - main cycle max time: 1208 <input addr="2107050002" format="U16" pf="rrw" value="0"/> 1209 </li> 1210 </ul> 1211 </li> 1212 <li class="expandable"> 1213 <a docref="IO Example_2108">2108 - Temperature</a> 1214 <ul> 1215 <li> 1216 00 - max sub-index: 1217 <input addr="2108000001" format="U08" pf="rro" value="1"/> 1218 </li> 1219 <li> 1220 01 - main PCB: 1221 <input addr="2108010002" format="I16" pf="rro" value="0"/> 1222 </li> 1223 </ul> 1224 </li> 1225 <li class="expandable"> 1226 <a docref="IO Example_2109">2109 - Voltage</a> 1227 <ul> 1228 <li> 1229 00 - max sub-index: 1230 <input addr="2109000001" format="U08" pf="rro" value="1"/> 1231 </li> 1232 <li> 1233 01 - main PCB supply: 1234 <input addr="2109010002" format="I16" pf="rro" value="0"/> 1235 </li> 1236 </ul> 1237 </li> 1238 <li class="expandable"> 1239 <a docref="IO Example_2110">2110 - Variable Int32</a> 1240 <ul> 1241 <li> 1242 00 - max sub-index: 1243 <input addr="2110000001" format="U08" pf="rrw" value="16"/> 1244 </li> 1245 <li> 1246 01 - int32: 1247 <input addr="2110010004" format="I32" pf="rrw" value="0"/> 1248 </li> 1249 <li> 1250 02 - int32: 1251 <input addr="2110020004" format="I32" pf="rrw" value="0"/> 1252 </li> 1253 <li> 1254 03 - int32: 1255 <input addr="2110030004" format="I32" pf="rrw" value="0"/> 1256 </li> 1257 <li> 1258 04 - int32: 1259 <input addr="2110040004" format="I32" pf="rrw" value="0"/> 1260 </li> 1261 <li> 1262 05 - int32: 1263 <input addr="2110050004" format="I32" pf="rrw" value="0"/> 1264 </li> 1265 <li> 1266 06 - int32: 1267 <input addr="2110060004" format="I32" pf="rrw" value="0"/> 1268 </li> 1269 <li> 1270 07 - int32: 1271 <input addr="2110070004" format="I32" pf="rrw" value="0"/> 1272 </li> 1273 <li> 1274 08 - int32: 1275 <input addr="2110080004" format="I32" pf="rrw" value="0"/> 1276 </li> 1277 <li> 1278 09 - int32: 1279 <input addr="2110090004" format="I32" pf="rrw" value="0"/> 1280 </li> 1281 <li> 1282 0A - int32: 1283 <input addr="21100A0004" format="I32" pf="rrw" value="0"/> 1284 </li> 1285 <li> 1286 0B - int32: 1287 <input addr="21100B0004" format="I32" pf="rrw" value="0"/> 1288 </li> 1289 <li> 1290 0C - int32: 1291 <input addr="21100C0004" format="I32" pf="rrw" value="0"/> 1292 </li> 1293 <li> 1294 0D - int32: 1295 <input addr="21100D0004" format="I32" pf="rrw" value="0"/> 1296 </li> 1297 <li> 1298 0E - int32: 1299 <input addr="21100E0004" format="I32" pf="rrw" value="0"/> 1300 </li> 1301 <li> 1302 0F - int32: 1303 <input addr="21100F0004" format="I32" pf="rrw" value="0"/> 1304 </li> 1305 <li> 1306 10 - int32: 1307 <input addr="2110100004" format="I32" pf="rrw" value="0"/> 1308 </li> 1309 </ul> 1310 </li> 1311 <li class="expandable"> 1312 <a docref="IO Example_2111">2111 - Variable ROM Int32</a> 1313 <ul> 1314 <li> 1315 00 - max sub-index: 1316 <input addr="2111000001" format="U08" pf="rw" value="16"/> 1317 </li> 1318 <li> 1319 01 - int32: 1320 <input addr="2111010004" format="I32" pf="rw" value="1"/> 1321 </li> 1322 <li> 1323 02 - int32: 1324 <input addr="2111020004" format="I32" pf="rw" value="0"/> 1325 </li> 1326 <li> 1327 03 - int32: 1328 <input addr="2111030004" format="I32" pf="rw" value="0"/> 1329 </li> 1330 <li> 1331 04 - int32: 1332 <input addr="2111040004" format="I32" pf="rw" value="0"/> 1333 </li> 1334 <li> 1335 05 - int32: 1336 <input addr="2111050004" format="I32" pf="rw" value="0"/> 1337 </li> 1338 <li> 1339 06 - int32: 1340 <input addr="2111060004" format="I32" pf="rw" value="0"/> 1341 </li> 1342 <li> 1343 07 - int32: 1344 <input addr="2111070004" format="I32" pf="rw" value="0"/> 1345 </li> 1346 <li> 1347 08 - int32: 1348 <input addr="2111080004" format="I32" pf="rw" value="0"/> 1349 </li> 1350 <li> 1351 09 - int32: 1352 <input addr="2111090004" format="I32" pf="rw" value="0"/> 1353 </li> 1354 <li> 1355 0A - int32: 1356 <input addr="21110A0004" format="I32" pf="rw" value="0"/> 1357 </li> 1358 <li> 1359 0B - int32: 1360 <input addr="21110B0004" format="I32" pf="rw" value="0"/> 1361 </li> 1362 <li> 1363 0C - int32: 1364 <input addr="21110C0004" format="I32" pf="rw" value="0"/> 1365 </li> 1366 <li> 1367 0D - int32: 1368 <input addr="21110D0004" format="I32" pf="rw" value="0"/> 1369 </li> 1370 <li> 1371 0E - int32: 1372 <input addr="21110E0004" format="I32" pf="rw" value="0"/> 1373 </li> 1374 <li> 1375 0F - int32: 1376 <input addr="21110F0004" format="I32" pf="rw" value="0"/> 1377 </li> 1378 <li> 1379 10 - int32: 1380 <input addr="2111100004" format="I32" pf="rw" value="0"/> 1381 </li> 1382 </ul> 1383 </li> 1384 <li class="expandable"> 1385 <a docref="IO Example_2112">2112 - Variable NV Int32</a> 1386 <ul> 1387 <li> 1388 00 - max sub-index: 1389 <input addr="2112000001" format="U08" pf="rw" value="16"/> 1390 </li> 1391 <li> 1392 01 - int32: 1393 <input addr="2112010004" format="I32" pf="rw" value="1"/> 1394 </li> 1395 <li> 1396 02 - int32: 1397 <input addr="2112020004" format="I32" pf="rw" value="0"/> 1398 </li> 1399 <li> 1400 03 - int32: 1401 <input addr="2112030004" format="I32" pf="rw" value="0"/> 1402 </li> 1403 <li> 1404 04 - int32: 1405 <input addr="2112040004" format="I32" pf="rw" value="0"/> 1406 </li> 1407 <li> 1408 05 - int32: 1409 <input addr="2112050004" format="I32" pf="rw" value="0"/> 1410 </li> 1411 <li> 1412 06 - int32: 1413 <input addr="2112060004" format="I32" pf="rw" value="0"/> 1414 </li> 1415 <li> 1416 07 - int32: 1417 <input addr="2112070004" format="I32" pf="rw" value="0"/> 1418 </li> 1419 <li> 1420 08 - int32: 1421 <input addr="2112080004" format="I32" pf="rw" value="0"/> 1422 </li> 1423 <li> 1424 09 - int32: 1425 <input addr="2112090004" format="I32" pf="rw" value="0"/> 1426 </li> 1427 <li> 1428 0A - int32: 1429 <input addr="21120A0004" format="I32" pf="rw" value="0"/> 1430 </li> 1431 <li> 1432 0B - int32: 1433 <input addr="21120B0004" format="I32" pf="rw" value="0"/> 1434 </li> 1435 <li> 1436 0C - int32: 1437 <input addr="21120C0004" format="I32" pf="rw" value="0"/> 1438 </li> 1439 <li> 1440 0D - int32: 1441 <input addr="21120D0004" format="I32" pf="rw" value="0"/> 1442 </li> 1443 <li> 1444 0E - int32: 1445 <input addr="21120E0004" format="I32" pf="rw" value="0"/> 1446 </li> 1447 <li> 1448 0F - int32: 1449 <input addr="21120F0004" format="I32" pf="rw" value="0"/> 1450 </li> 1451 <li> 1452 10 - int32: 1453 <input addr="2112100004" format="I32" pf="rw" value="0"/> 1454 </li> 1455 </ul> 1456 </li> 1457 <li class="expandable"> 1458 <a docref="IO Example_2120">2120 - test var</a> 1459 <ul> 1460 <li> 1461 00 - max sub-index: 1462 <input addr="2120000001" format="U08" pf="rro" value="5"/> 1463 </li> 1464 <li> 1465 01 - I64: 1466 <input addr="2120010008" format="I64" pf="rrw" value="0x1234567890ABCDEFLL"/> 1467 </li> 1468 <li> 1469 02 - U64: 1470 <input addr="2120020008" format="X64" pf="rrw" value="0x234567890ABCDEF1LL"/> 1471 </li> 1472 <li> 1473 03 - R32: 1474 <input addr="2120030004" format="R32" pf="rrw" value="12.345"/> 1475 </li> 1476 <li> 1477 04 - R64: 1478 <input addr="2120040008" format="R64" pf="rrw" value="456.789"/> 1479 </li> 1480 <li> 1481 05 - domain: 1482 <input addr="2120050000" format="Dxx" pf="rrw" value="0"/> 1483 </li> 1484 </ul> 1485 </li> 1486 <li class="expandable"> 1487 <a docref="IO Example_2130">2130 - Time</a> 1488 <ul> 1489 <li> 1490 00 - max sub-index: 1491 <input addr="2130000001" format="U08" pf="rro" value="3"/> 1492 </li> 1493 <li> 1494 01 - String: 1495 <input addr="21300100" format="S" pf="rro" value="- "/> 1496 </li> 1497 <li> 1498 02 - Epoch time base ms: 1499 <input addr="2130020008" format="U64" pf="rrw" value="0"/> 1500 </li> 1501 <li> 1502 03 - Epoch time offset ms: 1503 <input addr="2130030004" format="U32" pf="rrw" value="0"/> 1504 </li> 1505 </ul> 1506 </li> 1507 <li class="expandable"> 1508 <a docref="IO Example_2301">2301 - Trace config</a> 1509 <ul> 1510 <li> 1511 00 - max sub-index: 1512 <input addr="2301000001" format="U08" pf="ro" value="8"/> 1513 </li> 1514 <li> 1515 01 - Size: 1516 <input addr="2301010004" format="U32" pf="rw" value="100"/> 1517 </li> 1518 <li> 1519 02 - Axis no: 1520 <input addr="2301020001" format="U08" pf="rw" value="1"/> 1521 </li> 1522 <li> 1523 03 - Name: 1524 <input addr="23010300" format="S" pf="rw" value="Trace1 "/> 1525 </li> 1526 <li> 1527 04 - Color: 1528 <input addr="23010400" format="S" pf="rw" value="red "/> 1529 </li> 1530 <li> 1531 05 - Map: 1532 <input addr="2301050004" format="X32" pf="rw" value="0x60000108"/> 1533 </li> 1534 <li> 1535 06 - Format: 1536 <input addr="2301060001" format="U08" pf="rw" value="1"/> 1537 </li> 1538 <li> 1539 07 - Trigger: 1540 <input addr="2301070001" format="U08" pf="rw" value="0"/> 1541 </li> 1542 <li> 1543 08 - Threshold: 1544 <input addr="2301080004" format="I32" pf="rw" value="0"/> 1545 </li> 1546 </ul> 1547 </li> 1548 <li class="expandable"> 1549 <a docref="IO Example_2302">2302 - Trace config</a> 1550 <ul> 1551 <li> 1552 00 - max sub-index: 1553 <input addr="2302000001" format="U08" pf="ro" value="8"/> 1554 </li> 1555 <li> 1556 01 - Size: 1557 <input addr="2302010004" format="U32" pf="rw" value="0"/> 1558 </li> 1559 <li> 1560 02 - Axis no: 1561 <input addr="2302020001" format="U08" pf="rw" value="0"/> 1562 </li> 1563 <li> 1564 03 - Name: 1565 <input addr="23020300" format="S" pf="rw" value="Trace2 "/> 1566 </li> 1567 <li> 1568 04 - Color: 1569 <input addr="23020400" format="S" pf="rw" value="green "/> 1570 </li> 1571 <li> 1572 05 - Map: 1573 <input addr="2302050004" format="X32" pf="rw" value="0x00000000"/> 1574 </li> 1575 <li> 1576 06 - Format: 1577 <input addr="2302060001" format="U08" pf="rw" value="0"/> 1578 </li> 1579 <li> 1580 07 - Trigger: 1581 <input addr="2302070001" format="U08" pf="rw" value="0"/> 1582 </li> 1583 <li> 1584 08 - Threshold: 1585 <input addr="2302080004" format="I32" pf="rw" value="0"/> 1586 </li> 1587 </ul> 1588 </li> 1589 <li> 1590 <a docref="IO Example_2400">2400</a> 1591 - Trace enable: 1592 <input addr="2400000001" format="U08" pf="rrw" value="0"/> 1593 </li> 1594 <li class="expandable"> 1595 <a docref="IO Example_2401">2401 - Trace</a> 1596 <ul> 1597 <li> 1598 00 - max sub-index: 1599 <input addr="2401000001" format="U08" pf="rro" value="6"/> 1600 </li> 1601 <li> 1602 01 - Size: 1603 <input addr="2401010004" format="U32" pf="rrw" value="0"/> 1604 </li> 1605 <li> 1606 02 - Value: 1607 <input addr="2401020004" format="I32" pf="rrw" value="0"/> 1608 </li> 1609 <li> 1610 03 - Min: 1611 <input addr="2401030004" format="I32" pf="rrw" value="0"/> 1612 </li> 1613 <li> 1614 04 - Max: 1615 <input addr="2401040004" format="I32" pf="rrw" value="0"/> 1616 </li> 1617 <li> 1618 05 - Plot: 1619 <input addr="2401050000" format="Sxx" pf="rro" value="0"/> 1620 </li> 1621 <li> 1622 06 - Trigger time: 1623 <input addr="2401060004" format="U32" pf="rrw" value="0"/> 1624 </li> 1625 </ul> 1626 </li> 1627 <li class="expandable"> 1628 <a docref="IO Example_2402">2402 - Trace</a> 1629 <ul> 1630 <li> 1631 00 - max sub-index: 1632 <input addr="2402000001" format="U08" pf="rro" value="6"/> 1633 </li> 1634 <li> 1635 01 - Size: 1636 <input addr="2402010004" format="U32" pf="rrw" value="0"/> 1637 </li> 1638 <li> 1639 02 - Value: 1640 <input addr="2402020004" format="I32" pf="rrw" value="0"/> 1641 </li> 1642 <li> 1643 03 - Min: 1644 <input addr="2402030004" format="I32" pf="rrw" value="0"/> 1645 </li> 1646 <li> 1647 04 - Max: 1648 <input addr="2402040004" format="I32" pf="rrw" value="0"/> 1649 </li> 1650 <li> 1651 05 - Plot: 1652 <input addr="2402050000" format="Sxx" pf="rro" value="0"/> 1653 </li> 1654 <li> 1655 06 - Trigger time: 1656 <input addr="2402060004" format="U32" pf="rrw" value="0"/> 1657 </li> 1658 </ul> 1659 </li> 1660 </ul> 1661 </li> 1662 <li class="expandable"> 1663 <h2>Device Profile</h2> 1664 <ul class="PFContainer"> 1665 <li> 1666 <input type="button" pf="butReadAll" value="Read All"/> 1667 <input type="button" pf="butReadRR" value="Read RAM"/> 1668 <input type="button" pf="butRead" value="Read marked"/> 1669 <input type="button" pf="butWrite" value="Write marked"/> 1670 </li> 1671 <li class="expandable"> 1672 <a docref="IO Example_6000">6000 - Read input 8 bit</a> 1673 <ul> 1674 <li> 1675 00 - max sub-index: 1676 <input addr="6000000001" format="U08" pf="rro" value="8"/> 1677 </li> 1678 <li> 1679 01 - Input: 1680 <input addr="6000010001" format="X08" pf="rro" value="0x00"/> 1681 </li> 1682 <li> 1683 02 - Input: 1684 <input addr="6000020001" format="X08" pf="rro" value="0x00"/> 1685 </li> 1686 <li> 1687 03 - Input: 1688 <input addr="6000030001" format="X08" pf="rro" value="0x00"/> 1689 </li> 1690 <li> 1691 04 - Input: 1692 <input addr="6000040001" format="X08" pf="rro" value="0x00"/> 1693 </li> 1694 <li> 1695 05 - Input: 1696 <input addr="6000050001" format="X08" pf="rro" value="0x00"/> 1697 </li> 1698 <li> 1699 06 - Input: 1700 <input addr="6000060001" format="X08" pf="rro" value="0x00"/> 1701 </li> 1702 <li> 1703 07 - Input: 1704 <input addr="6000070001" format="X08" pf="rro" value="0x00"/> 1705 </li> 1706 <li> 1707 08 - Input: 1708 <input addr="6000080001" format="X08" pf="rro" value="0x00"/> 1709 </li> 1710 </ul> 1711 </li> 1712 <li class="expandable"> 1713 <a docref="IO Example_6200">6200 - Write output 8 bit</a> 1714 <ul> 1715 <li> 1716 00 - max sub-index: 1717 <input addr="6200000001" format="U08" pf="rrw" value="8"/> 1718 </li> 1719 <li> 1720 01 - Output: 1721 <input addr="6200010001" format="X08" pf="rrw" value="0x00"/> 1722 </li> 1723 <li> 1724 02 - Output: 1725 <input addr="6200020001" format="X08" pf="rrw" value="0x00"/> 1726 </li> 1727 <li> 1728 03 - Output: 1729 <input addr="6200030001" format="X08" pf="rrw" value="0x00"/> 1730 </li> 1731 <li> 1732 04 - Output: 1733 <input addr="6200040001" format="X08" pf="rrw" value="0x00"/> 1734 </li> 1735 <li> 1736 05 - Output: 1737 <input addr="6200050001" format="X08" pf="rrw" value="0x00"/> 1738 </li> 1739 <li> 1740 06 - Output: 1741 <input addr="6200060001" format="X08" pf="rrw" value="0x00"/> 1742 </li> 1743 <li> 1744 07 - Output: 1745 <input addr="6200070001" format="X08" pf="rrw" value="0x00"/> 1746 </li> 1747 <li> 1748 08 - Output: 1749 <input addr="6200080001" format="X08" pf="rrw" value="0x00"/> 1750 </li> 1751 </ul> 1752 </li> 1753 <li class="expandable"> 1754 <a docref="IO Example_6401">6401 - Read analogue input 16 