IO Example - CANopenNode

CANopen object dictionary for IO Example

Device information

File information

File Name	IO Example
File Version	-
Creation Time	17:24:43
Creation Date	2016-03-25
Created By	JP

Device Identity

Vendor name	CANopenNode
Product Name	CANopenNode
Product Text	en: CANopenNode CANopenNode is an open source software stack used for serial communication of multiple devices over the CAN/CANopen Network. More...

CANopen features

SYNC, value = 1

Associated objects:

Name	Index	Max Index	Index step
COB-ID SYNC message	1005
Communication cycle period	1006
Synchronous window length	1007
SYNC counter	2103
SYNC time	2104

en: Synchronization object (Sync)

The Sync Object is broadcast periodically by the Sync Producer.

Permissible value for SYNC is 0 or 1.

More...

Emergency, value = 1

Associated objects:

Name	Index	Max Index	Index step
COB-ID EMCY	1014
inhibit time EMCY	1015

en: Emergency object (Emcy)

The Emergency message is triggered by the occurrence of a device internal error situation.

Permissible value for Emergency is 0 or 1.

More...

SDO server, value = 1

Associated objects:

Name	Index	Max Index	Index step
SDO server parameter	1200	1201	1

en: Service Data Object (SDO)

A Service Data Object (SDO) reads from entries or writes to entries of the Object Dictionary.
SDO server is implemented on all CANopen devices.

Permissible value for SDO sever is 0 or 1.

More...

RPDO, value = 4

Associated objects:

Name	Index	Max Index	Index step
RPDO communication parameter	1400	140F	1
RPDO mapping parameter	1600	160F	1

en: Recive Process Data Object (RPDO)

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).

Permissible value for RPDO is 0 to 16. For larger value Max Index must be changed.

More...

TPDO, value = 4

Associated objects:

Name	Index	Max Index	Index step
TPDO communication parameter	1800	180F	1
TPDO mapping parameter	1A00	1A0F	1

en: Transmit Process Data Object (TPDO)

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).

Permissible value for TPDO is 0 to 16. For larger value Max Index must be changed.

More...

Trace, value = 2

Associated objects:

Name	Index	Max Index	Index step
Trace config	2301	2320	1
Trace enable	2400
Trace	2401	2420	1

en: Trace

Trace is used for recording variables.