bit</a> 1755 <ul> 1756 <li> 1757 00 - max sub-index: 1758 <input addr="6401000001" format="U08" pf="rro" value="12"/> 1759 </li> 1760 <li> 1761 01 - Input: 1762 <input addr="6401010002" format="I16" pf="rro" value="0"/> 1763 </li> 1764 <li> 1765 02 - Input: 1766 <input addr="6401020002" format="I16" pf="rro" value="0"/> 1767 </li> 1768 <li> 1769 03 - Input: 1770 <input addr="6401030002" format="I16" pf="rro" value="0"/> 1771 </li> 1772 <li> 1773 04 - Input: 1774 <input addr="6401040002" format="I16" pf="rro" value="0"/> 1775 </li> 1776 <li> 1777 05 - Input: 1778 <input addr="6401050002" format="I16" pf="rro" value="0"/> 1779 </li> 1780 <li> 1781 06 - Input: 1782 <input addr="6401060002" format="I16" pf="rro" value="0"/> 1783 </li> 1784 <li> 1785 07 - Input: 1786 <input addr="6401070002" format="I16" pf="rro" value="0"/> 1787 </li> 1788 <li> 1789 08 - Input: 1790 <input addr="6401080002" format="I16" pf="rro" value="0"/> 1791 </li> 1792 <li> 1793 09 - Input: 1794 <input addr="6401090002" format="I16" pf="rro" value="0"/> 1795 </li> 1796 <li> 1797 0A - Input: 1798 <input addr="64010A0002" format="I16" pf="rro" value="0"/> 1799 </li> 1800 <li> 1801 0B - Input: 1802 <input addr="64010B0002" format="I16" pf="rro" value="0"/> 1803 </li> 1804 <li> 1805 0C - Input: 1806 <input addr="64010C0002" format="I16" pf="rro" value="0"/> 1807 </li> 1808 </ul> 1809 </li> 1810 <li class="expandable"> 1811 <a docref="IO Example_6411">6411 - Write analogue output 16 bit</a> 1812 <ul> 1813 <li> 1814 00 - max sub-index: 1815 <input addr="6411000001" format="U08" pf="rrw" value="8"/> 1816 </li> 1817 <li> 1818 01 - Output: 1819 <input addr="6411010002" format="I16" pf="rrw" value="0"/> 1820 </li> 1821 <li> 1822 02 - Output: 1823 <input addr="6411020002" format="I16" pf="rrw" value="0"/> 1824 </li> 1825 <li> 1826 03 - Output: 1827 <input addr="6411030002" format="I16" pf="rrw" value="0"/> 1828 </li> 1829 <li> 1830 04 - Output: 1831 <input addr="6411040002" format="I16" pf="rrw" value="0"/> 1832 </li> 1833 <li> 1834 05 - Output: 1835 <input addr="6411050002" format="I16" pf="rrw" value="0"/> 1836 </li> 1837 <li> 1838 06 - Output: 1839 <input addr="6411060002" format="I16" pf="rrw" value="0"/> 1840 </li> 1841 <li> 1842 07 - Output: 1843 <input addr="6411070002" format="I16" pf="rrw" value="0"/> 1844 </li> 1845 <li> 1846 08 - Output: 1847 <input addr="6411080002" format="I16" pf="rrw" value="0"/> 1848 </li> 1849 </ul> 1850 </li> 1851 </ul> 1852 </li> 1853 </ul> 1854 <ul id="ODDoc"> 1855 <li id="IO Example_1000"> 1856 <h3>1000 - Device type</h3> 1857 <table> 1858 <tr> 1859 <th>Object Type</th> 1860 <th>Memory Type</th> 1861 <th>Data Type</th> 1862 <th>Access Type</th> 1863 <th>PDO Mapping</th> 1864 <th>TPDO detects COS</th> 1865 <th>Default value</th> 1866 <th>Actual value</th> 1867 </tr> 1868 <tr> 1869 <td>Var</td> 1870 <td>ROM</td> 1871 <td>UNSIGNED32</td> 1872 <td>ro</td> 1873 <td>no</td> 1874 <td>no</td> 1875 <td>0x00000000</td> 1876 <td/> 1877 </tr> 1878 </table> 1879 <div class="description lang_en"> 1880 <h4>en: Device type</h4> 1881 <div> 1882 bit 0-15: Device profile number 1883 <br/> 1884 bit 16-31: Additional information 1885 </div> 1886 </div> 1887 </li> 1888 <li id="IO Example_1001"> 1889 <h3>1001 - Error register</h3> 1890 <table> 1891 <tr> 1892 <th>Object Type</th> 1893 <th>Memory Type</th> 1894 <th>Data Type</th> 1895 <th>Access Type</th> 1896 <th>PDO Mapping</th> 1897 <th>TPDO detects COS</th> 1898 <th>Default value</th> 1899 <th>Actual value</th> 1900 </tr> 1901 <tr> 1902 <td>Var</td> 1903 <td>RAM</td> 1904 <td>UNSIGNED8</td> 1905 <td>ro</td> 1906 <td>optional</td> 1907 <td>no</td> 1908 <td>0</td> 1909 <td/> 1910 </tr> 1911 </table> 1912 <div class="description lang_en"> 1913 <h4>en: Error register</h4> 1914 <div> 1915 bit 0: generic error 1916 <br/> 1917 bit 1: current 1918 <br/> 1919 bit 2: voltage 1920 <br/> 1921 bit 3: temperature 1922 <br/> 1923 bit 4: communication error (overrun, error state) 1924 <br/> 1925 bit 5: device profile specific 1926 <br/> 1927 bit 6: Reserved (always 0) 1928 <br/> 1929 bit 7: manufacturer specific 1930 </div> 1931 </div> 1932 </li> 1933 <li id="IO Example_1002"> 1934 <h3>1002 - Manufacturer status register</h3> 1935 <table> 1936 <tr> 1937 <th>Object Type</th> 1938 <th>Memory Type</th> 1939 <th>Data Type</th> 1940 <th>Access Type</th> 1941 <th>PDO Mapping</th> 1942 <th>TPDO detects COS</th> 1943 <th>Default value</th> 1944 <th>Actual value</th> 1945 </tr> 1946 <tr> 1947 <td>Var</td> 1948 <td>RAM</td> 1949 <td>UNSIGNED32</td> 1950 <td>ro</td> 1951 <td>optional</td> 1952 <td>no</td> 1953 <td>0</td> 1954 <td/> 1955 </tr> 1956 </table> 1957 <div class="description lang_en"> 1958 <h4>en: Manufacturer status register</h4> 1959 <div>bit 0-31: Not used by stack (available for user)</div> 1960 </div> 1961 </li> 1962 <li id="IO Example_1003"> 1963 <h3>1003 - Pre-defined error field</h3> 1964 <table> 1965 <tr> 1966 <th>Object Type</th> 1967 <th>Sub Number</th> 1968 <th>Memory Type</th> 1969 <th>Data Type</th> 1970 <th>Access Type</th> 1971 <th>PDO Mapping</th> 1972 <th>TPDO detects COS</th> 1973 </tr> 1974 <tr> 1975 <td>Array</td> 1976 <td>9</td> 1977 <td>RAM</td> 1978 <td>UNSIGNED32</td> 1979 <td>ro</td> 1980 <td>no</td> 1981 <td>no</td> 1982 </tr> 1983 </table> 1984 <br/> 1985 <table> 1986 <tr> 1987 <th>Subindex</th> 1988 <th>Name</th> 1989 <th>Default value</th> 1990 <th>Actual value</th> 1991 </tr> 1992 <tr> 1993 <td>00</td> 1994 <td>Number of errors</td> 1995 <td>0</td> 1996 <td/> 1997 </tr> 1998 <tr> 1999 <td>01</td> 2000 <td>Standard error field</td> 2001 <td>0</td> 2002 <td/> 2003 </tr> 2004 <tr> 2005 <td>02</td> 2006 <td>Standard error field</td> 2007 <td>0</td> 2008 <td/> 2009 </tr> 2010 <tr> 2011 <td>03</td> 2012 <td>Standard error field</td> 2013 <td>0</td> 2014 <td/> 2015 </tr> 2016 <tr> 2017 <td>04</td> 2018 <td>Standard error field</td> 2019 <td>0</td> 2020 <td/> 2021 </tr> 2022 <tr> 2023 <td>05</td> 2024 <td>Standard error field</td> 2025 <td>0</td> 2026 <td/> 2027 </tr> 2028 <tr> 2029 <td>06</td> 2030 <td>Standard error field</td> 2031 <td>0</td> 2032 <td/> 2033 </tr> 2034 <tr> 2035 <td>07</td> 2036 <td>Standard error field</td> 2037 <td>0</td> 2038 <td/> 2039 </tr> 2040 <tr> 2041 <td>08</td> 2042 <td>Standard error field</td> 2043 <td>0</td> 2044 <td/> 2045 </tr> 2046 </table> 2047 <div class="description lang_en"> 2048 <h4>en: Pre-defined error field</h4> 2049 <div> 2050 Number of Errors 2051 <br/> 2052 bit 0-7: Zero can be written to erase error history 2053 <br/> 2054 <br/> 2055 Standard Error Field 2056 <br/> 2057 bit 0-15: Error code as transmited in the Emergency object 2058 <br/> 2059 bit 16-31: Manufacturer specific additional information 2060 </div> 2061 </div> 2062 </li> 2063 <li id="IO Example_1005"> 2064 <h3>1005 - COB-ID SYNC message</h3> 2065 <table> 2066 <tr> 2067 <th>Object Type</th> 2068 <th>Memory Type</th> 2069 <th>Data Type</th> 2070 <th>Access Type</th> 2071 <th>PDO Mapping</th> 2072 <th>TPDO detects COS</th> 2073 <th>Default value</th> 2074 <th>Actual value</th> 2075 </tr> 2076 <tr> 2077 <td>Var</td> 2078 <td>ROM</td> 2079 <td>UNSIGNED32</td> 2080 <td>rw</td> 2081 <td>no</td> 2082 <td>no</td> 2083 <td>0x00000080</td> 2084 <td/> 2085 </tr> 2086 </table> 2087 <div class="description lang_en"> 2088 <h4>en: COB-ID SYNC message</h4> 2089 <div> 2090 bit 0-10: COB-ID for SYNC object 2091 <br/> 2092 bit 11-29: set to 0 2093 <br/> 2094 bit 30: 1(0) - node generates (does NOT generate) SYNC object 2095 <br/> 2096 bit 31: set to 0 2097 </div> 2098 </div> 2099 </li> 2100 <li id="IO Example_1006"> 2101 <h3>1006 - Communication cycle period</h3> 2102 <table> 2103 <tr> 2104 <th>Object Type</th> 2105 <th>Memory Type</th> 2106 <th>Data Type</th> 2107 <th>Access Type</th> 2108 <th>PDO Mapping</th> 2109 <th>TPDO detects COS</th> 2110 <th>Default value</th> 2111 <th>Actual value</th> 2112 </tr> 2113 <tr> 2114 <td>Var</td> 2115 <td>ROM</td> 2116 <td>UNSIGNED32</td> 2117 <td>rw</td> 2118 <td>no</td> 2119 <td>no</td> 2120 <td>0</td> 2121 <td/> 2122 </tr> 2123 </table> 2124 <div class="description lang_en"> 2125 <h4>en: Communication cycle period</h4> 2126 <div>bit 0-31: period of SYNC transmission in µs (0 = no transmission, no checking)</div> 2127 </div> 2128 </li> 2129 <li id="IO Example_1007"> 2130 <h3>1007 - Synchronous window length</h3> 2131 <table> 2132 <tr> 2133 <th>Object Type</th> 2134 <th>Memory Type</th> 2135 <th>Data Type</th> 2136 <th>Access Type</th> 2137 <th>PDO Mapping</th> 2138 <th>TPDO detects COS</th> 2139 <th>Default value</th> 2140 <th>Actual value</th> 2141 </tr> 2142 <tr> 2143 <td>Var</td> 2144 <td>ROM</td> 2145 <td>UNSIGNED32</td> 2146 <td>rw</td> 2147 <td>no</td> 2148 <td>no</td> 2149 <td>0</td> 2150 <td/> 2151 </tr> 2152 </table> 2153 <div class="description lang_en"> 2154 <h4>en: Synchronous window length</h4> 2155 <div>bit 0-31: window leghth after SYNC when PDOS must be transmited in µs, (0 = not used)</div> 2156 </div> 2157 </li> 2158 <li id="IO Example_1008"> 2159 <h3>1008 - Manufacturer device name</h3> 2160 <table> 2161 <tr> 2162 <th>Object Type</th> 2163 <th>Memory Type</th> 2164 <th>Data Type</th> 2165 <th>Access Type</th> 2166 <th>PDO Mapping</th> 2167 <th>TPDO detects COS</th> 2168 <th>Default value</th> 2169 <th>Actual value</th> 2170 </tr> 2171 <tr> 2172 <td>Var</td> 2173 <td>ROM</td> 2174 <td>VISIBLE_STRING</td> 2175 <td>const</td> 2176 <td>no</td> 2177 <td>no</td> 2178 <td>CANopenNode</td> 2179 <td/> 2180 </tr> 2181 </table> 2182 <div class="description lang_en"> 2183 <h4>en: Manufacturer device name</h4> 2184 <div>Name of the manufacturer as string</div> 2185 </div> 2186 </li> 2187 <li id="IO Example_1009"> 2188 <h3>1009 - Manufacturer hardware version</h3> 2189 <table> 2190 <tr> 2191 <th>Object Type</th> 2192 <th>Memory Type</th> 2193 <th>Data Type</th> 2194 <th>Access Type</th> 2195 <th>PDO Mapping</th> 2196 <th>TPDO detects COS</th> 2197 <th>Default value</th> 2198 <th>Actual value</th> 2199 </tr> 2200 <tr> 2201 <td>Var</td> 2202 <td>ROM</td> 2203 <td>VISIBLE_STRING</td> 2204 <td>const</td> 2205 <td>no</td> 2206 <td>no</td> 2207 <td>3.00</td> 2208 <td/> 2209 </tr> 2210 </table> 2211 <div class="description lang_en"> 2212 <h4>en: Manufacturer hardware version</h4> 2213 <div>Name of the hardware version as string</div> 2214 </div> 2215 </li> 2216 <li id="IO Example_100A"> 2217 <h3>100A - Manufacturer software version</h3> 2218 <table> 2219 <tr> 2220 <th>Object Type</th> 2221 <th>Memory Type</th> 2222 <th>Data Type</th> 2223 <th>Access Type</th> 2224 <th>PDO Mapping</th> 2225 <th>TPDO detects COS</th> 2226 <th>Default value</th> 2227 <th>Actual value</th> 2228 </tr> 2229 <tr> 2230 <td>Var</td> 2231 <td>ROM</td> 2232 <td>VISIBLE_STRING</td> 2233 <td>const</td> 2234 <td>no</td> 2235 <td>no</td> 2236 <td>3.00</td> 2237 <td/> 2238 </tr> 2239 </table> 2240 <div class="description lang_en"> 2241 <h4>en: Manufacturer software version</h4> 2242 <div>Name of the software version as string.</div> 2243 </div> 2244 </li> 2245 <li id="IO Example_1010"> 2246 <h3>1010 - Store parameters</h3> 2247 <table> 2248 <tr> 2249 <th>Object Type</th> 2250 <th>Sub Number</th> 2251 <th>Memory Type</th> 2252 <th>Data Type</th> 2253 <th>Access Type</th> 2254 <th>PDO Mapping</th> 2255 <th>TPDO detects COS</th> 2256 </tr> 2257 <tr> 2258 <td>Array</td> 2259 <td>2</td> 2260 <td>RAM</td> 2261 <td>UNSIGNED32</td> 2262 <td>rw</td> 2263 <td>no</td> 2264 <td>no</td> 2265 </tr> 2266 </table> 2267 <br/> 2268 <table> 2269 <tr> 2270 <th>Subindex</th> 2271 <th>Name</th> 2272 <th>Default value</th> 2273 <th>Actual value</th> 2274 </tr> 2275 <tr> 2276 <td>00</td> 2277 <td>max sub-index</td> 2278 <td>1</td> 2279 <td/> 2280 </tr> 2281 <tr> 2282 <td>01</td> 2283 <td>save all parameters</td> 2284 <td>0x00000003</td> 2285 <td/> 2286 </tr> 2287 </table> 2288 <div class="description lang_en"> 2289 <h4>en: Store parameters</h4> 2290 <div>Writing value 0x65766173 ('s','a','v','e' from LSB to MSB) into this location stores all ROM variables into EEPROM.</div> 2291 </div> 2292 </li> 2293 <li id="IO Example_1011"> 2294 <h3>1011 - Restore default parameters</h3> 2295 <table> 2296 <tr> 2297 <th>Object Type</th> 2298 <th>Sub Number</th> 2299 <th>Memory Type</th> 2300 <th>Data Type</th> 2301 <th>Access Type</th> 2302 <th>PDO Mapping</th> 2303 <th>TPDO detects COS</th> 2304 </tr> 2305 <tr> 2306 <td>Array</td> 2307 <td>2</td> 2308 <td>RAM</td> 2309 <td>UNSIGNED32</td> 2310 <td>rw</td> 2311 <td>no</td> 2312 <td>no</td> 2313 </tr> 2314 </table> 2315 <br/> 2316 <table> 2317 <tr> 2318 <th>Subindex</th> 2319 <th>Name</th> 2320 <th>Default value</th> 2321 <th>Actual value</th> 2322 </tr> 2323 <tr> 2324 <td>00</td> 2325 <td>max sub-index</td> 2326 <td>1</td> 2327 <td/> 2328 </tr> 2329 <tr> 2330 <td>01</td> 2331 <td>restore all default parameters</td> 2332 <td>0x00000001</td> 2333 <td/> 2334 </tr> 2335 </table> 2336 <div class="description lang_en"> 2337 <h4>en: Restore default parameters</h4> 2338 <div>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.)</div> 2339 </div> 2340 </li> 2341 <li id="IO Example_1014"> 2342 <h3>1014 - COB-ID EMCY</h3> 2343 <table> 2344 <tr> 2345 <th>Object Type</th> 2346 <th>Memory Type</th> 2347 <th>Data Type</th> 2348 <th>Access Type</th> 2349 <th>PDO Mapping</th> 2350 <th>TPDO detects COS</th> 2351 <th>Default value</th> 2352 <th>Actual value</th> 2353 </tr> 2354 <tr> 2355 <td>Var</td> 2356 <td>ROM</td> 2357 <td>UNSIGNED32</td> 2358 <td>ro</td> 2359 <td>no</td> 2360 <td>no</td> 2361 <td>$NODEID+0x80</td> 2362 <td/> 2363 </tr> 2364 </table> 2365 <div class="description lang_en"> 2366 <h4>en: COB-ID emergency message</h4> 2367 <div> 2368 bit 0-10: COB-ID 2369 <br/> 2370 bit 11-30: set to 0 for 11 bit COB-ID 2371 <br/> 2372 bit 31: 0(1) - node uses (does NOT use) Emergency object 2373 </div> 2374 </div> 2375 </li> 2376 <li id="IO Example_1015"> 2377 <h3>1015 - inhibit time EMCY</h3> 2378 <table> 2379 <tr> 2380 <th>Object Type</th> 2381 <th>Memory Type</th> 2382 <th>Data Type</th> 2383 <th>Access Type</th> 2384 <th>PDO Mapping</th> 2385 <th>TPDO detects COS</th> 2386 <th>Default value</th> 2387 <th>Actual value</th> 2388 </tr> 2389 <tr> 2390 <td>Var</td> 2391 <td>ROM</td> 2392 <td>UNSIGNED16</td> 2393 <td>rw</td> 2394 <td>no</td> 2395 <td>no</td> 2396 <td>100</td> 2397 <td/> 2398 </tr> 2399 </table> 2400 <div class="description lang_en"> 2401 <h4>en: inhibit time emergency message</h4> 2402 <div>bit 0-15: Inhibit time of emergency message in 100µs</div> 2403 </div> 2404 </li> 2405 <li id="IO Example_1016"> 2406 <h3>1016 - Consumer heartbeat time</h3> 2407 <table> 2408 <tr> 2409 <th>Object Type</th> 2410 <th>Sub Number</th> 2411 <th>Memory Type</th> 2412 <th>Data Type</th> 2413 <th>Access Type</th> 2414 <th>PDO Mapping</th> 2415 <th>TPDO detects COS</th> 2416 </tr> 2417 <tr> 2418 <td>Array</td> 2419 <td>5</td> 2420 <td>ROM</td> 2421 <td>UNSIGNED32</td> 2422 <td>rw</td> 2423 <td>no</td> 2424 <td>no</td> 2425 </tr> 2426 </table> 2427 <br/> 2428 <table> 2429 <tr> 2430 <th>Subindex</th> 2431 <th>Name</th> 2432 <th>Default value</th> 2433 <th>Actual value</th> 2434 </tr> 2435 <tr> 2436 <td>00</td> 2437 <td>max sub-index</td> 2438 <td>4</td> 2439 <td/> 2440 </tr> 2441 <tr> 2442 <td>01</td> 2443 <td>Consumer heartbeat time</td> 2444 <td>0x00000000</td> 2445 <td/> 2446 </tr> 2447 <tr> 2448 <td>02</td> 2449 <td>Consumer heartbeat time</td> 2450 <td>0x00000000</td> 2451 <td/> 2452 </tr> 2453 <tr> 2454 <td>03</td> 2455 <td>Consumer heartbeat time</td> 2456 <td>0x00000000</td> 2457 <td/> 2458 </tr> 2459 <tr> 2460 <td>04</td> 2461 <td>Consumer heartbeat time</td> 2462 <td>0x00000000</td> 2463 <td/> 2464 </tr> 2465 </table> 2466 <div class="description lang_en"> 2467 <h4>en: Consumer heartbeat time</h4> 2468 <div> 2469 max sub-index 2470 <br/> 2471 <br/> 2472 Consumer Heartbeat Time 2473 <br/> 2474 bit 0-15: Heartbeat consumer time in ms (0 = node is not monitored) 2475 <br/> 2476 bit 16-23: Node ID 2477 <br/> 2478 bit 24-31: set to 0 2479 </div> 2480 </div> 2481 </li> 2482 <li id="IO Example_1017"> 2483 <h3>1017 - Producer heartbeat time</h3> 2484 <table> 2485 <tr> 2486 <th>Object Type</th> 2487 <th>Memory Type</th> 2488 <th>Data Type</th> 2489 <th>Access Type</th> 2490 <th>PDO Mapping</th> 2491 <th>TPDO detects COS</th> 2492 <th>Default value</th> 2493 <th>Actual value</th> 2494 </tr> 2495 <tr> 2496 <td>Var</td> 2497 <td>ROM</td> 2498 <td>UNSIGNED16</td> 2499 <td>rw</td> 2500 <td>no</td> 2501 <td>no</td> 2502 <td>1000</td> 2503 <td/> 2504 </tr> 2505 </table> 2506 <div class="description lang_en"> 2507 <h4>en: Producer heartbeat time</h4> 2508 <div>bit 0-15: Heartbeat producer time in ms (0 = disable transmission)</div> 2509 </div> 2510 </li> 2511 <li id="IO Example_1018"> 2512 <h3>1018 - Identity</h3> 2513 <table> 2514 <tr> 2515 <th>Object Type</th> 2516 <th>Sub Number</th> 2517 <th>Memory Type</th> 2518 </tr> 2519 <tr> 2520 <td>Record</td> 2521 <td>5</td> 2522 <td>ROM</td> 2523 </tr> 2524 </table> 2525 <br/> 2526 <table> 2527 <tr> 2528 <th>Subindex</th> 2529 <th>Name</th> 2530 <th>Data Type</th> 2531 <th>Access Type</th> 2532 <th>PDO Mapping</th> 2533 <th>TPDO detects COS</th> 2534 <th>Default value</th> 2535 <th>Actual value</th> 2536 </tr> 2537 <tr> 2538 <td>00</td> 2539 <td>max sub-index</td> 2540 <td>UNSIGNED8</td> 2541 <td>ro</td> 2542 <td>no</td> 2543 <td>no</td> 2544 <td>4</td> 2545 <td/> 2546 </tr> 2547 <tr> 2548 <td>01</td> 2549 <td>Vendor-ID</td> 2550 <td>UNSIGNED32</td> 2551 <td>ro</td> 2552 <td>no</td> 2553 <td>no</td> 2554 <td>0x00000000</td> 2555 <td/> 2556 </tr> 2557 <tr> 2558 <td>02</td> 2559 <td>Product code</td> 2560 <td>UNSIGNED32</td> 2561 <td>ro</td> 2562 <td>no</td> 2563 <td>no</td> 2564 <td>0x00000000</td> 2565 <td/> 2566 </tr> 2567 <tr> 2568 <td>03</td> 2569 <td>Revision number</td> 2570 <td>UNSIGNED32</td> 2571 <td>ro</td> 2572 <td>no</td> 2573 <td>no</td> 2574 <td>0x00000000</td> 2575 <td/> 2576 </tr> 2577 <tr> 2578 <td>04</td> 2579 <td>Serial number</td> 2580 <td>UNSIGNED32</td> 2581 <td>ro</td> 2582 <td>no</td> 2583 <td>no</td> 2584 <td>0x00000000</td> 2585 <td/> 2586 </tr> 2587 </table> 2588 <div class="description lang_en"> 2589 <h4>en: Identity</h4> 2590 <div> 2591 max sub-index 2592 <br/> 2593 <br/> 2594 Vendor-ID 2595 <br/> 2596 bit 0-31: Assigned by CiA 2597 <br/> 2598 <br/> 2599 Product code 2600 <br/> 2601 bit 0-31: Manufacturer specific 2602 <br/> 2603 <br/> 2604 Revision number 2605 <br/> 2606 bit 0-15: Minor revision num. (CANopen behavior has not changed) 2607 <br/> 2608 bit 16-31: Major revision number (CANopen behavior has changed) 2609 <br/> 2610 <br/> 2611 Serial number 2612 <br/> 2613 bit 0-31: Manufacturer specific 2614 </div> 2615 </div> 2616 </li> 2617 <li id="IO Example_1019"> 2618 <h3>1019 - Synchronous counter overflow value</h3> 2619 <table> 2620 <tr> 2621 <th>Object Type</th> 2622 <th>Memory Type</th> 2623 <th>Data Type</th> 2624 <th>Access Type</th> 2625 <th>PDO Mapping</th> 2626 <th>TPDO detects COS</th> 2627 <th>Default value</th> 2628 <th>Actual value</th> 2629 </tr> 2630 <tr> 2631 <td>Var</td> 2632 <td>ROM</td> 2633 <td>UNSIGNED8</td> 2634 <td>rw</td> 2635 <td>no</td> 2636 <td>no</td> 2637 <td>0</td> 2638 <td/> 2639 </tr> 2640 </table> 2641 <div class="description lang_en"> 2642 <h4>en: Synchronous counter overflow value</h4> 2643 <div> 2644 If value is zero, then SYNC message is transmitted with data length 0. 2645 <br/> 2646 <br/> 2647 If Value is from 2 to 240, then SYNC message has one data byte, which contains the counter. 2648 <br/> 2649 <br/> 2650 Other values are reserved. 2651 </div> 2652 </div> 2653 </li> 2654 <li id="IO Example_1029"> 2655 <h3>1029 - Error behavior</h3> 2656 <table> 2657 <tr> 2658 <th>Object Type</th> 2659 <th>Sub Number</th> 2660 <th>Memory Type</th> 2661 <th>Data Type</th> 2662 <th>Access Type</th> 2663 <th>PDO Mapping</th> 2664 <th>TPDO detects COS</th> 2665 </tr> 2666 <tr> 2667 <td>Array</td> 2668 <td>7</td> 2669 <td>ROM</td> 2670 <td>UNSIGNED8</td> 2671 <td>rw</td> 2672 <td>no</td> 2673 <td>no</td> 2674 </tr> 2675 </table> 2676 <br/> 2677 <table> 2678 <tr> 2679 <th>Subindex</th> 2680 <th>Name</th> 2681 <th>Default value</th> 2682 <th>Actual value</th> 2683 </tr> 2684 <tr> 2685 <td>00</td> 2686 <td>max sub-index</td> 2687 <td>6</td> 2688 <td/> 2689 </tr> 2690 <tr> 2691 <td>01</td> 2692 <td>Communication</td> 2693 <td>0x00</td> 2694 <td/> 2695 </tr> 2696 <tr> 2697 <td>02</td> 2698 <td>Communication other</td> 2699 <td>0x00</td> 2700 <td/> 2701 </tr> 2702 <tr> 2703 <td>03</td> 2704 <td>Communication passive</td> 2705 <td>0x01</td> 2706 <td/> 2707 </tr> 2708 <tr> 2709 <td>04</td> 2710 <td>Generic</td> 2711 <td>0x00</td> 2712 <td/> 2713 </tr> 2714 <tr> 2715 <td>05</td> 2716 <td>Device profile</td> 2717 <td>0x00</td> 2718 <td/> 2719 </tr> 2720 <tr> 2721 <td>06</td> 2722 <td>Manufacturer specific</td> 2723 <td>0x00</td> 2724 <td/> 2725 </tr> 2726 </table> 2727 <div class="description lang_en"> 2728 <h4>en: Error behavior</h4> 2729 <div> 2730 If error is detected and operating NMT state is NMT operational, this object defines behavior of the device. 2731 <br/> 2732 <br/> 2733 Value definition for all subindexes: 2734 <br/> 2735 0x00 - if operational, switch to NMT pre-operational 2736 <br/> 2737 0x01 - do nothing 2738 <br/> 2739 0x02 - switch to NMT stopped 2740 <br/> 2741 <br/> 2742 01 - Communication error - bus off or Heartbeat consumer error. 2743 <br/> 2744 02 - Communication other error (critical errors - see 'Error status bits') except CAN bus passive but including bus off or Heartbeat consumer. 2745 <br/> 2746 03 - Communication passive - any communication error including CAN bus passive. 2747 <br/> 2748 04 - Generic error (critical errors - see 'Error status bits'). 2749 <br/> 2750 05 - Device profile error - bit 5 in error register is set. 2751 <br/> 2752 06 - Manufacturer specific error - bit 7 in error register is set. 2753 </div> 2754 </div> 2755 </li> 2756 <li id="IO Example_1200"> 2757 <h3>1200 - SDO server parameter</h3> 2758 <table> 2759 <tr> 2760 <th>Object Type</th> 2761 <th>Sub Number</th> 2762 <th>Memory Type</th> 2763 </tr> 2764 <tr> 2765 <td>Record</td> 2766 <td>3</td> 2767 <td>ROM</td> 2768 </tr> 2769 </table> 2770 <br/> 2771 <table> 2772 <tr> 2773 <th>Subindex</th> 2774 <th>Name</th> 2775 <th>Data Type</th> 2776 <th>Access Type</th> 2777 <th>PDO Mapping</th> 2778 <th>TPDO detects COS</th> 2779 <th>Default value</th> 2780 <th>Actual value</th> 2781 </tr> 2782 <tr> 2783 <td>00</td> 2784 <td>max sub-index</td> 2785 <td>UNSIGNED8</td> 2786 <td>ro</td> 2787 <td>no</td> 2788 <td>no</td> 2789 <td>2</td> 2790 <td/> 2791 </tr> 2792 <tr> 2793 <td>01</td> 2794 <td>COB-ID client to server</td> 2795 <td>UNSIGNED32</td> 2796 <td>ro</td> 2797 <td>no</td> 2798 <td>no</td> 2799 <td>$NODEID+0x600</td> 2800 <td/> 2801 </tr> 2802 <tr> 2803 <td>02</td> 2804 <td>COB-ID server to client</td> 2805 <td>UNSIGNED32</td> 2806 <td>ro</td> 2807 <td>no</td> 2808 <td>no</td> 2809 <td>$NODEID+0x580</td> 2810 <td/> 2811 </tr> 2812 </table> 2813 <div class="description lang_en"> 2814 <h4>en: SDO server parameter</h4> 2815 <div> 2816 0x1200 SDO server parameter 2817 <br/> 2818 max sub-index 2819 <br/> 2820 <br/> 2821 COB-ID client to server (Receive SDO) 2822 <br/> 2823 bit 0-31: 0x00000600 + Node ID 2824 <br/> 2825 <br/> 2826 COB-ID server to client (Transmit SDO) 2827 <br/> 2828 bit 0-31: 0x00000580 + Node ID 2829 <br/> 2830 <br/> 2831 <br/> 2832 <br/> 2833 0x1201 - 0x127F SDO server parameter 2834 <br/> 2835 max sub-index 2836 <br/> 2837 <br/> 2838 COB-ID client to server (Receive SDO) 2839 <br/> 2840 bit 0-10: COB_ID 2841 <br/> 2842 bit 11-30: Set to 0 2843 <br/> 2844 bit 31*: 0(1) - node uses (does NOT use) SDO 2845 <br/> 2846 <br/> 2847 COB-ID server to client (Transmit SDO) 2848 <br/> 2849 bit 0-31: same as previous 2850 <br/> 2851 <br/> 2852 Node-ID of the SDO client 2853 <br/> 2854 bit 0-7: Node ID (optional) 2855 </div> 2856 </div> 2857 </li> 2858 <li id="IO Example_1400"> 2859 <h3>1400 - RPDO communication parameter</h3> 2860 <table> 2861 <tr> 2862 <th>Object Type</th> 2863 <th>Sub Number</th> 2864 <th>Memory Type</th> 2865 </tr> 2866 <tr> 2867 <td>Record</td> 2868 <td>3</td> 2869 <td>ROM</td> 2870 </tr> 2871 </table> 2872 <br/> 2873 <table> 2874 <tr> 2875 <th>Subindex</th> 2876 <th>Name</th> 2877 <th>Data Type</th> 2878 <th>Access Type</th> 2879 <th>PDO Mapping</th> 2880 <th>TPDO detects COS</th> 2881 <th>Default value</th> 2882 <th>Actual value</th> 2883 </tr> 2884 <tr> 2885 <td>00</td> 2886 <td>max sub-index</td> 2887 <td>UNSIGNED8</td> 2888 <td>ro</td> 2889 <td>no</td> 2890 <td>no</td> 2891 <td>2</td> 2892 <td/> 2893 </tr> 2894 <tr> 2895 <td>01</td> 2896 <td>COB-ID used by RPDO</td> 2897 <td>UNSIGNED32</td> 2898 <td>rw</td> 2899 <td>no</td> 2900 <td>no</td> 2901 <td>$NODEID+0x200</td> 2902 <td/> 2903 </tr> 2904 <tr> 2905 <td>02</td> 2906 <td>transmission type</td> 2907 <td>UNSIGNED8</td> 2908 <td>rw</td> 2909 <td>no</td> 2910 <td>no</td> 2911 <td>255</td> 2912 <td/> 2913 </tr> 2914 </table> 2915 <div class="description lang_en"> 2916 <h4>en: RPDO communication parameter</h4> 2917 <div> 2918 0x1400 - 0x15FF RPDO communication parameter 2919 <br/> 2920 max sub-index 2921 <br/> 2922 <br/> 2923 COB-ID 2924 <br/> 2925 bit 0-10: COB-ID for PDO, to change it bit 31 must be set 2926 <br/> 2927 bit 11-29: set to 0 for 11 bit COB-ID 2928 <br/> 2929 bit 30: 0(1) - rtr are allowed (are NOT allowed) for PDO 2930 <br/> 2931 bit 31: 0(1) - node uses (does NOT use) PDO 2932 <br/> 2933 <br/> 2934 Transmission type 2935 <br/> 2936 value = 0-240: reciving is synchronous, process after next reception of SYNC object 2937 <br/> 2938 value = 241-253: not used 2939 <br/> 2940 value = 254: manufacturer specific 2941 <br/> 2942 value = 255: asynchronous 2943 </div> 2944 </div> 2945 </li> 2946 <li id="IO Example_1401"> 2947 <h3>1401 - RPDO communication parameter</h3> 2948 <table> 2949 <tr> 2950 <th>Object Type</th> 2951 <th>Sub Number</th> 2952 <th>Memory Type</th> 2953 </tr> 2954 <tr> 2955 <td>Record</td> 2956 <td>3</td> 2957 <td>ROM</td> 2958 </tr> 2959 </table> 2960 <br/> 2961 <table> 2962 <tr> 2963 <th>Subindex</th> 2964 <th>Name</th> 2965 <th>Data Type</th> 2966 <th>Access Type</th> 2967 <th>PDO Mapping</th> 2968 <th>TPDO detects COS</th> 2969 <th>Default value</th> 2970 <th>Actual value</th> 2971 </tr> 2972 <tr> 2973 <td>00</td> 2974 <td>max sub-index</td> 2975 <td>UNSIGNED8</td> 2976 <td>ro</td> 2977 <td>no</td> 2978 <td>no</td> 2979 <td>2</td> 2980 <td/> 2981 </tr> 2982 <tr> 2983 <td>01</td> 2984 <td>COB-ID used by RPDO</td> 2985 <td>UNSIGNED32</td> 2986 <td>rw</td> 2987 <td>no</td> 2988 <td>no</td> 2989 <td>$NODEID+0x300</td> 2990 <td/> 2991 </tr> 2992 <tr> 2993 <td>02</td> 2994 <td>transmission type</td> 2995 <td>UNSIGNED8</td> 2996 <td>rw</td> 2997 <td>no</td> 2998 <td>no</td> 2999 <td>254</td> 3000 <td/> 3001 </tr> 3002 </table> 3003 <div class="description lang_en"> 3004 <h4>en: RPDO communication parameter</h4> 3005 <div>0x1400 - 0x15FF RPDO communication parameter (see description for 0x1400)</div> 3006 </div> 3007 </li> 3008 <li id="IO Example_1402"> 3009 <h3>1402 - RPDO communication parameter</h3> 3010 <table> 3011 <tr> 3012 <th>Object Type</th> 3013 <th>Sub Number</th> 3014 <th>Memory Type</th> 3015 </tr> 3016 <tr> 3017 <td>Record</td> 3018 <td>3</td> 3019 <td>ROM</td> 3020 </tr> 3021 </table> 3022 <br/> 3023 <table> 3024 <tr> 3025 <th>Subindex</th> 3026 <th>Name</th> 3027 <th>Data Type</th> 3028 <th>Access Type</th> 3029 <th>PDO Mapping</th> 3030 <th>TPDO detects COS</th> 3031 <th>Default value</th> 3032 <th>Actual value</th> 3033 </tr> 3034 <tr> 3035 <td>00</td> 3036 <td>max sub-index</td> 3037 <td>UNSIGNED8</td> 3038 <td>ro</td> 3039 <td>no</td> 3040 <td>no</td> 3041 <td>2</td> 3042 <td/> 3043 </tr> 3044 <tr> 3045 <td>01</td> 3046 <td>COB-ID used by RPDO</td> 3047 <td>UNSIGNED32</td> 3048 <td>rw</td> 3049 <td>no</td> 3050 <td>no</td> 3051 <td>$NODEID+0x400</td> 3052 <td/> 3053 </tr> 3054 <tr> 3055 <td>02</td> 3056 <td>transmission type</td> 3057 <td>UNSIGNED8</td> 3058 <td>rw</td> 3059 <td>no</td> 3060 <td>no</td> 3061 <td>254</td> 3062 <td/> 3063 </tr> 3064 </table> 3065 <div class="description lang_en"> 3066 <h4>en: RPDO communication parameter</h4> 3067 <div>0x1400 - 0x15FF RPDO communication parameter (see description for 0x1400)</div> 3068 </div> 3069 </li> 3070 <li id="IO Example_1403"> 3071 <h3>1403 - RPDO communication parameter</h3> 3072 <table> 3073 <tr> 3074 <th>Object Type</th> 