Communication Profile
- 1000 - Device type:
- 1001 - Error register:
- 1002 - Manufacturer status register:
- 1003 - Pre-defined error field
  - 00 - Number of errors:
  - 01 - Standard error field:
  - 02 - Standard error field:
  - 03 - Standard error field:
  - 04 - Standard error field:
  - 05 - Standard error field:
  - 06 - Standard error field:
  - 07 - Standard error field:
  - 08 - Standard error field:
- 1005 - COB-ID SYNC message:
- 1006 - Communication cycle period:
- 1007 - Synchronous window length:
- 1008 - Manufacturer device name:
- 1009 - Manufacturer hardware version:
- 100A - Manufacturer software version:
- 1010 - Store parameters
  - 00 - max sub-index:
  - 01 - save all parameters:
- 1011 - Restore default parameters
  - 00 - max sub-index:
  - 01 - restore all default parameters:
- 1014 - COB-ID EMCY:
- 1015 - inhibit time EMCY:
- 1016 - Consumer heartbeat time
  - 00 - max sub-index:
  - 01 - Consumer heartbeat time:
  - 02 - Consumer heartbeat time:
  - 03 - Consumer heartbeat time:
  - 04 - Consumer heartbeat time:
- 1017 - Producer heartbeat time:
- 1018 - Identity
  - 00 - max sub-index:
  - 01 - Vendor-ID:
  - 02 - Product code:
  - 03 - Revision number:
  - 04 - Serial number:
- 1019 - Synchronous counter overflow value:
- 1029 - Error behavior
  - 00 - max sub-index:
  - 01 - Communication:
  - 02 - Communication other:
  - 03 - Communication passive:
  - 04 - Generic:
  - 05 - Device profile:
  - 06 - Manufacturer specific:
- 1200 - SDO server parameter
  - 00 - max sub-index:
  - 01 - COB-ID client to server:
  - 02 - COB-ID server to client:
- 1400 - RPDO communication parameter
  - 00 - max sub-index:
  - 01 - COB-ID used by RPDO:
  - 02 - transmission type:
- 1401 - RPDO communication parameter
  - 00 - max sub-index:
  - 01 - COB-ID used by RPDO:
  - 02 - transmission type:
- 1402 - RPDO communication parameter
  - 00 - max sub-index:
  - 01 - COB-ID used by RPDO:
  - 02 - transmission type:
- 1403 - RPDO communication parameter
  - 00 - max sub-index:
  - 01 - COB-ID used by RPDO:
  - 02 - transmission type:
- 1600 - RPDO mapping parameter
  - 00 - Number of mapped objects:
  - 01 - mapped object 1:
  - 02 - mapped object 2:
  - 03 - mapped object 3:
  - 04 - mapped object 4:
  - 05 - mapped object 5:
  - 06 - mapped object 6:
  - 07 - mapped object 7:
  - 08 - mapped object 8:
- 1601 - RPDO mapping parameter
  - 00 - Number of mapped objects:
  - 01 - mapped object 1:
  - 02 - mapped object 2:
  - 03 - mapped object 3:
  - 04 - mapped object 4:
  - 05 - mapped object 5:
  - 06 - mapped object 6:
  - 07 - mapped object 7:
  - 08 - mapped object 8:
- 1602 - RPDO mapping parameter
  - 00 - Number of mapped objects:
  - 01 - mapped object 1:
  - 02 - mapped object 2:
  - 03 - mapped object 3:
  - 04 - mapped object 4:
  - 05 - mapped object 5:
  - 06 - mapped object 6:
  - 07 - mapped object 7:
  - 08 - mapped object 8:
- 1603 - RPDO mapping parameter
  - 00 - Number of mapped objects:
  - 01 - mapped object 1:
  - 02 - mapped object 2:
  - 03 - mapped object 3:
  - 04 - mapped object 4:
  - 05 - mapped object 5:
  - 06 - mapped object 6:
  - 07 - mapped object 7:
  - 08 - mapped object 8:
- 1800 - TPDO communication parameter
  - 00 - max sub-index:
  - 01 - COB-ID used by TPDO:
  - 02 - transmission type:
  - 03 - inhibit time:
  - 04 - compatibility entry:
  - 05 - event timer:
  - 06 - SYNC start value:
- 1801 - TPDO communication parameter
  - 00 - max sub-index:
  - 01 - COB-ID used by TPDO:
  - 02 - transmission type:
  - 03 - inhibit time:
  - 04 - compatibility entry:
  - 05 - event timer:
  - 06 - SYNC start value:
- 1802 - TPDO communication parameter
  - 00 - max sub-index:
  - 01 - COB-ID used by TPDO:
  - 02 - transmission type:
  - 03 - inhibit time:
  - 04 - compatibility entry:
  - 05 - event timer:
  - 06 - SYNC start value:
- 1803 - TPDO communication parameter
  - 00 - max sub-index:
  - 01 - COB-ID used by TPDO:
  - 02 - transmission type:
  - 03 - inhibit time:
  - 04 - compatibility entry:
  - 05 - event timer:
  - 06 - SYNC start value:
- 1A00 - TPDO mapping parameter
  - 00 - Number of mapped objects:
  - 01 - mapped object 1:
  - 02 - mapped object 2:
  - 03 - mapped object 3:
  - 04 - mapped object 4:
  - 05 - mapped object 5:
  - 06 - mapped object 6:
  - 07 - mapped object 7:
  - 08 - mapped object 8:
- 1A01 - TPDO mapping parameter
  - 00 - Number of mapped objects:
  - 01 - mapped object 1:
  - 02 - mapped object 2:
  - 03 - mapped object 3:
  - 04 - mapped object 4:
  - 05 - mapped object 5:
  - 06 - mapped object 6:
  - 07 - mapped object 7:
  - 08 - mapped object 8:
- 1A02 - TPDO mapping parameter
  - 00 - Number of mapped objects:
  - 01 - mapped object 1:
  - 02 - mapped object 2:
  - 03 - mapped object 3:
  - 04 - mapped object 4:
  - 05 - mapped object 5:
  - 06 - mapped object 6:
  - 07 - mapped object 7:
  - 08 - mapped object 8:
- 1A03 - TPDO mapping parameter
  - 00 - Number of mapped objects:
  - 01 - mapped object 1:
  - 02 - mapped object 2:
  - 03 - mapped object 3:
  - 04 - mapped object 4:
  - 05 - mapped object 5:
  - 06 - mapped object 6:
  - 07 - mapped object 7:
  - 08 - mapped object 8:
- 1F80 - NMT startup:
Manufacturer specific
- 2100 - Error status bits:
- 2101 - CAN node ID:
- 2102 - CAN bit rate:
- 2103 - SYNC counter:
- 2104 - SYNC time:
- 2106 - Power-on counter:
- 2107 - Performance
  - 00 - max sub-index:
  - 01 - cycles per second:
  - 02 - timer cycle time:
  - 03 - timer cycle max time:
  - 04 - main cycle time:
  - 05 - main cycle max time:
- 2108 - Temperature
  - 00 - max sub-index:
  - 01 - main PCB:
- 2109 - Voltage
  - 00 - max sub-index:
  - 01 - main PCB supply:
- 2110 - Variable Int32
  - 00 - max sub-index:
  - 01 - int32:
  - 02 - int32:
  - 03 - int32:
  - 04 - int32:
  - 05 - int32:
  - 06 - int32:
  - 07 - int32:
  - 08 - int32:
  - 09 - int32:
  - 0A - int32:
  - 0B - int32:
  - 0C - int32:
  - 0D - int32:
  - 0E - int32:
  - 0F - int32:
  - 10 - int32:
- 2111 - Variable ROM Int32
  - 00 - max sub-index:
  - 01 - int32:
  - 02 - int32:
  - 03 - int32:
  - 04 - int32:
  - 05 - int32:
  - 06 - int32:
  - 07 - int32:
  - 08 - int32:
  - 09 - int32:
  - 0A - int32:
  - 0B - int32:
  - 0C - int32:
  - 0D - int32:
  - 0E - int32:
  - 0F - int32:
  - 10 - int32:
- 2112 - Variable NV Int32
  - 00 - max sub-index:
  - 01 - int32:
  - 02 - int32:
  - 03 - int32:
  - 04 - int32:
  - 05 - int32:
  - 06 - int32:
  - 07 - int32:
  - 08 - int32:
  - 09 - int32:
  - 0A - int32:
  - 0B - int32:
  - 0C - int32:
  - 0D - int32:
  - 0E - int32:
  - 0F - int32:
  - 10 - int32:
- 2120 - test var
  - 00 - max sub-index:
  - 01 - I64:
  - 02 - U64:
  - 03 - R32:
  - 04 - R64:
  - 05 - domain:
- 2130 - Time
  - 00 - max sub-index:
  - 01 - String:
  - 02 - Epoch time base ms:
  - 03 - Epoch time offset ms:
- 2301 - Trace config
  - 00 - max sub-index:
  - 01 - Size:
  - 02 - Axis no:
  - 03 - Name:
  - 04 - Color:
  - 05 - Map:
  - 06 - Format:
  - 07 - Trigger:
  - 08 - Threshold:
- 2302 - Trace config
  - 00 - max sub-index:
  - 01 - Size:
  - 02 - Axis no:
  - 03 - Name:
  - 04 - Color:
  - 05 - Map:
  - 06 - Format:
  - 07 - Trigger:
  - 08 - Threshold:
- 2400 - Trace enable:
- 2401 - Trace
  - 00 - max sub-index:
  - 01 - Size:
  - 02 - Value:
  - 03 - Min:
  - 04 - Max:
  - 05 - Plot:
  - 06 - Trigger time:
- 2402 - Trace
  - 00 - max sub-index:
  - 01 - Size:
  - 02 - Value:
  - 03 - Min:
  - 04 - Max:
  - 05 - Plot:
  - 06 - Trigger time:
Device Profile
- 6000 - Read input 8 bit
  - 00 - max sub-index:
  - 01 - Input:
  - 02 - Input:
  - 03 - Input:
  - 04 - Input:
  - 05 - Input:
  - 06 - Input:
  - 07 - Input:
  - 08 - Input:
- 6200 - Write output 8 bit
  - 00 - max sub-index:
  - 01 - Output:
  - 02 - Output:
  - 03 - Output:
  - 04 - Output:
  - 05 - Output:
  - 06 - Output:
  - 07 - Output:
  - 08 - Output:
- 6401 - Read analogue input 16 bit
  - 00 - max sub-index:
  - 01 - Input:
  - 02 - Input:
  - 03 - Input:
  - 04 - Input:
  - 05 - Input:
  - 06 - Input:
  - 07 - Input:
  - 08 - Input:
  - 09 - Input:
  - 0A - Input:
  - 0B - Input:
  - 0C - Input:
- 6411 - Write analogue output 16 bit
  - 00 - max sub-index:
  - 01 - Output:
  - 02 - Output:
  - 03 - Output:
  - 04 - Output:
  - 05 - Output:
  - 06 - Output:
  - 07 - Output:
  - 08 - Output:

1000 - Device type

Object Type	Memory Type	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value	Actual value
Var	ROM	UNSIGNED32	ro	no	no	0x00000000

en: Device type

bit 0-15: Device profile number
bit 16-31: Additional information

1001 - Error register

Object Type	Memory Type	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value	Actual value
Var	RAM	UNSIGNED8	ro	optional	no	0

en: Error register

bit 0: generic error
bit 1: current
bit 2: voltage
bit 3: temperature
bit 4: communication error (overrun, error state)
bit 5: device profile specific
bit 6: Reserved (always 0)
bit 7: manufacturer specific

1002 - Manufacturer status register

Object Type	Memory Type	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value	Actual value
Var	RAM	UNSIGNED32	ro	optional	no	0

en: Manufacturer status register

bit 0-31: Not used by stack (available for user)

1003 - Pre-defined error field

Object Type	Sub Number	Memory Type	Data Type	Access Type	PDO Mapping	TPDO detects COS
Array	9	RAM	UNSIGNED32	ro	no	no

Subindex	Name	Default value	Actual value
00	Number of errors	0
01	Standard error field	0
02	Standard error field	0
03	Standard error field	0
04	Standard error field	0
05	Standard error field	0
06	Standard error field	0
07	Standard error field	0
08	Standard error field	0

en: Pre-defined error field

Number of Errors
bit 0-7: Zero can be written to erase error history

Standard Error Field
bit 0-15: Error code as transmited in the Emergency object
bit 16-31: Manufacturer specific additional information

1005 - COB-ID SYNC message

Object Type	Memory Type	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value	Actual value
Var	ROM	UNSIGNED32	rw	no	no	0x00000080

en: COB-ID SYNC message

bit 0-10: COB-ID for SYNC object
bit 11-29: set to 0
bit 30: 1(0) - node generates (does NOT generate) SYNC object
bit 31: set to 0

1006 - Communication cycle period

Object Type	Memory Type	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value	Actual value
Var	ROM	UNSIGNED32	rw	no	no	0

en: Communication cycle period

bit 0-31: period of SYNC transmission in µs (0 = no transmission, no checking)

1007 - Synchronous window length

Object Type	Memory Type	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value	Actual value
Var	ROM	UNSIGNED32	rw	no	no	0

en: Synchronous window length

bit 0-31: window leghth after SYNC when PDOS must be transmited in µs, (0 = not used)

1008 - Manufacturer device name

Object Type	Memory Type	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value	Actual value
Var	ROM	VISIBLE_STRING	const	no	no	CANopenNode

en: Manufacturer device name

Name of the manufacturer as string

1009 - Manufacturer hardware version

Object Type	Memory Type	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value	Actual value
Var	ROM	VISIBLE_STRING	const	no	no	3.00

en: Manufacturer hardware version

Name of the hardware version as string

100A - Manufacturer software version

Object Type	Memory Type	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value	Actual value
Var	ROM	VISIBLE_STRING	const	no	no	3.00

en: Manufacturer software version

Name of the software version as string.