3075 <th>Sub Number</th> 3076 <th>Memory Type</th> 3077 </tr> 3078 <tr> 3079 <td>Record</td> 3080 <td>3</td> 3081 <td>ROM</td> 3082 </tr> 3083 </table> 3084 <br/> 3085 <table> 3086 <tr> 3087 <th>Subindex</th> 3088 <th>Name</th> 3089 <th>Data Type</th> 3090 <th>Access Type</th> 3091 <th>PDO Mapping</th> 3092 <th>TPDO detects COS</th> 3093 <th>Default value</th> 3094 <th>Actual value</th> 3095 </tr> 3096 <tr> 3097 <td>00</td> 3098 <td>max sub-index</td> 3099 <td>UNSIGNED8</td> 3100 <td>ro</td> 3101 <td>no</td> 3102 <td>no</td> 3103 <td>2</td> 3104 <td/> 3105 </tr> 3106 <tr> 3107 <td>01</td> 3108 <td>COB-ID used by RPDO</td> 3109 <td>UNSIGNED32</td> 3110 <td>rw</td> 3111 <td>no</td> 3112 <td>no</td> 3113 <td>$NODEID+0x500</td> 3114 <td/> 3115 </tr> 3116 <tr> 3117 <td>02</td> 3118 <td>transmission type</td> 3119 <td>UNSIGNED8</td> 3120 <td>rw</td> 3121 <td>no</td> 3122 <td>no</td> 3123 <td>254</td> 3124 <td/> 3125 </tr> 3126 </table> 3127 <div class="description lang_en"> 3128 <h4>en: RPDO communication parameter</h4> 3129 <div>0x1400 - 0x15FF RPDO communication parameter (see description for 0x1400)</div> 3130 </div> 3131 </li> 3132 <li id="IO Example_1600"> 3133 <h3>1600 - RPDO mapping parameter</h3> 3134 <table> 3135 <tr> 3136 <th>Object Type</th> 3137 <th>Sub Number</th> 3138 <th>Memory Type</th> 3139 </tr> 3140 <tr> 3141 <td>Record</td> 3142 <td>9</td> 3143 <td>ROM</td> 3144 </tr> 3145 </table> 3146 <br/> 3147 <table> 3148 <tr> 3149 <th>Subindex</th> 3150 <th>Name</th> 3151 <th>Data Type</th> 3152 <th>Access Type</th> 3153 <th>PDO Mapping</th> 3154 <th>TPDO detects COS</th> 3155 <th>Default value</th> 3156 <th>Actual value</th> 3157 </tr> 3158 <tr> 3159 <td>00</td> 3160 <td>Number of mapped objects</td> 3161 <td>UNSIGNED8</td> 3162 <td>rw</td> 3163 <td>no</td> 3164 <td>no</td> 3165 <td>2</td> 3166 <td/> 3167 </tr> 3168 <tr> 3169 <td>01</td> 3170 <td>mapped object 1</td> 3171 <td>UNSIGNED32</td> 3172 <td>rw</td> 3173 <td>no</td> 3174 <td>no</td> 3175 <td>0x62000108</td> 3176 <td/> 3177 </tr> 3178 <tr> 3179 <td>02</td> 3180 <td>mapped object 2</td> 3181 <td>UNSIGNED32</td> 3182 <td>rw</td> 3183 <td>no</td> 3184 <td>no</td> 3185 <td>0x62000208</td> 3186 <td/> 3187 </tr> 3188 <tr> 3189 <td>03</td> 3190 <td>mapped object 3</td> 3191 <td>UNSIGNED32</td> 3192 <td>rw</td> 3193 <td>no</td> 3194 <td>no</td> 3195 <td>0x00000000</td> 3196 <td/> 3197 </tr> 3198 <tr> 3199 <td>04</td> 3200 <td>mapped object 4</td> 3201 <td>UNSIGNED32</td> 3202 <td>rw</td> 3203 <td>no</td> 3204 <td>no</td> 3205 <td>0x00000000</td> 3206 <td/> 3207 </tr> 3208 <tr> 3209 <td>05</td> 3210 <td>mapped object 5</td> 3211 <td>UNSIGNED32</td> 3212 <td>rw</td> 3213 <td>no</td> 3214 <td>no</td> 3215 <td>0x00000000</td> 3216 <td/> 3217 </tr> 3218 <tr> 3219 <td>06</td> 3220 <td>mapped object 6</td> 3221 <td>UNSIGNED32</td> 3222 <td>rw</td> 3223 <td>no</td> 3224 <td>no</td> 3225 <td>0x00000000</td> 3226 <td/> 3227 </tr> 3228 <tr> 3229 <td>07</td> 3230 <td>mapped object 7</td> 3231 <td>UNSIGNED32</td> 3232 <td>rw</td> 3233 <td>no</td> 3234 <td>no</td> 3235 <td>0x00000000</td> 3236 <td/> 3237 </tr> 3238 <tr> 3239 <td>08</td> 3240 <td>mapped object 8</td> 3241 <td>UNSIGNED32</td> 3242 <td>rw</td> 3243 <td>no</td> 3244 <td>no</td> 3245 <td>0x00000000</td> 3246 <td/> 3247 </tr> 3248 </table> 3249 <div class="description lang_en"> 3250 <h4>en: RPDO mapping parameter</h4> 3251 <div> 3252 0x1600 - 0x17FF RPDO mapping parameter (To change mapping, 'Number of mapped objects' must be set to 0) 3253 <br/> 3254 Number of mapped objects 3255 <br/> 3256 <br/> 3257 mapped object (subindex 1...8) 3258 <br/> 3259 bit 0-7: data length in bits 3260 <br/> 3261 bit 8-15: subindex from OD 3262 <br/> 3263 bit 16-31: index from OD 3264 </div> 3265 </div> 3266 </li> 3267 <li id="IO Example_1601"> 3268 <h3>1601 - RPDO mapping parameter</h3> 3269 <table> 3270 <tr> 3271 <th>Object Type</th> 3272 <th>Sub Number</th> 3273 <th>Memory Type</th> 3274 </tr> 3275 <tr> 3276 <td>Record</td> 3277 <td>9</td> 3278 <td>ROM</td> 3279 </tr> 3280 </table> 3281 <br/> 3282 <table> 3283 <tr> 3284 <th>Subindex</th> 3285 <th>Name</th> 3286 <th>Data Type</th> 3287 <th>Access Type</th> 3288 <th>PDO Mapping</th> 3289 <th>TPDO detects COS</th> 3290 <th>Default value</th> 3291 <th>Actual value</th> 3292 </tr> 3293 <tr> 3294 <td>00</td> 3295 <td>Number of mapped objects</td> 3296 <td>UNSIGNED8</td> 3297 <td>rw</td> 3298 <td>no</td> 3299 <td>no</td> 3300 <td>0</td> 3301 <td/> 3302 </tr> 3303 <tr> 3304 <td>01</td> 3305 <td>mapped object 1</td> 3306 <td>UNSIGNED32</td> 3307 <td>rw</td> 3308 <td>no</td> 3309 <td>no</td> 3310 <td>0x00000000</td> 3311 <td/> 3312 </tr> 3313 <tr> 3314 <td>02</td> 3315 <td>mapped object 2</td> 3316 <td>UNSIGNED32</td> 3317 <td>rw</td> 3318 <td>no</td> 3319 <td>no</td> 3320 <td>0x00000000</td> 3321 <td/> 3322 </tr> 3323 <tr> 3324 <td>03</td> 3325 <td>mapped object 3</td> 3326 <td>UNSIGNED32</td> 3327 <td>rw</td> 3328 <td>no</td> 3329 <td>no</td> 3330 <td>0x00000000</td> 3331 <td/> 3332 </tr> 3333 <tr> 3334 <td>04</td> 3335 <td>mapped object 4</td> 3336 <td>UNSIGNED32</td> 3337 <td>rw</td> 3338 <td>no</td> 3339 <td>no</td> 3340 <td>0x00000000</td> 3341 <td/> 3342 </tr> 3343 <tr> 3344 <td>05</td> 3345 <td>mapped object 5</td> 3346 <td>UNSIGNED32</td> 3347 <td>rw</td> 3348 <td>no</td> 3349 <td>no</td> 3350 <td>0x00000000</td> 3351 <td/> 3352 </tr> 3353 <tr> 3354 <td>06</td> 3355 <td>mapped object 6</td> 3356 <td>UNSIGNED32</td> 3357 <td>rw</td> 3358 <td>no</td> 3359 <td>no</td> 3360 <td>0x00000000</td> 3361 <td/> 3362 </tr> 3363 <tr> 3364 <td>07</td> 3365 <td>mapped object 7</td> 3366 <td>UNSIGNED32</td> 3367 <td>rw</td> 3368 <td>no</td> 3369 <td>no</td> 3370 <td>0x00000000</td> 3371 <td/> 3372 </tr> 3373 <tr> 3374 <td>08</td> 3375 <td>mapped object 8</td> 3376 <td>UNSIGNED32</td> 3377 <td>rw</td> 3378 <td>no</td> 3379 <td>no</td> 3380 <td>0x00000000</td> 3381 <td/> 3382 </tr> 3383 </table> 3384 <div class="description lang_en"> 3385 <h4>en: RPDO mapping parameter</h4> 3386 <div>0x1600 - 0x17FF RPDO mapping parameter (see description for 0x1600)</div> 3387 </div> 3388 </li> 3389 <li id="IO Example_1602"> 3390 <h3>1602 - RPDO mapping parameter</h3> 3391 <table> 3392 <tr> 3393 <th>Object Type</th> 3394 <th>Sub Number</th> 3395 <th>Memory Type</th> 3396 </tr> 3397 <tr> 3398 <td>Record</td> 3399 <td>9</td> 3400 <td>ROM</td> 3401 </tr> 3402 </table> 3403 <br/> 3404 <table> 3405 <tr> 3406 <th>Subindex</th> 3407 <th>Name</th> 3408 <th>Data Type</th> 3409 <th>Access Type</th> 3410 <th>PDO Mapping</th> 3411 <th>TPDO detects COS</th> 3412 <th>Default value</th> 3413 <th>Actual value</th> 3414 </tr> 3415 <tr> 3416 <td>00</td> 3417 <td>Number of mapped objects</td> 3418 <td>UNSIGNED8</td> 3419 <td>rw</td> 3420 <td>no</td> 3421 <td>no</td> 3422 <td>0</td> 3423 <td/> 3424 </tr> 3425 <tr> 3426 <td>01</td> 3427 <td>mapped object 1</td> 3428 <td>UNSIGNED32</td> 3429 <td>rw</td> 3430 <td>no</td> 3431 <td>no</td> 3432 <td>0x00000000</td> 3433 <td/> 3434 </tr> 3435 <tr> 3436 <td>02</td> 3437 <td>mapped object 2</td> 3438 <td>UNSIGNED32</td> 3439 <td>rw</td> 3440 <td>no</td> 3441 <td>no</td> 3442 <td>0x00000000</td> 3443 <td/> 3444 </tr> 3445 <tr> 3446 <td>03</td> 3447 <td>mapped object 3</td> 3448 <td>UNSIGNED32</td> 3449 <td>rw</td> 3450 <td>no</td> 3451 <td>no</td> 3452 <td>0x00000000</td> 3453 <td/> 3454 </tr> 3455 <tr> 3456 <td>04</td> 3457 <td>mapped object 4</td> 3458 <td>UNSIGNED32</td> 3459 <td>rw</td> 3460 <td>no</td> 3461 <td>no</td> 3462 <td>0x00000000</td> 3463 <td/> 3464 </tr> 3465 <tr> 3466 <td>05</td> 3467 <td>mapped object 5</td> 3468 <td>UNSIGNED32</td> 3469 <td>rw</td> 3470 <td>no</td> 3471 <td>no</td> 3472 <td>0x00000000</td> 3473 <td/> 3474 </tr> 3475 <tr> 3476 <td>06</td> 3477 <td>mapped object 6</td> 3478 <td>UNSIGNED32</td> 3479 <td>rw</td> 3480 <td>no</td> 3481 <td>no</td> 3482 <td>0x00000000</td> 3483 <td/> 3484 </tr> 3485 <tr> 3486 <td>07</td> 3487 <td>mapped object 7</td> 3488 <td>UNSIGNED32</td> 3489 <td>rw</td> 3490 <td>no</td> 3491 <td>no</td> 3492 <td>0x00000000</td> 3493 <td/> 3494 </tr> 3495 <tr> 3496 <td>08</td> 3497 <td>mapped object 8</td> 3498 <td>UNSIGNED32</td> 3499 <td>rw</td> 3500 <td>no</td> 3501 <td>no</td> 3502 <td>0x00000000</td> 3503 <td/> 3504 </tr> 3505 </table> 3506 <div class="description lang_en"> 3507 <h4>en: RPDO mapping parameter</h4> 3508 <div>0x1600 - 0x17FF RPDO mapping parameter (see description for 0x1600)</div> 3509 </div> 3510 </li> 3511 <li id="IO Example_1603"> 3512 <h3>1603 - RPDO mapping parameter</h3> 3513 <table> 3514 <tr> 3515 <th>Object Type</th> 3516 <th>Sub Number</th> 3517 <th>Memory Type</th> 3518 </tr> 3519 <tr> 3520 <td>Record</td> 3521 <td>9</td> 3522 <td>ROM</td> 3523 </tr> 3524 </table> 3525 <br/> 3526 <table> 3527 <tr> 3528 <th>Subindex</th> 3529 <th>Name</th> 3530 <th>Data Type</th> 3531 <th>Access Type</th> 3532 <th>PDO Mapping</th> 3533 <th>TPDO detects COS</th> 3534 <th>Default value</th> 3535 <th>Actual value</th> 3536 </tr> 3537 <tr> 3538 <td>00</td> 3539 <td>Number of mapped objects</td> 3540 <td>UNSIGNED8</td> 3541 <td>rw</td> 3542 <td>no</td> 3543 <td>no</td> 3544 <td>0</td> 3545 <td/> 3546 </tr> 3547 <tr> 3548 <td>01</td> 3549 <td>mapped object 1</td> 3550 <td>UNSIGNED32</td> 3551 <td>rw</td> 3552 <td>no</td> 3553 <td>no</td> 3554 <td>0x00000000</td> 3555 <td/> 3556 </tr> 3557 <tr> 3558 <td>02</td> 3559 <td>mapped object 2</td> 3560 <td>UNSIGNED32</td> 3561 <td>rw</td> 3562 <td>no</td> 3563 <td>no</td> 3564 <td>0x00000000</td> 3565 <td/> 3566 </tr> 3567 <tr> 3568 <td>03</td> 3569 <td>mapped object 3</td> 3570 <td>UNSIGNED32</td> 3571 <td>rw</td> 3572 <td>no</td> 3573 <td>no</td> 3574 <td>0x00000000</td> 3575 <td/> 3576 </tr> 3577 <tr> 3578 <td>04</td> 3579 <td>mapped object 4</td> 3580 <td>UNSIGNED32</td> 3581 <td>rw</td> 3582 <td>no</td> 3583 <td>no</td> 3584 <td>0x00000000</td> 3585 <td/> 3586 </tr> 3587 <tr> 3588 <td>05</td> 3589 <td>mapped object 5</td> 3590 <td>UNSIGNED32</td> 3591 <td>rw</td> 3592 <td>no</td> 3593 <td>no</td> 3594 <td>0x00000000</td> 3595 <td/> 3596 </tr> 3597 <tr> 3598 <td>06</td> 3599 <td>mapped object 6</td> 3600 <td>UNSIGNED32</td> 3601 <td>rw</td> 3602 <td>no</td> 3603 <td>no</td> 3604 <td>0x00000000</td> 3605 <td/> 3606 </tr> 3607 <tr> 3608 <td>07</td> 3609 <td>mapped object 7</td> 3610 <td>UNSIGNED32</td> 3611 <td>rw</td> 3612 <td>no</td> 3613 <td>no</td> 3614 <td>0x00000000</td> 3615 <td/> 3616 </tr> 3617 <tr> 3618 <td>08</td> 3619 <td>mapped object 8</td> 3620 <td>UNSIGNED32</td> 3621 <td>rw</td> 3622 <td>no</td> 3623 <td>no</td> 3624 <td>0x00000000</td> 3625 <td/> 3626 </tr> 3627 </table> 3628 <div class="description lang_en"> 3629 <h4>en: RPDO mapping parameter</h4> 3630 <div>0x1600 - 0x17FF RPDO mapping parameter (see description for 0x1600)</div> 3631 </div> 3632 </li> 3633 <li id="IO Example_1800"> 3634 <h3>1800 - TPDO communication parameter</h3> 3635 <table> 3636 <tr> 3637 <th>Object Type</th> 3638 <th>Sub Number</th> 3639 <th>Memory Type</th> 3640 </tr> 3641 <tr> 3642 <td>Record</td> 3643 <td>7</td> 3644 <td>ROM</td> 3645 </tr> 3646 </table> 3647 <br/> 3648 <table> 3649 <tr> 3650 <th>Subindex</th> 3651 <th>Name</th> 3652 <th>Data Type</th> 3653 <th>Access Type</th> 3654 <th>PDO Mapping</th> 3655 <th>TPDO detects COS</th> 3656 <th>Default value</th> 3657 <th>Actual value</th> 3658 </tr> 3659 <tr> 3660 <td>00</td> 3661 <td>max sub-index</td> 3662 <td>UNSIGNED8</td> 3663 <td>ro</td> 3664 <td>no</td> 3665 <td>no</td> 3666 <td>6</td> 3667 <td/> 3668 </tr> 3669 <tr> 3670 <td>01</td> 3671 <td>COB-ID used by TPDO</td> 3672 <td>UNSIGNED32</td> 3673 <td>rw</td> 3674 <td>no</td> 3675 <td>no</td> 3676 <td>$NODEID+0x180</td> 3677 <td/> 3678 </tr> 3679 <tr> 3680 <td>02</td> 3681 <td>transmission type</td> 3682 <td>UNSIGNED8</td> 3683 <td>rw</td> 3684 <td>no</td> 3685 <td>no</td> 3686 <td>255</td> 3687 <td/> 3688 </tr> 3689 <tr> 3690 <td>03</td> 3691 <td>inhibit time</td> 3692 <td>UNSIGNED16</td> 3693 <td>rw</td> 3694 <td>no</td> 3695 <td>no</td> 3696 <td>100</td> 3697 <td/> 3698 </tr> 3699 <tr> 3700 <td>04</td> 3701 <td>compatibility entry</td> 3702 <td>UNSIGNED8</td> 3703 <td>rw</td> 3704 <td>no</td> 3705 <td>no</td> 3706 <td>0</td> 3707 <td/> 3708 </tr> 3709 <tr> 3710 <td>05</td> 3711 <td>event timer</td> 3712 <td>UNSIGNED16</td> 3713 <td>rw</td> 3714 <td>no</td> 3715 <td>no</td> 3716 <td>0</td> 3717 <td/> 3718 </tr> 3719 <tr> 3720 <td>06</td> 3721 <td>SYNC start value</td> 3722 <td>UNSIGNED8</td> 3723 <td>rw</td> 3724 <td>no</td> 3725 <td>no</td> 3726 <td>0</td> 3727 <td/> 3728 </tr> 3729 </table> 3730 <div class="description lang_en"> 3731 <h4>en: TPDO communication parameter</h4> 3732 <div> 3733 0x1800 - 0x19FF TPDO communication parameter 3734 <br/> 3735 max sub-index 3736 <br/> 3737 <br/> 3738 COB-ID 3739 <br/> 3740 bit 0-10: COB-ID for PDO, to change it bit 31 must be set 3741 <br/> 3742 bit 11-29: set to 0 for 11 bit COB-ID 3743 <br/> 3744 bit 30: 0(1) - rtr are allowed (are NOT allowed) for PDO 3745 <br/> 3746 bit 31: 0(1) - node uses (does NOT use) PDO 3747 <br/> 3748 <br/> 3749 Transmission type 3750 <br/> 3751 value = 0: transmiting is synchronous, specification in device profile 3752 <br/> 3753 value = 1-240: transmiting is synchronous after every N-th SYNC object 3754 <br/> 3755 value = 241-251: not used 3756 <br/> 3757 value = 252-253: Transmited only on reception of Remote Transmission Request 3758 <br/> 3759 value = 254: manufacturer specific 3760 <br/> 3761 value = 255: asinchronous, specification in device profile 3762 <br/> 3763 <br/> 3764 inhibit time 3765 <br/> 3766 bit 0-15: Minimum time between transmissions of the PDO in 100µs. Zero disables functionality. 3767 <br/> 3768 <br/> 3769 compatibility entry 3770 <br/> 3771 bit 0-7: Not used. 3772 <br/> 3773 <br/> 3774 event timer 3775 <br/> 3776 bit 0-15: Time between periodic transmissions of the PDO in ms. Zero disables functionality. 3777 <br/> 3778 <br/> 3779 SYNC start value 3780 <br/> 3781 value = 0: Counter of the SYNC message shall not be processed. 3782 <br/> 3783 value = 1-240: The SYNC message with the counter value equal to this value shall be regarded as the first received SYNC message. 3784 </div> 3785 </div> 3786 </li> 3787 <li id="IO Example_1801"> 3788 <h3>1801 - TPDO communication parameter</h3> 3789 <table> 3790 <tr> 3791 <th>Object Type</th> 3792 <th>Sub Number</th> 3793 <th>Memory Type</th> 3794 </tr> 3795 <tr> 3796 <td>Record</td> 3797 <td>7</td> 3798 <td>ROM</td> 3799 </tr> 3800 </table> 3801 <br/> 3802 <table> 3803 <tr> 3804 <th>Subindex</th> 3805 <th>Name</th> 3806 <th>Data Type</th> 3807 <th>Access Type</th> 3808 <th>PDO Mapping</th> 3809 <th>TPDO detects COS</th> 3810 <th>Default value</th> 3811 <th>Actual value</th> 3812 </tr> 3813 <tr> 3814 <td>00</td> 3815 <td>max sub-index</td> 3816 <td>UNSIGNED8</td> 3817 <td>ro</td> 3818 <td>no</td> 3819 <td>no</td> 3820 <td>6</td> 3821 <td/> 3822 </tr> 3823 <tr> 3824 <td>01</td> 3825 <td>COB-ID used by TPDO</td> 3826 <td>UNSIGNED32</td> 3827 <td>rw</td> 3828 <td>no</td> 3829 <td>no</td> 3830 <td>$NODEID+0x280</td> 3831 <td/> 3832 </tr> 3833 <tr> 3834 <td>02</td> 3835 <td>transmission type</td> 3836 <td>UNSIGNED8</td> 3837 <td>rw</td> 3838 <td>no</td> 3839 <td>no</td> 3840 <td>254</td> 3841 <td/> 3842 </tr> 3843 <tr> 3844 <td>03</td> 3845 <td>inhibit time</td> 3846 <td>UNSIGNED16</td> 3847 <td>rw</td> 3848 <td>no</td> 3849 <td>no</td> 3850 <td>0</td> 3851 <td/> 3852 </tr> 3853 <tr> 3854 <td>04</td> 3855 <td>compatibility entry</td> 3856 <td>UNSIGNED8</td> 3857 <td>rw</td> 3858 <td>no</td> 3859 <td>no</td> 3860 <td>0</td> 3861 <td/> 3862 </tr> 3863 <tr> 3864 <td>05</td> 3865 <td>event timer</td> 3866 <td>UNSIGNED16</td> 3867 <td>rw</td> 3868 <td>no</td> 3869 <td>no</td> 3870 <td>0</td> 3871 <td/> 3872 </tr> 3873 <tr> 3874 <td>06</td> 3875 <td>SYNC start value</td> 3876 <td>UNSIGNED8</td> 3877 <td>rw</td> 3878 <td>no</td> 3879 <td>no</td> 3880 <td>0</td> 3881 <td/> 3882 </tr> 3883 </table> 3884 <div class="description lang_en"> 3885 <h4>en: TPDO communication parameter</h4> 3886 <div>0x1800 - 0x19FF TPDO communication parameter (see description for 0x1800)</div> 3887 </div> 3888 </li> 3889 <li id="IO Example_1802"> 3890 <h3>1802 - TPDO communication parameter</h3> 3891 <table> 3892 <tr> 3893 <th>Object Type</th> 3894 <th>Sub Number</th> 3895 <th>Memory Type</th> 3896 </tr> 3897 <tr> 3898 <td>Record</td> 3899 <td>7</td> 3900 <td>ROM</td> 3901 </tr> 3902 </table> 3903 <br/> 3904 <table> 3905 <tr> 3906 <th>Subindex</th> 3907 <th>Name</th> 3908 <th>Data Type</th> 3909 <th>Access Type</th> 3910 <th>PDO Mapping</th> 3911 <th>TPDO detects COS</th> 3912 <th>Default value</th> 3913 <th>Actual value</th> 3914 </tr> 3915 <tr> 3916 <td>00</td> 3917 <td>max sub-index</td> 3918 <td>UNSIGNED8</td> 3919 <td>ro</td> 3920 <td>no</td> 3921 <td>no</td> 3922 <td>6</td> 3923 <td/> 3924 </tr> 3925 <tr> 3926 <td>01</td> 3927 <td>COB-ID used by TPDO</td> 3928 <td>UNSIGNED32</td> 3929 <td>rw</td> 3930 <td>no</td> 3931 <td>no</td> 3932 <td>$NODEID+0x380</td> 3933 <td/> 3934 </tr> 3935 <tr> 3936 <td>02</td> 3937 <td>transmission type</td> 3938 <td>UNSIGNED8</td> 3939 <td>rw</td> 3940 <td>no</td> 3941 <td>no</td> 3942 <td>254</td> 3943 <td/> 3944 </tr> 3945 <tr> 3946 <td>03</td> 3947 <td>inhibit time</td> 3948 <td>UNSIGNED16</td> 3949 <td>rw</td> 3950 <td>no</td> 3951 <td>no</td> 3952 <td>0</td> 3953 <td/> 3954 </tr> 3955 <tr> 3956 <td>04</td> 3957 <td>compatibility entry</td> 3958 <td>UNSIGNED8</td> 3959 <td>rw</td> 3960 <td>no</td> 3961 <td>no</td> 3962 <td>0</td> 3963 <td/> 3964 </tr> 3965 <tr> 3966 <td>05</td> 3967 <td>event timer</td> 3968 <td>UNSIGNED16</td> 3969 <td>rw</td> 3970 <td>no</td> 3971 <td>no</td> 3972 <td>0</td> 3973 <td/> 3974 </tr> 3975 <tr> 3976 <td>06</td> 3977 <td>SYNC start value</td> 3978 <td>UNSIGNED8</td> 3979 <td>rw</td> 3980 <td>no</td> 3981 <td>no</td> 3982 <td>0</td> 3983 <td/> 3984 </tr> 3985 </table> 3986 <div class="description lang_en"> 3987 <h4>en: TPDO communication parameter</h4> 3988 <div>0x1800 - 0x19FF TPDO communication parameter (see description for 0x1800)</div> 3989 </div> 3990 </li> 3991 <li id="IO Example_1803"> 3992 <h3>1803 - TPDO communication parameter</h3> 3993 <table> 3994 <tr> 3995 <th>Object Type</th> 3996 <th>Sub Number</th> 3997 <th>Memory Type</th> 3998 </tr> 3999 <tr> 4000 <td>Record</td> 4001 <td>7</td> 4002 <td>ROM</td> 4003 </tr> 4004 </table> 4005 <br/> 4006 <table> 4007 <tr> 4008 <th>Subindex</th> 4009 <th>Name</th> 4010 <th>Data Type</th> 4011 <th>Access Type</th> 4012 <th>PDO Mapping</th> 4013 <th>TPDO detects COS</th> 4014 <th>Default value</th> 4015 <th>Actual value</th> 4016 </tr> 4017 <tr> 4018 <td>00</td> 4019 <td>max sub-index</td> 4020 <td>UNSIGNED8</td> 4021 <td>ro</td> 4022 <td>no</td> 4023 <td>no</td> 4024 <td>6</td> 4025 <td/> 4026 </tr> 4027 <tr> 4028 <td>01</td> 4029 <td>COB-ID used by TPDO</td> 4030 <td>UNSIGNED32</td> 4031 <td>rw</td> 4032 <td>no</td> 4033 <td>no</td> 4034 <td>$NODEID+0x480</td> 4035 <td/> 4036 </tr> 4037 <tr> 4038 <td>02</td> 4039 <td>transmission type</td> 4040 <td>UNSIGNED8</td> 4041 <td>rw</td> 4042 <td>no</td> 4043 <td>no</td> 4044 <td>254</td> 4045 <td/> 4046 </tr> 4047 <tr> 4048 <td>03</td> 4049 <td>inhibit time</td> 4050 <td>UNSIGNED16</td> 4051 <td>rw</td> 4052 <td>no</td> 4053 <td>no</td> 4054 <td>0</td> 4055 <td/> 4056 </tr> 4057 <tr> 4058 <td>04</td> 4059 <td>compatibility entry</td> 4060 <td>UNSIGNED8</td> 4061 <td>rw</td> 4062 <td>no</td> 4063 <td>no</td> 4064 <td>0</td> 4065 <td/> 4066 </tr> 4067 <tr> 4068 <td>05</td> 4069 <td>event timer</td> 4070 <td>UNSIGNED16</td> 4071 <td>rw</td> 4072 <td>no</td> 4073 <td>no</td> 4074 <td>0</td> 4075 <td/> 4076 </tr> 4077 <tr> 4078 <td>06</td> 4079 <td>SYNC start value</td> 4080 <td>UNSIGNED8</td> 4081 <td>rw</td> 4082 <td>no</td> 4083 <td>no</td> 4084 <td>0</td> 4085 <td/> 4086 </tr> 4087 </table> 4088 <div class="description lang_en"> 4089 <h4>en: TPDO communication parameter</h4> 4090 <div>0x1800 - 0x19FF TPDO communication parameter (see description for 0x1800)</div> 4091 </div> 4092 </li> 4093 <li id="IO Example_1A00"> 4094 <h3>1A00 - TPDO mapping parameter</h3> 4095 <table> 4096 <tr> 4097 <th>Object Type</th> 4098 <th>Sub Number</th> 4099 <th>Memory Type</th> 4100 </tr> 4101 <tr> 4102 <td>Record</td> 4103 <td>9</td> 4104 <td>ROM</td> 4105 </tr> 4106 </table> 4107 <br/> 4108 <table> 4109 <tr> 4110 <th>Subindex</th> 4111 <th>Name</th> 4112 <th>Data Type</th> 4113 <th>Access Type</th> 4114 <th>PDO Mapping</th> 4115 <th>TPDO detects COS</th> 4116 <th>Default value</th> 4117 <th>Actual value</th> 4118 </tr> 4119 <tr> 4120 <td>00</td> 4121 <td>Number of mapped objects</td> 4122 <td>UNSIGNED8</td> 4123 <td>rw</td> 4124 <td>no</td> 4125 <td>no</td> 4126 <td>2</td> 4127 <td/> 4128 </tr> 4129 <tr> 4130 <td>01</td> 4131 <td>mapped object 1</td> 4132 <td>UNSIGNED32</td> 4133 <td>rw</td> 4134 <td>no</td> 4135 <td>no</td> 4136 <td>0x60000108</td> 4137 <td/> 4138 </tr> 4139 <tr> 4140 <td>02</td> 4141 <td>mapped object 2</td> 4142 <td>UNSIGNED32</td> 4143 <td>rw</td> 4144 <td>no</td> 4145 <td>no</td> 4146 <td>0x60000208</td> 4147 <td/> 4148 </tr> 4149 <tr> 4150 <td>03</td> 4151 <td>mapped object 3</td> 4152 <td>UNSIGNED32</td> 4153 <td>rw</td> 4154 <td>no</td> 4155 <td>no</td> 4156 <td>0x00000000</td> 4157 <td/> 4158 </tr> 4159 <tr> 4160 <td>04</td> 4161 <td>mapped object 4</td> 4162 <td>UNSIGNED32</td> 4163 <td>rw</td> 4164 <td>no</td> 4165 <td>no</td> 4166 <td>0x00000000</td> 4167 <td/> 4168 </tr> 4169 <tr> 4170 <td>05</td> 4171 <td>mapped object 5</td> 4172 <td>UNSIGNED32</td> 4173 <td>rw</td> 4174 <td>no</td> 4175 <td>no</td> 4176 <td>0x00000000</td> 4177 <td/> 4178 </tr> 4179 <tr> 4180 <td>06</td> 4181 <td>mapped object 6</td> 4182 <td>UNSIGNED32</td> 4183 <td>rw</td> 4184 <td>no</td> 4185 <td>no</td> 4186 <td>0x00000000</td> 4187 <td/> 4188 </tr> 4189 <tr> 4190 <td>07</td> 4191 <td>mapped object 7</td> 4192 <td>UNSIGNED32</td> 4193 <td>rw</td> 4194 <td>no</td> 4195 <td>no</td> 4196 <td>0x00000000</td> 4197 <td/> 4198 </tr> 4199 <tr> 4200 <td>08</td> 4201 <td>mapped object 8</td> 4202 <td>UNSIGNED32</td> 4203 <td>rw</td> 4204 <td>no</td> 4205 <td>no</td> 4206 <td>0x00000000</td> 4207 <td/> 4208 </tr> 4209 </table> 4210 <div class="description lang_en"> 4211 <h4>en: TPDO mapping parameter</h4> 4212 <div> 4213 0x1A00 - 0x1BFF TPDO mapping parameter. (To change mapping, 'Number of mapped objects' must be set to 0). 4214 <br/> 4215 Number of mapped objects 4216 <br/> 4217 <br/> 4218 mapped object (subindex 1...8) 4219 <br/> 4220 bit 0-7: data length in bits 4221 <br/> 4222 bit 8-15: subindex from OD 4223 <br/> 4224 bit 16-31: index from OD 4225 </div> 4226 </div> 4227 </li> 4228 <li id="IO Example_1A01"> 4229 <h3>1A01 - TPDO mapping parameter</h3> 4230 <table> 4231 <tr> 4232 <th>Object Type</th> 4233 <th>Sub Number</th> 4234 <th>Memory Type</th> 4235 </tr> 4236 <tr> 4237 <td>Record</td> 4238 <td>9</td> 4239 <td>ROM</td> 4240 </tr> 4241 </table> 4242 <br/> 4243 <table> 4244 <tr> 4245 <th>Subindex</th> 4246 <th>Name</th> 4247 <th>Data Type</th> 4248 <th>Access Type</th> 4249 <th>PDO Mapping</th> 4250 <th>TPDO detects COS</th> 4251 <th>Default value</th> 4252 <th>Actual value</th> 4253 </tr> 4254 <tr> 4255 <td>00</td> 4256 <td>Number of mapped objects</td> 4257 <td>UNSIGNED8</td> 4258 <td>rw</td> 4259 <td>no</td> 4260 <td>no</td> 4261 <td>0</td> 4262 <td/> 4263 </tr> 4264 <tr> 4265 <td>01</td> 4266 <td>mapped object 1</td> 4267 <td>UNSIGNED32</td> 4268 <td>rw</td> 4269 <td>no</td> 4270 <td>no</td> 4271 <td>0x00000000</td> 4272 <td/> 4273 </tr> 4274 <tr> 4275 <td>02</td> 4276 <td>mapped object 2</td> 4277 <td>UNSIGNED32</td> 4278 <td>rw</td> 4279 <td>no</td> 4280 <td>no</td> 4281 <td>0x00000000</td> 4282 <td/> 4283 </tr> 4284 <tr> 4285 <td>03</td> 4286 <td>mapped object 3</td> 4287 <td>UNSIGNED32</td> 4288 <td>rw</td> 4289 <td>no</td> 4290 <td>no</td> 4291 <td>0x00000000</td> 4292 <td/> 4293 </tr> 4294 <tr> 4295 <td>04</td> 4296 <td>mapped object 4</td> 4297 <td>UNSIGNED32</td> 4298 <td>rw</td> 4299 <td>no</td> 4300 <td>no</td> 4301 <td>0x00000000</td> 4302 <td/> 4303 </tr> 4304 <tr> 4305 <td>05</td> 4306 <td>mapped object 5</td> 4307 <td>UNSIGNED32</td> 4308 <td>rw</td> 4309 <td>no</td> 4310 <td>no</td> 4311 <td>0x00000000</td> 4312 <td/> 4313 </tr> 4314 <tr> 4315 <td>06</td> 4316 <td>mapped object 6</td> 4317 <td>UNSIGNED32</td> 4318 <td>rw</td> 4319 <td>no</td> 4320 <td>no</td> 4321 <td>0x00000000</td> 4322 <td/> 4323 </tr> 4324 <tr> 4325 <td>07</td> 4326 <td>mapped object 7</td> 4327 <td>UNSIGNED32</td> 4328 <td>rw</td> 4329 <td>no</td> 4330 <td>no</td> 4331 <td>0x00000000</td> 4332 <td/> 4333 </tr> 4334 <tr> 4335 <td>08</td> 4336 <td>mapped object 8</td> 4337 <td>UNSIGNED32</td> 4338 <td>rw</td> 4339 <td>no</td> 4340 <td>no</td> 4341 <td>0x00000000</td> 4342 <td/> 4343 </tr> 4344 </table> 4345 <div class="description lang_en"> 4346 <h4>en: TPDO mapping parameter</h4> 4347 <div>0x1A00 - 0x1BFF TPDO mapping parameter (see description for 0x1A00)</div> 4348 </div> 4349 </li> 4350 <li id="IO Example_1A02"> 4351 <h3>1A02 - TPDO mapping parameter</h3> 4352 <table> 4353 <tr> 4354 <th>Object Type</th> 4355 <th>Sub Number</th> 4356 <th>Memory Type</th> 4357 </tr> 4358 <tr> 4359 <td>Record</td> 4360 <td>9</td> 4361 <td>ROM</td> 4362 </tr> 4363 </table> 4364 <br/> 4365 <table> 4366 <tr> 4367 <th>Subindex</th> 4368 <th>Name</th> 4369 <th>Data Type</th> 4370 <th>Access Type</th> 4371 <th>PDO Mapping</th> 4372 <th>TPDO detects COS</th> 4373 <th>Default value</th> 4374 <th>Actual value</th> 4375 </tr> 4376 <tr> 4377 <td>00</td> 4378 <td>Number of mapped objects</td> 4379 <td>UNSIGNED8</td> 4380 <td>rw</td> 4381 <td>no</td> 4382 <td>no</td> 4383 <td>0</td> 4384 <td/> 4385 </tr> 4386 <tr> 4387 <td>01</td> 4388 <td>mapped object 1</td> 4389 <td>UNSIGNED32</td> 4390 <td>rw</td> 4391 <td>no</td> 4392 <td>no</td> 4393 <td>0x00000000</td> 4394 <td/> 4395 </tr> 4396 <tr> 4397 <td>02</td> 4398 <td>mapped object 2</td> 4399 <td>UNSIGNED32</td> 4400 <td>rw</td> 4401 <td>no</td> 4402 <td>no</td> 4403 <td>0x00000000</td> 4404 <td/> 4405 </tr> 4406 <tr> 4407 <td>03</td> 4408 <td>mapped object 3</td> 4409 <td>UNSIGNED32</td> 4410 <td>rw</td> 4411 <td>no</td> 4412 <td>no</td> 4413 <td>0x00000000</td> 4414 <td/> 4415 </tr> 4416 <tr> 4417 <td>04</td> 4418 <td>mapped object 4</td> 4419 <td>UNSIGNED32</td> 4420 <td>rw</td> 4421 <td>no</td> 4422 <td>no</td> 4423 <td>0x00000000</td> 4424 <td/> 4425 </tr> 4426 <tr> 4427 <td>05</td> 4428 <td>mapped object 5</td> 4429 <td>UNSIGNED32</td> 4430 <td>rw</td> 4431 <td>no</td> 4432 <td>no</td> 4433 <td>0x00000000</td> 4434 <td/> 4435 </tr> 4436 <tr> 4437 <td>06</td> 4438 <td>mapped object 6</td> 4439 <td>UNSIGNED32</td> 4440 <td>rw</td> 4441 <td>no</td> 4442 <td>no</td> 4443 <td>0x00000000</td> 4444 <td/> 4445 </tr> 4446 <tr> 4447 <td>07</td> 4448 <td>mapped object 7</td> 4449 <td>UNSIGNED32</td> 4450 <td>rw</td> 4451 <td>no</td> 4452 <td>no</td> 4453 <td>0x00000000</td> 4454 <td/> 4455 </tr> 4456 <tr> 4457 <td>08</td> 4458 <td>mapped object 8</td> 4459 <td>UNSIGNED32</td> 4460 <td>rw</td> 4461 <td>no</td> 4462 <td>no</td> 4463 <td>0x00000000</td> 4464 <td/> 4465 </tr> 4466 </table> 4467 <div class="description lang_en"> 4468 <h4>en: TPDO mapping parameter</h4> 4469 <div>0x1A00 - 0x1BFF TPDO mapping parameter (see description for 0x1A00)</div> 4470 </div> 4471 </li> 4472 <li id="IO Example_1A03"> 4473 <h3>1A03 - TPDO mapping parameter</h3> 4474 <table> 4475 <tr> 4476 <th>Object Type</th> 4477 <th>Sub Number</th> 4478 <th>Memory Type</th> 4479 </tr> 4480 <tr> 4481 <td>Record</td> 4482 <td>9</td> 4483 <td>ROM</td> 4484 </tr> 4485 </table> 4486 <br/> 4487 <table> 4488 <tr> 4489 <th>Subindex</th> 4490 <th>Name</th> 4491 <th>Data Type</th> 4492 <th>Access Type</th> 4493 <th>PDO Mapping</th> 4494 <th>TPDO detects COS</th> 4495 <th>Default value</th> 4496 <th>Actual value</th> 4497 </tr> 4498 <tr> 4499 <td>00</td> 4500 <td>Number of mapped objects</td> 4501 <td>UNSIGNED8</td> 4502 <td>rw</td> 4503 <td>no</td> 4504 <td>no</td> 4505 <td>0</td> 4506 <td/> 4507 </tr> 4508 <tr> 4509 <td>01</td> 4510 <td>mapped object 1</td> 4511 <td>UNSIGNED32</td> 4512 <td>rw</td> 4513 <td>no</td> 4514 <td>no</td> 4515 <td>0x00000000</td> 4516 <td/> 4517 </tr> 4518 <tr> 4519 <td>02</td> 4520 <td>mapped object 2</td> 4521 <td>UNSIGNED32</td> 4522 <td>rw</td> 4523 <td>no</td> 4524 <td>no</td> 4525 <td>0x00000000</td> 4526 <td/> 4527 </tr> 4528 <tr> 4529 <td>03</td> 4530 <td>mapped object 3</td> 4531 <td>UNSIGNED32</td> 4532 <td>rw</td> 4533 <td>no</td> 4534 <td>no</td> 4535 <td>0x00000000</td> 4536 <td/> 4537 </tr> 4538 <tr> 4539 <td>04</td> 4540 <td>mapped object 4</td> 4541 <td>UNSIGNED32</td> 4542 <td>rw</td> 4543 <td>no</td> 4544 <td>no</td> 4545 <td>0x00000000</td> 4546 <td/> 4547 </tr> 4548 <tr> 4549 <td>05</td> 4550 <td>mapped object 5</td> 4551 <td>UNSIGNED32</td> 4552 <td>rw</td> 4553 <td>no</td> 4554 <td>no</td> 4555 <td>0x00000000</td> 4556 <td/> 4557 </tr> 4558 <tr> 4559 <td>06</td> 4560 <td>mapped object 6</td> 4561 <td>UNSIGNED32</td> 4562 <td>rw</td> 4563 <td>no</td> 4564 <td>no</td> 4565 <td>0x00000000</td> 4566 <td/> 4567 </tr> 4568 <tr> 4569 <td>07</td> 4570 <td>mapped object 7</td> 4571 <td>UNSIGNED32</td> 4572 <td>rw</td> 4573 <td>no</td> 4574 <td>no</td> 4575 <td>0x00000000</td> 4576 <td/> 4577 </tr> 4578 <tr> 4579 <td>08</td> 4580 <td>mapped object 8</td> 4581 <td>UNSIGNED32</td> 4582 <td>rw</td> 4583 <td>no</td> 4584 <td>no</td> 4585 <td>0x00000000</td> 4586 <td/> 4587 </tr> 4588 </table> 4589 <div class="description lang_en"> 4590 <h4>en: TPDO mapping parameter</h4> 4591 <div>0x1A00 - 0x1BFF TPDO mapping parameter (see description for 0x1A00)</div> 4592 </div> 4593 </li> 4594 <li id="IO Example_1F80"> 4595 <h3>1F80 - NMT startup</h3> 4596 <table> 4597 <tr> 4598 <th>Object Type</th> 4599 <th>Memory Type</th> 4600 <th>Data Type</th> 4601 <th>Access Type</th> 4602 <th>PDO Mapping</th> 4603 <th>TPDO detects COS</th> 4604 <th>Default value</th> 4605 <th>Actual value</th> 4606 </tr> 4607 <tr> 4608 <td>Var</td> 4609 <td>ROM</td> 4610 <td>UNSIGNED32</td> 4611 <td>rw</td> 4612 <td>no</td> 4613 <td>no</td> 4614 <td>0x00000000</td> 4615 <td/> 4616 </tr> 4617 </table> 4618 <div class="description lang_en"> 4619 <h4>en: NMT Startup</h4> 4620 <div> 4621 Only bit 2 is implemented. 