1010 - Store parameters

Object Type	Sub Number	Memory Type	Data Type	Access Type	PDO Mapping	TPDO detects COS
Array	2	RAM	UNSIGNED32	rw	no	no

Subindex	Name	Default value	Actual value
00	max sub-index	1
01	save all parameters	0x00000003

en: Store parameters

Writing value 0x65766173 ('s','a','v','e' from LSB to MSB) into this location stores all ROM variables into EEPROM.

1011 - Restore default parameters

Object Type	Sub Number	Memory Type	Data Type	Access Type	PDO Mapping	TPDO detects COS
Array	2	RAM	UNSIGNED32	rw	no	no

Subindex	Name	Default value	Actual value
00	max sub-index	1
01	restore all default parameters	0x00000001

en: Restore default parameters

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.)

1014 - COB-ID EMCY

Object Type	Memory Type	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value	Actual value
Var	ROM	UNSIGNED32	ro	no	no	$NODEID+0x80

en: COB-ID emergency message

bit 0-10: COB-ID
bit 11-30: set to 0 for 11 bit COB-ID
bit 31: 0(1) - node uses (does NOT use) Emergency object

1015 - inhibit time EMCY

Object Type	Memory Type	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value	Actual value
Var	ROM	UNSIGNED16	rw	no	no	100

en: inhibit time emergency message

bit 0-15: Inhibit time of emergency message in 100µs

1016 - Consumer heartbeat time

Object Type	Sub Number	Memory Type	Data Type	Access Type	PDO Mapping	TPDO detects COS
Array	5	ROM	UNSIGNED32	rw	no	no

Subindex	Name	Default value
00	max sub-index	4
01	Consumer heartbeat time	0x00000000
02	Consumer heartbeat time	0x00000000
03	Consumer heartbeat time	0x00000000
04	Consumer heartbeat time	0x00000000

en: Consumer heartbeat time

max sub-index

Consumer Heartbeat Time
bit 0-15: Heartbeat consumer time in ms (0 = node is not monitored)
bit 16-23: Node ID
bit 24-31: set to 0

1017 - Producer heartbeat time

Object Type	Memory Type	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value	Actual value
Var	ROM	UNSIGNED16	rw	no	no	1000

en: Producer heartbeat time

bit 0-15: Heartbeat producer time in ms (0 = disable transmission)

1018 - Identity

Object Type	Sub Number	Memory Type
Record	5	ROM

Subindex	Name	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value
00	max sub-index	UNSIGNED8	ro	no	no	4
01	Vendor-ID	UNSIGNED32	ro	no	no	0x00000000
02	Product code	UNSIGNED32	ro	no	no	0x00000000
03	Revision number	UNSIGNED32	ro	no	no	0x00000000
04	Serial number	UNSIGNED32	ro	no	no	0x00000000

en: Identity

max sub-index

Vendor-ID
bit 0-31: Assigned by CiA

Product code
bit 0-31: Manufacturer specific

Revision number
bit 0-15: Minor revision num. (CANopen behavior has not changed)
bit 16-31: Major revision number (CANopen behavior has changed)

Serial number
bit 0-31: Manufacturer specific

1019 - Synchronous counter overflow value

Object Type	Memory Type	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value	Actual value
Var	ROM	UNSIGNED8	rw	no	no	0

en: Synchronous counter overflow value

If value is zero, then SYNC message is transmitted with data length 0.

If Value is from 2 to 240, then SYNC message has one data byte, which contains the counter.

Other values are reserved.