4622 <br/> 4623 <br/> 4624 bit 0: 0(1) - device is not (is) NMT master 4625 <br/> 4626 bit 1: 0(1) - if bit3=0, start explicitly assigned (all) nodes 4627 <br/> 4628 bit 2: 0(1) - automaticaly enter (DO NOT automaticaly enter) the operational state on bootup 4629 <br/> 4630 bit 3: 0(1) - NMT master may (may not) start nodes automatically 4631 <br/> 4632 bit 4: 0(1) - if monitored node fails heartbeat handle that (all) node(s) 4633 <br/> 4634 bit 5: 0(1) - flying master process not (yes) supported 4635 <br/> 4636 bit 6: 0(1) - use bit 4 (ignore bit 4, stop all nodes) 4637 <br/> 4638 bit 7-31: reserved, set to 0 4639 </div> 4640 </div> 4641 </li> 4642 <li id="IO Example_2100"> 4643 <h3>2100 - Error status bits</h3> 4644 <table> 4645 <tr> 4646 <th>Object Type</th> 4647 <th>Memory Type</th> 4648 <th>Data Type</th> 4649 <th>Access Type</th> 4650 <th>PDO Mapping</th> 4651 <th>TPDO detects COS</th> 4652 <th>Default value</th> 4653 <th>Actual value</th> 4654 </tr> 4655 <tr> 4656 <td>Var</td> 4657 <td>RAM</td> 4658 <td>OCTET_STRING</td> 4659 <td>ro</td> 4660 <td>optional</td> 4661 <td>no</td> 4662 <td>00 00 00 00 00 00 00 00 00 00</td> 4663 <td/> 4664 </tr> 4665 </table> 4666 <div class="description lang_en"> 4667 <h4>en: Error Status Bits</h4> 4668 <div> 4669 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. 4670 <br/> 4671 <br/> 4672 Default error status bits are: 4673 <br/> 4674 <br/> 4675 Communication or protocol errors from driver (informative): 4676 <br/> 4677 00 - ERROR_NO_ERROR - Error Reset or No Error. 4678 <br/> 4679 01 - ERROR_CAN_BUS_WARNING - CAN bus warning. 4680 <br/> 4681 02 - ERROR_RXMSG_WRONG_LENGTH - Wrong data length of received CAN message. 4682 <br/> 4683 03 - ERROR_RXMSG_OVERFLOW - Previous received CAN message wasn't processed yet. 4684 <br/> 4685 04 - ERROR_RPDO_WRONG_LENGTH - Wrong data length of received PDO. 4686 <br/> 4687 05 - ERROR_RPDO_OVERFLOW - Previous received PDO wasn't processed yet. 4688 <br/> 4689 06 - ERROR_CAN_RX_BUS_PASSIVE - CAN receive bus is passive. 4690 <br/> 4691 07 - ERROR_CAN_TX_BUS_PASSIVE - CAN transmit bus is passive. 4692 <br/> 4693 <br/> 4694 Communication or protocol errors from driver (critical): 4695 <br/> 4696 08 - ERROR_08_reserved - (reserved) 4697 <br/> 4698 09 - ERROR_09_reserved - (reserved) 4699 <br/> 4700 0A - ERROR_CAN_TX_BUS_OFF - CAN transmit bus is off. 4701 <br/> 4702 0B - ERROR_CAN_RXB_OVERFLOW - CAN module receive buffer has overflowed. 4703 <br/> 4704 0C - ERROR_CAN_TX_OVERFLOW - CAN transmit buffer has overflowed. 4705 <br/> 4706 0D - ERROR_TPDO_OUTSIDE_WINDOW - TPDO is outside SYNC window. 4707 <br/> 4708 0E - ERROR_CAN_CONFIGURATION_FAILED - Configuration of CAN module CAN failed (Rx or Tx). 4709 <br/> 4710 0F - ERROR_0F_reserved - (reserved) 4711 <br/> 4712 <br/> 4713 Communication or protocol errors (informative): 4714 <br/> 4715 10 - ERROR_NMT_WRONG_COMMAND - Wrong NMT command received. 4716 <br/> 4717 11 - ERROR_SYNC_EARLY - SYNC message was too early. 4718 <br/> 4719 12 - ERROR_12_reserved - (reserved) 4720 <br/> 4721 13 - ERROR_13_reserved - (reserved) 4722 <br/> 4723 14 - ERROR_14_reserved - (reserved) 4724 <br/> 4725 15 - ERROR_15_reserved - (reserved) 4726 <br/> 4727 16 - ERROR_16_reserved - (reserved) 4728 <br/> 4729 17 - ERROR_17_reserved - (reserved) 4730 <br/> 4731 <br/> 4732 Communication or protocol errors (critical): 4733 <br/> 4734 18 - ERROR_SYNC_TIME_OUT - SYNC message timeout. 4735 <br/> 4736 19 - ERROR_SYNC_LENGTH - Unexpected SYNC data length 4737 <br/> 4738 1A - ERROR_PDO_WRONG_MAPPING - Error with PDO mapping. 4739 <br/> 4740 1B - ERROR_HEARTBEAT_CONSUMER - Heartbeat consumer timeout. 4741 <br/> 4742 1C - ERROR_HEARTBEAT_CONSUMER_REMOTE_RESET - Heartbeat consumer detected remote node reset. 4743 <br/> 4744 1D - ERROR_1D_reserved - (reserved) 4745 <br/> 4746 1E - ERROR_1E_reserved - (reserved) 4747 <br/> 4748 1F - ERROR_1F_reserved - (reserved) 4749 <br/> 4750 <br/> 4751 Generic errors (informative): 4752 <br/> 4753 20 - ERROR_20_reserved - (reserved) 4754 <br/> 4755 21 - ERROR_21_reserved - (reserved) 4756 <br/> 4757 22 - ERROR_22_reserved - (reserved) 4758 <br/> 4759 23 - ERROR_23_reserved - (reserved) 4760 <br/> 4761 24 - ERROR_24_reserved - (reserved) 4762 <br/> 4763 25 - ERROR_25_reserved - (reserved) 4764 <br/> 4765 26 - ERROR_26_reserved - (reserved) 4766 <br/> 4767 27 - ERROR_27_reserved - (reserved) 4768 <br/> 4769 <br/> 4770 Generic errors (critical): 4771 <br/> 4772 28 - ERROR_WRONG_ERROR_REPORT - Wrong parameters to <CO_errorReport()> function. 4773 <br/> 4774 29 - ERROR_ISR_TIMER_OVERFLOW - Timer task has overflowed. 4775 <br/> 4776 2A - ERROR_MEMORY_ALLOCATION_ERROR - Unable to allocate memory for objects. 4777 <br/> 4778 2B - ERROR_GENERIC_ERROR - Generic error, test usage. 4779 <br/> 4780 2C - ERROR_MAIN_TIMER_OVERFLOW - Mainline function exceeded maximum execution time. 4781 <br/> 4782 2D - ERROR_INTERNAL_STATE_APPL - Error in application software internal state. 4783 <br/> 4784 2E - ERROR_2E_reserved - (reserved) 4785 <br/> 4786 2F - ERROR_2F_reserved - (reserved) 4787 <br/> 4788 <br/> 4789 Manufacturer specific errors: 4790 <br/> 4791 Manufacturer 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). 4792 </div> 4793 </div> 4794 </li> 4795 <li id="IO Example_2101"> 4796 <h3>2101 - CAN node ID</h3> 4797 <table> 4798 <tr> 4799 <th>Object Type</th> 4800 <th>Memory Type</th> 4801 <th>Data Type</th> 4802 <th>Access Type</th> 4803 <th>PDO Mapping</th> 4804 <th>TPDO detects COS</th> 4805 <th>Default value</th> 4806 <th>Actual value</th> 4807 </tr> 4808 <tr> 4809 <td>Var</td> 4810 <td>ROM</td> 4811 <td>UNSIGNED8</td> 4812 <td>rw</td> 4813 <td>no</td> 4814 <td>no</td> 4815 <td>0x30</td> 4816 <td/> 4817 </tr> 4818 </table> 4819 <div class="description lang_en"> 4820 <h4>en: CAN Node ID</h4> 4821 <div> 4822 CAN Node ID is CANopenNode specific variable. It sets node-ID for device on CANopen network. Node-ID can be set on other ways too, for example with DIP switches. More advanced solution is use of LSS. 4823 <br/> 4824 <br/> 4825 Valid values are from 1 to 127: 4826 </div> 4827 </div> 4828 </li> 4829 <li id="IO Example_2102"> 4830 <h3>2102 - CAN bit rate</h3> 4831 <table> 4832 <tr> 4833 <th>Object Type</th> 4834 <th>Memory Type</th> 4835 <th>Data Type</th> 4836 <th>Access Type</th> 4837 <th>PDO Mapping</th> 4838 <th>TPDO detects COS</th> 4839 <th>Default value</th> 4840 <th>Actual value</th> 4841 </tr> 4842 <tr> 4843 <td>Var</td> 4844 <td>ROM</td> 4845 <td>UNSIGNED16</td> 4846 <td>rw</td> 4847 <td>no</td> 4848 <td>no</td> 4849 <td>250</td> 4850 <td/> 4851 </tr> 4852 </table> 4853 <div class="description lang_en"> 4854 <h4>en: CAN Bit-Rate</h4> 4855 <div> 4856 CAN Bit-Rate is CANopenNode specific variable. It sets CAN Bit-Rate for device on CANopen network. 4857 <br/> 4858 <br/> 4859 Valid values are in [kbps]: 4860 <br/> 4861 10, 20, 50, 125, 250, 500, 800, 1000 4862 </div> 4863 </div> 4864 </li> 4865 <li id="IO Example_2103"> 4866 <h3>2103 - SYNC counter</h3> 4867 <table> 4868 <tr> 4869 <th>Object Type</th> 4870 <th>Memory Type</th> 4871 <th>Data Type</th> 4872 <th>Access Type</th> 4873 <th>PDO Mapping</th> 4874 <th>TPDO detects COS</th> 4875 <th>Default value</th> 4876 <th>Actual value</th> 4877 </tr> 4878 <tr> 4879 <td>Var</td> 4880 <td>RAM</td> 4881 <td>UNSIGNED16</td> 4882 <td>rw</td> 4883 <td>no</td> 4884 <td>no</td> 4885 <td>0</td> 4886 <td/> 4887 </tr> 4888 </table> 4889 <div class="description lang_en"> 4890 <h4>en: SYNC Counter</h4> 4891 <div>SYNC Counter is incremented each time, SYNC message is received or transmitted.</div> 4892 </div> 4893 </li> 4894 <li id="IO Example_2104"> 4895 <h3>2104 - SYNC time</h3> 4896 <table> 4897 <tr> 4898 <th>Object Type</th> 4899 <th>Memory Type</th> 4900 <th>Data Type</th> 4901 <th>Access Type</th> 4902 <th>PDO Mapping</th> 4903 <th>TPDO detects COS</th> 4904 <th>Default value</th> 4905 <th>Actual value</th> 4906 </tr> 4907 <tr> 4908 <td>Var</td> 4909 <td>RAM</td> 4910 <td>UNSIGNED16</td> 4911 <td>ro</td> 4912 <td>no</td> 4913 <td>no</td> 4914 <td>0</td> 4915 <td/> 4916 </tr> 4917 </table> 4918 <div class="description lang_en"> 4919 <h4>en: SYNC Time</h4> 4920 <div>SYNC Time is incremented each timer period and reset to zero, each time SYNC is received or transmitted.</div> 4921 </div> 4922 </li> 4923 <li id="IO Example_2106"> 4924 <h3>2106 - Power-on counter</h3> 4925 <table> 4926 <tr> 4927 <th>Object Type</th> 4928 <th>Memory Type</th> 4929 <th>Data Type</th> 4930 <th>Access Type</th> 4931 <th>PDO Mapping</th> 4932 <th>TPDO detects COS</th> 4933 <th>Default value</th> 4934 <th>Actual value</th> 4935 </tr> 4936 <tr> 4937 <td>Var</td> 4938 <td>EEPROM</td> 4939 <td>UNSIGNED32</td> 4940 <td>ro</td> 4941 <td>no</td> 4942 <td>no</td> 4943 <td>0</td> 4944 <td/> 4945 </tr> 4946 </table> 4947 <div class="description lang_en"> 4948 <h4>en: Power on Counter</h4> 4949 <div>Power on Counter counts total microcontroller resets in it's lifetime. Variable is an example of EEPROM usage.</div> 4950 </div> 4951 </li> 4952 <li id="IO Example_2107"> 4953 <h3>2107 - Performance</h3> 4954 <table> 4955 <tr> 4956 <th>Object Type</th> 4957 <th>Sub Number</th> 4958 <th>Memory Type</th> 4959 <th>Data Type</th> 4960 <th>Access Type</th> 4961 <th>PDO Mapping</th> 4962 <th>TPDO detects COS</th> 4963 </tr> 4964 <tr> 4965 <td>Array</td> 4966 <td>6</td> 4967 <td>RAM</td> 4968 <td>UNSIGNED16</td> 4969 <td>rw</td> 4970 <td>optional</td> 4971 <td>no</td> 4972 </tr> 4973 </table> 4974 <br/> 4975 <table> 4976 <tr> 4977 <th>Subindex</th> 4978 <th>Name</th> 4979 <th>Default value</th> 4980 <th>Actual value</th> 4981 </tr> 4982 <tr> 4983 <td>00</td> 4984 <td>max sub-index</td> 4985 <td>5</td> 4986 <td/> 4987 </tr> 4988 <tr> 4989 <td>01</td> 4990 <td>cycles per second</td> 4991 <td>1000</td> 4992 <td/> 4993 </tr> 4994 <tr> 4995 <td>02</td> 4996 <td>timer cycle time</td> 4997 <td>0</td> 4998 <td/> 4999 </tr> 5000 <tr> 5001 <td>03</td> 5002 <td>timer cycle max time</td> 5003 <td>0</td> 5004 <td/> 5005 </tr> 5006 <tr> 5007 <td>04</td> 5008 <td>main cycle time</td> 5009 <td>0</td> 5010 <td/> 5011 </tr> 5012 <tr> 5013 <td>05</td> 5014 <td>main cycle max time</td> 5015 <td>0</td> 5016 <td/> 5017 </tr> 5018 </table> 5019 <div class="description lang_en"> 5020 <h4>en: Performance</h4> 5021 <div> 5022 Internal performance of the microcontroller. 5023 <br/> 5024 <br/> 5025 cycles per second - cycle frequency of internal timer. 5026 <br/> 5027 timer cycle time - current timer cycle time in percent of timer period. 5028 <br/> 5029 timer cycle max time - maximum timer cycle time in percent of timer period. 5030 <br/> 5031 main cycle time - current mainline function cycle time in percent of timer period. 5032 <br/> 5033 main cycle max time - maximum mainline function cycle time in percent of timer period. 5034 </div> 5035 </div> 5036 </li> 5037 <li id="IO Example_2108"> 5038 <h3>2108 - Temperature</h3> 5039 <table> 5040 <tr> 5041 <th>Object Type</th> 5042 <th>Sub Number</th> 5043 <th>Memory Type</th> 5044 <th>Data Type</th> 5045 <th>Access Type</th> 5046 <th>PDO Mapping</th> 5047 <th>TPDO detects COS</th> 5048 </tr> 5049 <tr> 5050 <td>Array</td> 5051 <td>2</td> 5052 <td>RAM</td> 5053 <td>INTEGER16</td> 5054 <td>ro</td> 5055 <td>optional</td> 5056 <td>no</td> 5057 </tr> 5058 </table> 5059 <br/> 5060 <table> 5061 <tr> 5062 <th>Subindex</th> 5063 <th>Name</th> 5064 <th>Default value</th> 5065 <th>Actual value</th> 5066 </tr> 5067 <tr> 5068 <td>00</td> 5069 <td>max sub-index</td> 5070 <td>1</td> 5071 <td/> 5072 </tr> 5073 <tr> 5074 <td>01</td> 5075 <td>main PCB</td> 5076 <td>0</td> 5077 <td/> 5078 </tr> 5079 </table> 5080 <div class="description lang_en"> 5081 <h4>en: Temperature</h4> 5082 <div>Current temperature on device in 0,1°C.</div> 5083 </div> 5084 </li> 5085 <li id="IO Example_2109"> 5086 <h3>2109 - Voltage</h3> 5087 <table> 5088 <tr> 5089 <th>Object Type</th> 5090 <th>Sub Number</th> 5091 <th>Memory Type</th> 5092 <th>Data Type</th> 5093 <th>Access Type</th> 5094 <th>PDO Mapping</th> 5095 <th>TPDO detects COS</th> 5096 </tr> 5097 <tr> 5098 <td>Array</td> 5099 <td>2</td> 5100 <td>RAM</td> 5101 <td>INTEGER16</td> 5102 <td>ro</td> 5103 <td>optional</td> 5104 <td>no</td> 5105 </tr> 5106 </table> 5107 <br/> 5108 <table> 5109 <tr> 5110 <th>Subindex</th> 5111 <th>Name</th> 5112 <th>Default value</th> 5113 <th>Actual value</th> 5114 </tr> 5115 <tr> 5116 <td>00</td> 5117 <td>max sub-index</td> 5118 <td>1</td> 5119 <td/> 5120 </tr> 5121 <tr> 5122 <td>01</td> 5123 <td>main PCB supply</td> 5124 <td>0</td> 5125 <td/> 5126 </tr> 5127 </table> 5128 <div class="description lang_en"> 5129 <h4>en: Voltage</h4> 5130 <div>Current voltage on device in 0,1V.</div> 5131 </div> 5132 </li> 5133 <li id="IO Example_2110"> 5134 <h3>2110 - Variable Int32</h3> 5135 <table> 5136 <tr> 5137 <th>Object Type</th> 5138 <th>Sub Number</th> 5139 <th>Memory Type</th> 5140 <th>Data Type</th> 5141 <th>Access Type</th> 5142 <th>PDO Mapping</th> 5143 <th>TPDO detects COS</th> 5144 </tr> 5145 <tr> 5146 <td>Array</td> 5147 <td>17</td> 5148 <td>RAM</td> 5149 <td>INTEGER32</td> 5150 <td>rw</td> 5151 <td>optional</td> 5152 <td>yes</td> 5153 </tr> 5154 </table> 5155 <br/> 5156 <table> 5157 <tr> 5158 <th>Subindex</th> 5159 <th>Name</th> 5160 <th>Default value</th> 5161 <th>Actual value</th> 5162 </tr> 5163 <tr> 5164 <td>00</td> 5165 <td>max sub-index</td> 5166 <td>16</td> 5167 <td/> 5168 </tr> 5169 <tr> 5170 <td>01</td> 5171 <td>int32</td> 5172 <td>0</td> 5173 <td/> 5174 </tr> 5175 <tr> 5176 <td>02</td> 5177 <td>int32</td> 5178 <td>0</td> 5179 <td/> 5180 </tr> 5181 <tr> 5182 <td>03</td> 5183 <td>int32</td> 5184 <td>0</td> 5185 <td/> 5186 </tr> 5187 <tr> 5188 <td>04</td> 5189 <td>int32</td> 5190 <td>0</td> 5191 <td/> 5192 </tr> 5193 <tr> 5194 <td>05</td> 5195 <td>int32</td> 5196 <td>0</td> 5197 <td/> 5198 </tr> 5199 <tr> 5200 <td>06</td> 5201 <td>int32</td> 5202 <td>0</td> 5203 <td/> 5204 </tr> 5205 <tr> 5206 <td>07</td> 5207 <td>int32</td> 5208 <td>0</td> 5209 <td/> 5210 </tr> 5211 <tr> 5212 <td>08</td> 5213 <td>int32</td> 5214 <td>0</td> 5215 <td/> 5216 </tr> 5217 <tr> 5218 <td>09</td> 5219 <td>int32</td> 5220 <td>0</td> 5221 <td/> 5222 </tr> 5223 <tr> 5224 <td>0A</td> 5225 <td>int32</td> 5226 <td>0</td> 5227 <td/> 5228 </tr> 5229 <tr> 5230 <td>0B</td> 5231 <td>int32</td> 5232 <td>0</td> 5233 <td/> 5234 </tr> 5235 <tr> 5236 <td>0C</td> 5237 <td>int32</td> 5238 <td>0</td> 5239 <td/> 5240 </tr> 5241 <tr> 5242 <td>0D</td> 5243 <td>int32</td> 5244 <td>0</td> 5245 <td/> 5246 </tr> 5247 <tr> 5248 <td>0E</td> 5249 <td>int32</td> 5250 <td>0</td> 5251 <td/> 5252 </tr> 5253 <tr> 5254 <td>0F</td> 5255 <td>int32</td> 5256 <td>0</td> 5257 <td/> 5258 </tr> 5259 <tr> 5260 <td>10</td> 5261 <td>int32</td> 5262 <td>0</td> 5263 <td/> 5264 </tr> 5265 </table> 5266 <div class="description lang_en"> 5267 <h4>en: Variable Integer 32bit</h4> 5268 <div>Vartiable is free to use by application.</div> 5269 </div> 5270 </li> 5271 <li id="IO Example_2111"> 5272 <h3>2111 - Variable ROM Int32</h3> 5273 <table> 5274 <tr> 5275 <th>Object Type</th> 5276 <th>Sub Number</th> 5277 <th>Memory Type</th> 5278 <th>Data Type</th> 5279 <th>Access Type</th> 5280 <th>PDO Mapping</th> 5281 <th>TPDO detects COS</th> 5282 </tr> 5283 <tr> 5284 <td>Array</td> 5285 <td>17</td> 5286 <td>ROM</td> 5287 <td>INTEGER32</td> 5288 <td>rw</td> 5289 <td>optional</td> 5290 <td>yes</td> 5291 </tr> 5292 </table> 5293 <br/> 5294 <table> 5295 <tr> 5296 <th>Subindex</th> 5297 <th>Name</th> 5298 <th>Default value</th> 5299 <th>Actual value</th> 5300 </tr> 5301 <tr> 5302 <td>00</td> 5303 <td>max sub-index</td> 5304 <td>16</td> 5305 <td/> 5306 </tr> 5307 <tr> 5308 <td>01</td> 5309 <td>int32</td> 5310 <td>1</td> 5311 <td/> 5312 </tr> 5313 <tr> 5314 <td>02</td> 5315 <td>int32</td> 5316 <td>0</td> 5317 <td/> 5318 </tr> 5319 <tr> 5320 <td>03</td> 5321 <td>int32</td> 5322 <td>0</td> 5323 <td/> 5324 </tr> 5325 <tr> 5326 <td>04</td> 5327 <td>int32</td> 5328 <td>0</td> 5329 <td/> 5330 </tr> 5331 <tr> 5332 <td>05</td> 5333 <td>int32</td> 5334 <td>0</td> 5335 <td/> 5336 </tr> 5337 <tr> 5338 <td>06</td> 5339 <td>int32</td> 5340 <td>0</td> 5341 <td/> 5342 </tr> 5343 <tr> 5344 <td>07</td> 5345 <td>int32</td> 5346 <td>0</td> 5347 <td/> 5348 </tr> 5349 <tr> 5350 <td>08</td> 5351 <td>int32</td> 5352 <td>0</td> 5353 <td/> 5354 </tr> 5355 <tr> 5356 <td>09</td> 5357 <td>int32</td> 5358 <td>0</td> 5359 <td/> 5360 </tr> 5361 <tr> 5362 <td>0A</td> 5363 <td>int32</td> 5364 <td>0</td> 5365 <td/> 5366 </tr> 5367 <tr> 5368 <td>0B</td> 5369 <td>int32</td> 5370 <td>0</td> 5371 <td/> 5372 </tr> 5373 <tr> 5374 <td>0C</td> 5375 <td>int32</td> 5376 <td>0</td> 5377 <td/> 5378 </tr> 5379 <tr> 5380 <td>0D</td> 5381 <td>int32</td> 5382 <td>0</td> 5383 <td/> 5384 </tr> 5385 <tr> 5386 <td>0E</td> 5387 <td>int32</td> 5388 <td>0</td> 5389 <td/> 5390 </tr> 5391 <tr> 5392 <td>0F</td> 5393 <td>int32</td> 5394 <td>0</td> 5395 <td/> 5396 </tr> 5397 <tr> 5398 <td>10</td> 5399 <td>int32</td> 5400 <td>0</td> 5401 <td/> 5402 </tr> 5403 </table> 5404 <div class="description lang_en"> 5405 <h4>en: Variable ROM Integer 32bit</h4> 5406 <div>Vartiable is free to use by application.</div> 5407 </div> 5408 </li> 5409 <li id="IO Example_2112"> 5410 <h3>2112 - Variable NV Int32</h3> 5411 <table> 5412 <tr> 5413 <th>Object Type</th> 5414 <th>Sub Number</th> 5415 <th>Memory Type</th> 5416 <th>Data Type</th> 5417 <th>Access Type</th> 5418 <th>PDO Mapping</th> 5419 <th>TPDO detects COS</th> 5420 </tr> 5421 <tr> 5422 <td>Array</td> 5423 <td>17</td> 5424 <td>EEPROM</td> 5425 <td>INTEGER32</td> 5426 <td>rw</td> 5427 <td>optional</td> 5428 <td>yes</td> 5429 </tr> 5430 </table> 5431 <br/> 5432 <table> 5433 <tr> 5434 <th>Subindex</th> 5435 <th>Name</th> 5436 <th>Default value</th> 5437 <th>Actual value</th> 5438 </tr> 5439 <tr> 5440 <td>00</td> 5441 <td>max sub-index</td> 5442 <td>16</td> 5443 <td/> 5444 </tr> 5445 <tr> 5446 <td>01</td> 5447 <td>int32</td> 5448 <td>1</td> 5449 <td/> 5450 </tr> 5451 <tr> 5452 <td>02</td> 5453 <td>int32</td> 5454 <td>0</td> 5455 <td/> 5456 </tr> 5457 <tr> 5458 <td>03</td> 5459 <td>int32</td> 5460 <td>0</td> 5461 <td/> 5462 </tr> 5463 <tr> 5464 <td>04</td> 5465 <td>int32</td> 5466 <td>0</td> 5467 <td/> 5468 </tr> 5469 <tr> 5470 <td>05</td> 5471 <td>int32</td> 5472 <td>0</td> 5473 <td/> 5474 </tr> 5475 <tr> 5476 <td>06</td> 5477 <td>int32</td> 5478 <td>0</td> 5479 <td/> 5480 </tr> 5481 <tr> 5482 <td>07</td> 5483 <td>int32</td> 5484 <td>0</td> 5485 <td/> 5486 </tr> 5487 <tr> 5488 <td>08</td> 5489 <td>int32</td> 5490 <td>0</td> 5491 <td/> 5492 </tr> 5493 <tr> 5494 <td>09</td> 5495 <td>int32</td> 5496 <td>0</td> 5497 <td/> 5498 </tr> 5499 <tr> 5500 <td>0A</td> 5501 <td>int32</td> 5502 <td>0</td> 5503 <td/> 5504 </tr> 5505 <tr> 5506 <td>0B</td> 5507 <td>int32</td> 5508 <td>0</td> 5509 <td/> 5510 </tr> 5511 <tr> 5512 <td>0C</td> 5513 <td>int32</td> 5514 <td>0</td> 5515 <td/> 5516 </tr> 5517 <tr> 5518 <td>0D</td> 5519 <td>int32</td> 5520 <td>0</td> 5521 <td/> 5522 </tr> 5523 <tr> 5524 <td>0E</td> 5525 <td>int32</td> 5526 <td>0</td> 5527 <td/> 5528 </tr> 5529 <tr> 5530 <td>0F</td> 5531 <td>int32</td> 5532 <td>0</td> 5533 <td/> 5534 </tr> 5535 <tr> 5536 <td>10</td> 5537 <td>int32</td> 5538 <td>0</td> 5539 <td/> 5540 </tr> 5541 </table> 5542 <div class="description lang_en"> 5543 <h4>en: Variable nonvolatile Integer 32bit</h4> 5544 <div>Vartiable is free to use by application. Variable is stored to internal baterry powered SRAM.</div> 5545 </div> 5546 </li> 5547 <li id="IO Example_2120"> 5548 <h3>2120 - test var</h3> 5549 <table> 5550 <tr> 5551 <th>Object Type</th> 5552 <th>Sub Number</th> 5553 <th>Memory Type</th> 5554 </tr> 5555 <tr> 5556 <td>Record</td> 5557 <td>6</td> 5558 <td>RAM</td> 5559 </tr> 5560 </table> 5561 <br/> 5562 <table> 5563 <tr> 5564 <th>Subindex</th> 5565 <th>Name</th> 5566 <th>Data Type</th> 5567 <th>Access Type</th> 5568 <th>PDO Mapping</th> 5569 <th>TPDO detects COS</th> 5570 <th>Default value</th> 5571 <th>Actual value</th> 5572 </tr> 5573 <tr> 5574 <td>00</td> 5575 <td>max sub-index</td> 5576 <td>UNSIGNED8</td> 5577 <td>ro</td> 5578 <td>no</td> 5579 <td>no</td> 5580 <td>5</td> 5581 <td/> 5582 </tr> 5583 <tr> 5584 <td>01</td> 5585 <td>I64</td> 5586 <td>INTEGER64</td> 5587 <td>rw</td> 5588 <td>optional</td> 5589 <td>no</td> 5590 <td>0x1234567890ABCDEFLL</td> 5591 <td/> 5592 </tr> 5593 <tr> 5594 <td>02</td> 5595 <td>U64</td> 5596 <td>UNSIGNED64</td> 5597 <td>rw</td> 5598 <td>optional</td> 5599 <td>no</td> 5600 <td>0x234567890ABCDEF1LL</td> 5601 <td/> 5602 </tr> 5603 <tr> 5604 <td>03</td> 5605 <td>R32</td> 5606 <td>REAL32</td> 5607 <td>rw</td> 5608 <td>optional</td> 5609 <td>no</td> 5610 <td>12.345</td> 5611 <td/> 5612 </tr> 5613 <tr> 5614 <td>04</td> 5615 <td>R64</td> 5616 <td>REAL64</td> 5617 <td>rw</td> 5618 <td>optional</td> 5619 <td>no</td> 5620 <td>456.789</td> 5621 <td/> 5622 </tr> 5623 <tr> 5624 <td>05</td> 5625 <td>domain</td> 5626 <td>DOMAIN</td> 5627 <td>rw</td> 5628 <td>no</td> 5629 <td>no</td> 5630 <td>0</td> 5631 <td/> 5632 </tr> 5633 </table> 5634 </li> 5635 <li id="IO Example_2130"> 5636 <h3>2130 - Time</h3> 5637 <table> 5638 <tr> 5639 <th>Object Type</th> 5640 <th>Sub Number</th> 5641 <th>Memory Type</th> 5642 </tr> 5643 <tr> 5644 <td>Record</td> 5645 <td>4</td> 5646 <td>RAM</td> 5647 </tr> 5648 </table> 5649 <br/> 5650 <table> 5651 <tr> 5652 <th>Subindex</th> 5653 <th>Name</th> 5654 <th>Data Type</th> 5655 <th>Access Type</th> 5656 <th>PDO Mapping</th> 5657 <th>TPDO detects COS</th> 5658 <th>Default value</th> 5659 <th>Actual value</th> 5660 </tr> 5661 <tr> 5662 <td>00</td> 5663 <td>max sub-index</td> 5664 <td>UNSIGNED8</td> 5665 <td>ro</td> 5666 <td>no</td> 5667 <td>no</td> 5668 <td>3</td> 5669 <td/> 5670 </tr> 5671 <tr> 5672 <td>01</td> 5673 <td>String</td> 5674 <td>VISIBLE_STRING</td> 5675 <td>ro</td> 5676 <td>no</td> 5677 <td>no</td> 5678 <td>-</td> 5679 <td/> 5680 </tr> 5681 <tr> 5682 <td>02</td> 5683 <td>Epoch time base ms</td> 5684 <td>UNSIGNED64</td> 5685 <td>rw</td> 5686 <td>no</td> 5687 <td>no</td> 5688 <td>0</td> 5689 <td/> 5690 </tr> 5691 <tr> 5692 <td>03</td> 5693 <td>Epoch time offset ms</td> 5694 <td>UNSIGNED32</td> 5695 <td>rw</td> 5696 <td>optional</td> 5697 <td>no</td> 5698 <td>0</td> 5699 <td/> 5700 </tr> 5701 </table> 5702 <div class="description lang_en"> 5703 <h4>en: Time</h4> 5704 <div> 5705 Variable displays current time. 5706 <br/> 5707 <br/> 5708 String - returns current time as string. 5709 <br/> 5710 <br/> 5711 Epoch time ms - Milliseconds since unix epoch (1.1.1970, 00:00:00, UTC). It is calculated as base + offset. Base is calculated on startup of program and offset increments continuously since then. 'Epoch time offset ms' overflows each 49,7 days. 'Epoch time base ms' is recalculated in case of overflow or in case of write to 'Epoch time offset ms'. It is rounded to one minute. 5712 </div> 5713 </div> 5714 </li> 5715 <li id="IO Example_2301"> 5716 <h3>2301 - Trace config</h3> 5717 <table> 5718 <tr> 5719 <th>Object Type</th> 5720 <th>Sub Number</th> 5721 <th>Memory Type</th> 5722 </tr> 5723 <tr> 5724 <td>Record</td> 5725 <td>9</td> 5726 <td>ROM</td> 5727 </tr> 5728 </table> 5729 <br/> 5730 <table> 5731 <tr> 5732 <th>Subindex</th> 5733 <th>Name</th> 5734 <th>Data Type</th> 5735 <th>Access Type</th> 5736 <th>PDO Mapping</th> 5737 <th>TPDO detects COS</th> 5738 <th>Default value</th> 5739 <th>Actual value</th> 5740 </tr> 5741 <tr> 5742 <td>00</td> 5743 <td>max sub-index</td> 5744 <td>UNSIGNED8</td> 5745 <td>ro</td> 5746 <td>no</td> 5747 <td>no</td> 5748 <td>8</td> 5749 <td/> 5750 </tr> 5751 <tr> 5752 <td>01</td> 5753 <td>Size</td> 5754 <td>UNSIGNED32</td> 5755 <td>rw</td> 5756 <td>no</td> 5757 <td>no</td> 5758 <td>100</td> 5759 <td/> 5760 </tr> 5761 <tr> 5762 <td>02</td> 5763 <td>Axis no</td> 5764 <td>UNSIGNED8</td> 5765 <td>rw</td> 5766 <td>no</td> 5767 <td>no</td> 5768 <td>1</td> 5769 <td/> 5770 </tr> 5771 <tr> 5772 <td>03</td> 5773 <td>Name</td> 5774 <td>VISIBLE_STRING</td> 5775 <td>rw</td> 5776 <td>no</td> 5777 <td>no</td> 5778 <td>Trace1</td> 5779 <td/> 5780 </tr> 5781 <tr> 5782 <td>04</td> 5783 <td>Color</td> 5784 <td>VISIBLE_STRING</td> 5785 <td>rw</td> 5786 <td>no</td> 5787 <td>no</td> 5788 <td>red</td> 5789 <td/> 5790 </tr> 5791 <tr> 5792 <td>05</td> 5793 <td>Map</td> 5794 <td>UNSIGNED32</td> 5795 <td>rw</td> 5796 <td>no</td> 5797 <td>no</td> 5798 <td>0x60000108</td> 5799 <td/> 5800 </tr> 5801 <tr> 5802 <td>06</td> 5803 <td>Format</td> 5804 <td>UNSIGNED8</td> 5805 <td>rw</td> 5806 <td>no</td> 5807 <td>no</td> 5808 <td>1</td> 5809 <td/> 5810 </tr> 5811 <tr> 5812 <td>07</td> 5813 <td>Trigger</td> 5814 <td>UNSIGNED8</td> 5815 <td>rw</td> 5816 <td>no</td> 5817 <td>no</td> 5818 <td>0</td> 5819 <td/> 5820 </tr> 5821 <tr> 5822 <td>08</td> 5823 <td>Threshold</td> 5824 <td>INTEGER32</td> 5825 <td>rw</td> 5826 <td>no</td> 5827 <td>no</td> 5828 <td>0</td> 5829 <td/> 5830 </tr> 5831 </table> 5832 <div class="description lang_en"> 5833 <h4>en: Trace config</h4> 5834 <div> 5835 Trace is used for recording variables. 5836 <br/> 5837 <br/> 5838 See also Trace. 5839 <br/> 5840 <br/> 5841 Size - Maximum number of trace records in circular buffer. By reading it returns actual buffer size (If zero, malloc may had been failed at startup). By writing it sets the size, which will be valid after next reboot. (It is necessary to store parameters before (0x1010).) 5842 <br/> 5843 <br/> 5844 Axis no - If value is different than zero, trace is enabled. Value is informative and describes group of traces (Multiple traces can belong to single axis.). By reading it returns zero if trace is disabled or if it is not configured properly. When trace is enabled, internal buffer is cleared. 5845 <br/> 5846 <br/> 5847 Name - name of the trace as a string (informative). 5848 <br/> 5849 <br/> 5850 Color - color of the trace as a string (informative). 5851 <br/> 5852 <br/> 5853 Map - Map to variable in object dictionary, similar as PDO map(two bytes of index, one byte of subindex and 1 byte of bitlength. It's value will be copied to trace.value in case index and subindex are correct. If map index and subindex is zero, RPDO may be mapped to trace.value, for example. Valid values of map.bitlength is 08, 10 or 20 or 00, which indicates 8-bit, 16bit, 32-bit or default-size variable. Trace must be disabled, if mapping is written (Axis no set to 0). 5854 <br/> 5855 <br/> 5856 Format - If first bit is zero, then value is used as signed integer otherwise as unsigned integer. If format is 0 or 1, text points are generated for time and value: "123;321\n140;345\n..." If format is 2 or 3, binary data is generated: 4-byte timestamp and 4-byte value. If format is 4 or 5, SVG path is generated: "M123,321H140V345...". 