1029 - Error behavior

Object Type	Sub Number	Memory Type	Data Type	Access Type	PDO Mapping	TPDO detects COS
Array	7	ROM	UNSIGNED8	rw	no	no

Subindex	Name	Default value
00	max sub-index	6
01	Communication	0x00
02	Communication other	0x00
03	Communication passive	0x01
04	Generic	0x00
05	Device profile	0x00
06	Manufacturer specific	0x00

en: Error behavior

If error is detected and operating NMT state is NMT operational, this object defines behavior of the device.

Value definition for all subindexes:
0x00 - if operational, switch to NMT pre-operational
0x01 - do nothing
0x02 - switch to NMT stopped

01 - Communication error - bus off or Heartbeat consumer error.
02 - Communication other error (critical errors - see 'Error status bits') except CAN bus passive but including bus off or Heartbeat consumer.
03 - Communication passive - any communication error including CAN bus passive.
04 - Generic error (critical errors - see 'Error status bits').
05 - Device profile error - bit 5 in error register is set.
06 - Manufacturer specific error - bit 7 in error register is set.

1200 - SDO server parameter

Object Type	Sub Number	Memory Type
Record	3	ROM

Subindex	Name	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value
00	max sub-index	UNSIGNED8	ro	no	no	2
01	COB-ID client to server	UNSIGNED32	ro	no	no	$NODEID+0x600
02	COB-ID server to client	UNSIGNED32	ro	no	no	$NODEID+0x580

en: SDO server parameter

0x1200 SDO server parameter
max sub-index

COB-ID client to server (Receive SDO)
bit 0-31: 0x00000600 + Node ID

COB-ID server to client (Transmit SDO)
bit 0-31: 0x00000580 + Node ID

0x1201 - 0x127F SDO server parameter
max sub-index

COB-ID client to server (Receive SDO)
bit 0-10: COB_ID
bit 11-30: Set to 0
bit 31*: 0(1) - node uses (does NOT use) SDO

COB-ID server to client (Transmit SDO)
bit 0-31: same as previous

Node-ID of the SDO client
bit 0-7: Node ID (optional)

1400 - RPDO communication parameter

Object Type	Sub Number	Memory Type
Record	3	ROM

Subindex	Name	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value
00	max sub-index	UNSIGNED8	ro	no	no	2
01	COB-ID used by RPDO	UNSIGNED32	rw	no	no	$NODEID+0x200
02	transmission type	UNSIGNED8	rw	no	no	255

en: RPDO communication parameter

0x1400 - 0x15FF RPDO communication parameter
max sub-index

COB-ID
bit 0-10: COB-ID for PDO, to change it bit 31 must be set
bit 11-29: set to 0 for 11 bit COB-ID
bit 30: 0(1) - rtr are allowed (are NOT allowed) for PDO
bit 31: 0(1) - node uses (does NOT use) PDO

Transmission type
value = 0-240: reciving is synchronous, process after next reception of SYNC object
value = 241-253: not used
value = 254: manufacturer specific
value = 255: asynchronous

1401 - RPDO communication parameter

Object Type	Sub Number	Memory Type
Record	3	ROM

Subindex	Name	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value
00	max sub-index	UNSIGNED8	ro	no	no	2
01	COB-ID used by RPDO	UNSIGNED32	rw	no	no	$NODEID+0x300
02	transmission type	UNSIGNED8	rw	no	no	254

en: RPDO communication parameter

0x1400 - 0x15FF RPDO communication parameter (see description for 0x1400)

1402 - RPDO communication parameter

Object Type	Sub Number	Memory Type
Record	3	ROM

Subindex	Name	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value
00	max sub-index	UNSIGNED8	ro	no	no	2
01	COB-ID used by RPDO	UNSIGNED32	rw	no	no	$NODEID+0x400
02	transmission type	UNSIGNED8	rw	no	no	254

en: RPDO communication parameter

0x1400 - 0x15FF RPDO communication parameter (see description for 0x1400)

1403 - RPDO communication parameter

Object Type	Sub Number	Memory Type
Record	3	ROM

Subindex	Name	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value
00	max sub-index	UNSIGNED8	ro	no	no	2
01	COB-ID used by RPDO	UNSIGNED32	rw	no	no	$NODEID+0x500
02	transmission type	UNSIGNED8	rw	no	no	254

en: RPDO communication parameter

0x1400 - 0x15FF RPDO communication parameter (see description for 0x1400)

1600 - RPDO mapping parameter

Object Type	Sub Number	Memory Type
Record	9	ROM

Subindex	Name	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value
00	Number of mapped objects	UNSIGNED8	rw	no	no	2
01	mapped object 1	UNSIGNED32	rw	no	no	0x62000108
02	mapped object 2	UNSIGNED32	rw	no	no	0x62000208
03	mapped object 3	UNSIGNED32	rw	no	no	0x00000000
04	mapped object 4	UNSIGNED32	rw	no	no	0x00000000
05	mapped object 5	UNSIGNED32	rw	no	no	0x00000000
06	mapped object 6	UNSIGNED32	rw	no	no	0x00000000
07	mapped object 7	UNSIGNED32	rw	no	no	0x00000000
08	mapped object 8	UNSIGNED32	rw	no	no	0x00000000

en: RPDO mapping parameter

0x1600 - 0x17FF RPDO mapping parameter (To change mapping, 'Number of mapped objects' must be set to 0)
Number of mapped objects

mapped object (subindex 1...8)
bit 0-7: data length in bits
bit 8-15: subindex from OD
bit 16-31: index from OD

1601 - RPDO mapping parameter

Object Type	Sub Number	Memory Type
Record	9	ROM

Subindex	Name	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value
00	Number of mapped objects	UNSIGNED8	rw	no	no	0
01	mapped object 1	UNSIGNED32	rw	no	no	0x00000000
02	mapped object 2	UNSIGNED32	rw	no	no	0x00000000
03	mapped object 3	UNSIGNED32	rw	no	no	0x00000000
04	mapped object 4	UNSIGNED32	rw	no	no	0x00000000
05	mapped object 5	UNSIGNED32	rw	no	no	0x00000000
06	mapped object 6	UNSIGNED32	rw	no	no	0x00000000
07	mapped object 7	UNSIGNED32	rw	no	no	0x00000000
08	mapped object 8	UNSIGNED32	rw	no	no	0x00000000

en: RPDO mapping parameter

0x1600 - 0x17FF RPDO mapping parameter (see description for 0x1600)

1602 - RPDO mapping parameter

Object Type	Sub Number	Memory Type
Record	9	ROM

Subindex	Name	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value
00	Number of mapped objects	UNSIGNED8	rw	no	no	0
01	mapped object 1	UNSIGNED32	rw	no	no	0x00000000
02	mapped object 2	UNSIGNED32	rw	no	no	0x00000000
03	mapped object 3	UNSIGNED32	rw	no	no	0x00000000
04	mapped object 4	UNSIGNED32	rw	no	no	0x00000000
05	mapped object 5	UNSIGNED32	rw	no	no	0x00000000
06	mapped object 6	UNSIGNED32	rw	no	no	0x00000000
07	mapped object 7	UNSIGNED32	rw	no	no	0x00000000
08	mapped object 8	UNSIGNED32	rw	no	no	0x00000000

en: RPDO mapping parameter

0x1600 - 0x17FF RPDO mapping parameter (see description for 0x1600)

1603 - RPDO mapping parameter

Object Type	Sub Number	Memory Type
Record	9	ROM

Subindex	Name	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value
00	Number of mapped objects	UNSIGNED8	rw	no	no	0
01	mapped object 1	UNSIGNED32	rw	no	no	0x00000000
02	mapped object 2	UNSIGNED32	rw	no	no	0x00000000
03	mapped object 3	UNSIGNED32	rw	no	no	0x00000000
04	mapped object 4	UNSIGNED32	rw	no	no	0x00000000
05	mapped object 5	UNSIGNED32	rw	no	no	0x00000000
06	mapped object 6	UNSIGNED32	rw	no	no	0x00000000
07	mapped object 7	UNSIGNED32	rw	no	no	0x00000000
08	mapped object 8	UNSIGNED32	rw	no	no	0x00000000

en: RPDO mapping parameter

0x1600 - 0x17FF RPDO mapping parameter (see description for 0x1600)