5857 <br/> 5858 <br/> 5859 Trigger - 0=disabled, 1=rising edge, 2=falling edge, 3=both edges. 5860 <br/> 5861 <br/> 5862 Threshold - If integer value passes threshold (based on trigger setting), time is recorded into 'trigger time'. 5863 </div> 5864 </div> 5865 </li> 5866 <li id="IO Example_2302"> 5867 <h3>2302 - Trace config</h3> 5868 <table> 5869 <tr> 5870 <th>Object Type</th> 5871 <th>Sub Number</th> 5872 <th>Memory Type</th> 5873 </tr> 5874 <tr> 5875 <td>Record</td> 5876 <td>9</td> 5877 <td>ROM</td> 5878 </tr> 5879 </table> 5880 <br/> 5881 <table> 5882 <tr> 5883 <th>Subindex</th> 5884 <th>Name</th> 5885 <th>Data Type</th> 5886 <th>Access Type</th> 5887 <th>PDO Mapping</th> 5888 <th>TPDO detects COS</th> 5889 <th>Default value</th> 5890 <th>Actual value</th> 5891 </tr> 5892 <tr> 5893 <td>00</td> 5894 <td>max sub-index</td> 5895 <td>UNSIGNED8</td> 5896 <td>ro</td> 5897 <td>no</td> 5898 <td>no</td> 5899 <td>8</td> 5900 <td/> 5901 </tr> 5902 <tr> 5903 <td>01</td> 5904 <td>Size</td> 5905 <td>UNSIGNED32</td> 5906 <td>rw</td> 5907 <td>no</td> 5908 <td>no</td> 5909 <td>0</td> 5910 <td/> 5911 </tr> 5912 <tr> 5913 <td>02</td> 5914 <td>Axis no</td> 5915 <td>UNSIGNED8</td> 5916 <td>rw</td> 5917 <td>no</td> 5918 <td>no</td> 5919 <td>0</td> 5920 <td/> 5921 </tr> 5922 <tr> 5923 <td>03</td> 5924 <td>Name</td> 5925 <td>VISIBLE_STRING</td> 5926 <td>rw</td> 5927 <td>no</td> 5928 <td>no</td> 5929 <td>Trace2</td> 5930 <td/> 5931 </tr> 5932 <tr> 5933 <td>04</td> 5934 <td>Color</td> 5935 <td>VISIBLE_STRING</td> 5936 <td>rw</td> 5937 <td>no</td> 5938 <td>no</td> 5939 <td>green</td> 5940 <td/> 5941 </tr> 5942 <tr> 5943 <td>05</td> 5944 <td>Map</td> 5945 <td>UNSIGNED32</td> 5946 <td>rw</td> 5947 <td>no</td> 5948 <td>no</td> 5949 <td>0x00000000</td> 5950 <td/> 5951 </tr> 5952 <tr> 5953 <td>06</td> 5954 <td>Format</td> 5955 <td>UNSIGNED8</td> 5956 <td>rw</td> 5957 <td>no</td> 5958 <td>no</td> 5959 <td>0</td> 5960 <td/> 5961 </tr> 5962 <tr> 5963 <td>07</td> 5964 <td>Trigger</td> 5965 <td>UNSIGNED8</td> 5966 <td>rw</td> 5967 <td>no</td> 5968 <td>no</td> 5969 <td>0</td> 5970 <td/> 5971 </tr> 5972 <tr> 5973 <td>08</td> 5974 <td>Threshold</td> 5975 <td>INTEGER32</td> 5976 <td>rw</td> 5977 <td>no</td> 5978 <td>no</td> 5979 <td>0</td> 5980 <td/> 5981 </tr> 5982 </table> 5983 </li> 5984 <li id="IO Example_2400"> 5985 <h3>2400 - Trace enable</h3> 5986 <table> 5987 <tr> 5988 <th>Object Type</th> 5989 <th>Memory Type</th> 5990 <th>Data Type</th> 5991 <th>Access Type</th> 5992 <th>PDO Mapping</th> 5993 <th>TPDO detects COS</th> 5994 <th>Default value</th> 5995 <th>Actual value</th> 5996 </tr> 5997 <tr> 5998 <td>Var</td> 5999 <td>RAM</td> 6000 <td>UNSIGNED8</td> 6001 <td>rw</td> 6002 <td>optional</td> 6003 <td>no</td> 6004 <td>0</td> 6005 <td/> 6006 </tr> 6007 </table> 6008 <div class="description lang_en"> 6009 <h4>en: Trace enable</h4> 6010 <div>This object controls, how many trace objects (beginning from index 0x2401) are enabled. If zero, all traces are disabled.</div> 6011 </div> 6012 </li> 6013 <li id="IO Example_2401"> 6014 <h3>2401 - Trace</h3> 6015 <table> 6016 <tr> 6017 <th>Object Type</th> 6018 <th>Sub Number</th> 6019 <th>Memory Type</th> 6020 </tr> 6021 <tr> 6022 <td>Record</td> 6023 <td>7</td> 6024 <td>RAM</td> 6025 </tr> 6026 </table> 6027 <br/> 6028 <table> 6029 <tr> 6030 <th>Subindex</th> 6031 <th>Name</th> 6032 <th>Data Type</th> 6033 <th>Access Type</th> 6034 <th>PDO Mapping</th> 6035 <th>TPDO detects COS</th> 6036 <th>Default value</th> 6037 <th>Actual value</th> 6038 </tr> 6039 <tr> 6040 <td>00</td> 6041 <td>max sub-index</td> 6042 <td>UNSIGNED8</td> 6043 <td>ro</td> 6044 <td>no</td> 6045 <td>no</td> 6046 <td>6</td> 6047 <td/> 6048 </tr> 6049 <tr> 6050 <td>01</td> 6051 <td>Size</td> 6052 <td>UNSIGNED32</td> 6053 <td>rw</td> 6054 <td>optional</td> 6055 <td>no</td> 6056 <td>0</td> 6057 <td/> 6058 </tr> 6059 <tr> 6060 <td>02</td> 6061 <td>Value</td> 6062 <td>INTEGER32</td> 6063 <td>rw</td> 6064 <td>optional</td> 6065 <td>no</td> 6066 <td>0</td> 6067 <td/> 6068 </tr> 6069 <tr> 6070 <td>03</td> 6071 <td>Min</td> 6072 <td>INTEGER32</td> 6073 <td>rw</td> 6074 <td>optional</td> 6075 <td>no</td> 6076 <td>0</td> 6077 <td/> 6078 </tr> 6079 <tr> 6080 <td>04</td> 6081 <td>Max</td> 6082 <td>INTEGER32</td> 6083 <td>rw</td> 6084 <td>optional</td> 6085 <td>no</td> 6086 <td>0</td> 6087 <td/> 6088 </tr> 6089 <tr> 6090 <td>05</td> 6091 <td>Plot</td> 6092 <td>DOMAIN</td> 6093 <td>ro</td> 6094 <td>no</td> 6095 <td>no</td> 6096 <td>0</td> 6097 <td/> 6098 </tr> 6099 <tr> 6100 <td>06</td> 6101 <td>Trigger time</td> 6102 <td>UNSIGNED32</td> 6103 <td>rw</td> 6104 <td>optional</td> 6105 <td>no</td> 6106 <td>0</td> 6107 <td/> 6108 </tr> 6109 </table> 6110 <div class="description lang_en"> 6111 <h4>en: Trace</h4> 6112 <div> 6113 Trace is used for recording variables. 6114 <br/> 6115 <br/> 6116 See also Trace config. 6117 <br/> 6118 <br/> 6119 Size - Number of current records in buffer. 6120 <br/> 6121 <br/> 6122 Value - Latest value. If traceConfig.map (index and subindex) is valid, then mapped variable will be copied here. 6123 <br/> 6124 <br/> 6125 Min, Max - Minimum and maximum value. 6126 <br/> 6127 <br/> 6128 Plot - SVG path generated from the values from circular buffer. For time axis is used Time->'Epoch time offset ms'. When Plot is read, internal buffer is emptied. 6129 <br/> 6130 <br/> 6131 Trigger time - If integer value passes 'TraceConfig->threshold', then time is recorded into this variable. 6132 </div> 6133 </div> 6134 </li> 6135 <li id="IO Example_2402"> 6136 <h3>2402 - Trace</h3> 6137 <table> 6138 <tr> 6139 <th>Object Type</th> 6140 <th>Sub Number</th> 6141 <th>Memory Type</th> 6142 </tr> 6143 <tr> 6144 <td>Record</td> 6145 <td>7</td> 6146 <td>RAM</td> 6147 </tr> 6148 </table> 6149 <br/> 6150 <table> 6151 <tr> 6152 <th>Subindex</th> 6153 <th>Name</th> 6154 <th>Data Type</th> 6155 <th>Access Type</th> 6156 <th>PDO Mapping</th> 6157 <th>TPDO detects COS</th> 6158 <th>Default value</th> 6159 <th>Actual value</th> 6160 </tr> 6161 <tr> 6162 <td>00</td> 6163 <td>max sub-index</td> 6164 <td>UNSIGNED8</td> 6165 <td>ro</td> 6166 <td>no</td> 6167 <td>no</td> 6168 <td>6</td> 6169 <td/> 6170 </tr> 6171 <tr> 6172 <td>01</td> 6173 <td>Size</td> 6174 <td>UNSIGNED32</td> 6175 <td>rw</td> 6176 <td>optional</td> 6177 <td>no</td> 6178 <td>0</td> 6179 <td/> 6180 </tr> 6181 <tr> 6182 <td>02</td> 6183 <td>Value</td> 6184 <td>INTEGER32</td> 6185 <td>rw</td> 6186 <td>optional</td> 6187 <td>no</td> 6188 <td>0</td> 6189 <td/> 6190 </tr> 6191 <tr> 6192 <td>03</td> 6193 <td>Min</td> 6194 <td>INTEGER32</td> 6195 <td>rw</td> 6196 <td>optional</td> 6197 <td>no</td> 6198 <td>0</td> 6199 <td/> 6200 </tr> 6201 <tr> 6202 <td>04</td> 6203 <td>Max</td> 6204 <td>INTEGER32</td> 6205 <td>rw</td> 6206 <td>optional</td> 6207 <td>no</td> 6208 <td>0</td> 6209 <td/> 6210 </tr> 6211 <tr> 6212 <td>05</td> 6213 <td>Plot</td> 6214 <td>DOMAIN</td> 6215 <td>ro</td> 6216 <td>no</td> 6217 <td>no</td> 6218 <td>0</td> 6219 <td/> 6220 </tr> 6221 <tr> 6222 <td>06</td> 6223 <td>Trigger time</td> 6224 <td>UNSIGNED32</td> 6225 <td>rw</td> 6226 <td>optional</td> 6227 <td>no</td> 6228 <td>0</td> 6229 <td/> 6230 </tr> 6231 </table> 6232 </li> 6233 <li id="IO Example_6000"> 6234 <h3>6000 - Read input 8 bit</h3> 6235 <table> 6236 <tr> 6237 <th>Object Type</th> 6238 <th>Sub Number</th> 6239 <th>Memory Type</th> 6240 <th>Data Type</th> 6241 <th>Access Type</th> 6242 <th>PDO Mapping</th> 6243 <th>TPDO detects COS</th> 6244 </tr> 6245 <tr> 6246 <td>Array</td> 6247 <td>9</td> 6248 <td>RAM</td> 6249 <td>UNSIGNED8</td> 6250 <td>ro</td> 6251 <td>optional</td> 6252 <td>yes</td> 6253 </tr> 6254 </table> 6255 <br/> 6256 <table> 6257 <tr> 6258 <th>Subindex</th> 6259 <th>Name</th> 6260 <th>Default value</th> 6261 <th>Actual value</th> 6262 </tr> 6263 <tr> 6264 <td>00</td> 6265 <td>max sub-index</td> 6266 <td>8</td> 6267 <td/> 6268 </tr> 6269 <tr> 6270 <td>01</td> 6271 <td>Input</td> 6272 <td>0x00</td> 6273 <td/> 6274 </tr> 6275 <tr> 6276 <td>02</td> 6277 <td>Input</td> 6278 <td>0x00</td> 6279 <td/> 6280 </tr> 6281 <tr> 6282 <td>03</td> 6283 <td>Input</td> 6284 <td>0x00</td> 6285 <td/> 6286 </tr> 6287 <tr> 6288 <td>04</td> 6289 <td>Input</td> 6290 <td>0x00</td> 6291 <td/> 6292 </tr> 6293 <tr> 6294 <td>05</td> 6295 <td>Input</td> 6296 <td>0x00</td> 6297 <td/> 6298 </tr> 6299 <tr> 6300 <td>06</td> 6301 <td>Input</td> 6302 <td>0x00</td> 6303 <td/> 6304 </tr> 6305 <tr> 6306 <td>07</td> 6307 <td>Input</td> 6308 <td>0x00</td> 6309 <td/> 6310 </tr> 6311 <tr> 6312 <td>08</td> 6313 <td>Input</td> 6314 <td>0x00</td> 6315 <td/> 6316 </tr> 6317 </table> 6318 <div class="description lang_en"> 6319 <h4>en: Read input 8 bit</h4> 6320 <div>Digital inputs from hardware.</div> 6321 </div> 6322 </li> 6323 <li id="IO Example_6200"> 6324 <h3>6200 - Write output 8 bit</h3> 6325 <table> 6326 <tr> 6327 <th>Object Type</th> 6328 <th>Sub Number</th> 6329 <th>Memory Type</th> 6330 <th>Data Type</th> 6331 <th>Access Type</th> 6332 <th>PDO Mapping</th> 6333 <th>TPDO detects COS</th> 6334 </tr> 6335 <tr> 6336 <td>Array</td> 6337 <td>9</td> 6338 <td>RAM</td> 6339 <td>UNSIGNED8</td> 6340 <td>rw</td> 6341 <td>optional</td> 6342 <td>no</td> 6343 </tr> 6344 </table> 6345 <br/> 6346 <table> 6347 <tr> 6348 <th>Subindex</th> 6349 <th>Name</th> 6350 <th>Default value</th> 6351 <th>Actual value</th> 6352 </tr> 6353 <tr> 6354 <td>00</td> 6355 <td>max sub-index</td> 6356 <td>8</td> 6357 <td/> 6358 </tr> 6359 <tr> 6360 <td>01</td> 6361 <td>Output</td> 6362 <td>0x00</td> 6363 <td/> 6364 </tr> 6365 <tr> 6366 <td>02</td> 6367 <td>Output</td> 6368 <td>0x00</td> 6369 <td/> 6370 </tr> 6371 <tr> 6372 <td>03</td> 6373 <td>Output</td> 6374 <td>0x00</td> 6375 <td/> 6376 </tr> 6377 <tr> 6378 <td>04</td> 6379 <td>Output</td> 6380 <td>0x00</td> 6381 <td/> 6382 </tr> 6383 <tr> 6384 <td>05</td> 6385 <td>Output</td> 6386 <td>0x00</td> 6387 <td/> 6388 </tr> 6389 <tr> 6390 <td>06</td> 6391 <td>Output</td> 6392 <td>0x00</td> 6393 <td/> 6394 </tr> 6395 <tr> 6396 <td>07</td> 6397 <td>Output</td> 6398 <td>0x00</td> 6399 <td/> 6400 </tr> 6401 <tr> 6402 <td>08</td> 6403 <td>Output</td> 6404 <td>0x00</td> 6405 <td/> 6406 </tr> 6407 </table> 6408 <div class="description lang_en"> 6409 <h4>en: Write output 8 bit</h4> 6410 <div>Digital outputs on hardware.</div> 6411 </div> 6412 </li> 6413 <li id="IO Example_6401"> 6414 <h3>6401 - Read analogue input 16 bit</h3> 6415 <table> 6416 <tr> 6417 <th>Object Type</th> 6418 <th>Sub Number</th> 6419 <th>Memory Type</th> 6420 <th>Data Type</th> 6421 <th>Access Type</th> 6422 <th>PDO Mapping</th> 6423 <th>TPDO detects COS</th> 6424 </tr> 6425 <tr> 6426 <td>Array</td> 6427 <td>13</td> 6428 <td>RAM</td> 6429 <td>INTEGER16</td> 6430 <td>ro</td> 6431 <td>optional</td> 6432 <td>no</td> 6433 </tr> 6434 </table> 6435 <br/> 6436 <table> 6437 <tr> 6438 <th>Subindex</th> 6439 <th>Name</th> 6440 <th>Default value</th> 6441 <th>Actual value</th> 6442 </tr> 6443 <tr> 6444 <td>00</td> 6445 <td>max sub-index</td> 6446 <td>12</td> 6447 <td/> 6448 </tr> 6449 <tr> 6450 <td>01</td> 6451 <td>Input</td> 6452 <td>0</td> 6453 <td/> 6454 </tr> 6455 <tr> 6456 <td>02</td> 6457 <td>Input</td> 6458 <td>0</td> 6459 <td/> 6460 </tr> 6461 <tr> 6462 <td>03</td> 6463 <td>Input</td> 6464 <td>0</td> 6465 <td/> 6466 </tr> 6467 <tr> 6468 <td>04</td> 6469 <td>Input</td> 6470 <td>0</td> 6471 <td/> 6472 </tr> 6473 <tr> 6474 <td>05</td> 6475 <td>Input</td> 6476 <td>0</td> 6477 <td/> 6478 </tr> 6479 <tr> 6480 <td>06</td> 6481 <td>Input</td> 6482 <td>0</td> 6483 <td/> 6484 </tr> 6485 <tr> 6486 <td>07</td> 6487 <td>Input</td> 6488 <td>0</td> 6489 <td/> 6490 </tr> 6491 <tr> 6492 <td>08</td> 6493 <td>Input</td> 6494 <td>0</td> 6495 <td/> 6496 </tr> 6497 <tr> 6498 <td>09</td> 6499 <td>Input</td> 6500 <td>0</td> 6501 <td/> 6502 </tr> 6503 <tr> 6504 <td>0A</td> 6505 <td>Input</td> 6506 <td>0</td> 6507 <td/> 6508 </tr> 6509 <tr> 6510 <td>0B</td> 6511 <td>Input</td> 6512 <td>0</td> 6513 <td/> 6514 </tr> 6515 <tr> 6516 <td>0C</td> 6517 <td>Input</td> 6518 <td>0</td> 6519 <td/> 6520 </tr> 6521 </table> 6522 <div class="description lang_en"> 6523 <h4>en: Read analogue input 16 bit</h4> 6524 <div>Analogue inputs from hardware. The integer value is left adjusted.</div> 6525 </div> 6526 </li> 6527 <li id="IO Example_6411"> 6528 <h3>6411 - Write analogue output 16 bit</h3> 6529 <table> 6530 <tr> 6531 <th>Object Type</th> 6532 <th>Sub Number</th> 6533 <th>Memory Type</th> 6534 <th>Data Type</th> 6535 <th>Access Type</th> 6536 <th>PDO Mapping</th> 6537 <th>TPDO detects COS</th> 6538 </tr> 6539 <tr> 6540 <td>Array</td> 6541 <td>9</td> 6542 <td>RAM</td> 6543 <td>INTEGER16</td> 6544 <td>rw</td> 6545 <td>optional</td> 6546 <td>no</td> 6547 </tr> 6548 </table> 6549 <br/> 6550 <table> 6551 <tr> 6552 <th>Subindex</th> 6553 <th>Name</th> 6554 <th>Default value</th> 6555 <th>Actual value</th> 6556 </tr> 6557 <tr> 6558 <td>00</td> 6559 <td>max sub-index</td> 6560 <td>8</td> 6561 <td/> 6562 </tr> 6563 <tr> 6564 <td>01</td> 6565 <td>Output</td> 6566 <td>0</td> 6567 <td/> 6568 </tr> 6569 <tr> 6570 <td>02</td> 6571 <td>Output</td> 6572 <td>0</td> 6573 <td/> 6574 </tr> 6575 <tr> 6576 <td>03</td> 6577 <td>Output</td> 6578 <td>0</td> 6579 <td/> 6580 </tr> 6581 <tr> 6582 <td>04</td> 6583 <td>Output</td> 6584 <td>0</td> 6585 <td/> 6586 </tr> 6587 <tr> 6588 <td>05</td> 6589 <td>Output</td> 6590 <td>0</td> 6591 <td/> 6592 </tr> 6593 <tr> 6594 <td>06</td> 6595 <td>Output</td> 6596 <td>0</td> 6597 <td/> 6598 </tr> 6599 <tr> 6600 <td>07</td> 6601 <td>Output</td> 6602 <td>0</td> 6603 <td/> 6604 </tr> 6605 <tr> 6606 <td>08</td> 6607 <td>Output</td> 6608 <td>0</td> 6609 <td/> 6610 </tr> 6611 </table> 6612 <div class="description lang_en"> 6613 <h4>en: Write analogue output 16 bit</h4> 6614 <div>Analogue outputs on hardware. The integer value is left adjusted.</div> 6615 </div> 6616 </li> 6617 </ul> 6618 <input type="button" value="Display everything" onclick="toggleAll();"/> 6619 <br/> 6620 <footer> 6621 <em> 6622 Generated by 6623 <a href="http://canopennode.sourceforge.net/">CANopenNode</a> 6624 . 6625 </em> 6626 </footer> 6627</body></html> 6628