1800 - TPDO communication parameter

Object Type	Sub Number	Memory Type
Record	7	ROM

Subindex	Name	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value
00	max sub-index	UNSIGNED8	ro	no	no	6
01	COB-ID used by TPDO	UNSIGNED32	rw	no	no	$NODEID+0x180
02	transmission type	UNSIGNED8	rw	no	no	255
03	inhibit time	UNSIGNED16	rw	no	no	100
04	compatibility entry	UNSIGNED8	rw	no	no	0
05	event timer	UNSIGNED16	rw	no	no	0
06	SYNC start value	UNSIGNED8	rw	no	no	0

en: TPDO communication parameter

0x1800 - 0x19FF TPDO communication parameter
max sub-index

COB-ID
bit 0-10: COB-ID for PDO, to change it bit 31 must be set
bit 11-29: set to 0 for 11 bit COB-ID
bit 30: 0(1) - rtr are allowed (are NOT allowed) for PDO
bit 31: 0(1) - node uses (does NOT use) PDO

Transmission type
value = 0: transmiting is synchronous, specification in device profile
value = 1-240: transmiting is synchronous after every N-th SYNC object
value = 241-251: not used
value = 252-253: Transmited only on reception of Remote Transmission Request
value = 254: manufacturer specific
value = 255: asinchronous, specification in device profile

inhibit time
bit 0-15: Minimum time between transmissions of the PDO in 100µs. Zero disables functionality.

compatibility entry
bit 0-7: Not used.

event timer
bit 0-15: Time between periodic transmissions of the PDO in ms. Zero disables functionality.

SYNC start value
value = 0: Counter of the SYNC message shall not be processed.
value = 1-240: The SYNC message with the counter value equal to this value shall be regarded as the first received SYNC message.

1801 - TPDO communication parameter

Object Type	Sub Number	Memory Type
Record	7	ROM

Subindex	Name	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value
00	max sub-index	UNSIGNED8	ro	no	no	6
01	COB-ID used by TPDO	UNSIGNED32	rw	no	no	$NODEID+0x280
02	transmission type	UNSIGNED8	rw	no	no	254
03	inhibit time	UNSIGNED16	rw	no	no	0
04	compatibility entry	UNSIGNED8	rw	no	no	0
05	event timer	UNSIGNED16	rw	no	no	0
06	SYNC start value	UNSIGNED8	rw	no	no	0

en: TPDO communication parameter

0x1800 - 0x19FF TPDO communication parameter (see description for 0x1800)

1802 - TPDO communication parameter

Object Type	Sub Number	Memory Type
Record	7	ROM

Subindex	Name	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value
00	max sub-index	UNSIGNED8	ro	no	no	6
01	COB-ID used by TPDO	UNSIGNED32	rw	no	no	$NODEID+0x380
02	transmission type	UNSIGNED8	rw	no	no	254
03	inhibit time	UNSIGNED16	rw	no	no	0
04	compatibility entry	UNSIGNED8	rw	no	no	0
05	event timer	UNSIGNED16	rw	no	no	0
06	SYNC start value	UNSIGNED8	rw	no	no	0

en: TPDO communication parameter

0x1800 - 0x19FF TPDO communication parameter (see description for 0x1800)

1803 - TPDO communication parameter

Object Type	Sub Number	Memory Type
Record	7	ROM

Subindex	Name	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value
00	max sub-index	UNSIGNED8	ro	no	no	6
01	COB-ID used by TPDO	UNSIGNED32	rw	no	no	$NODEID+0x480
02	transmission type	UNSIGNED8	rw	no	no	254
03	inhibit time	UNSIGNED16	rw	no	no	0
04	compatibility entry	UNSIGNED8	rw	no	no	0
05	event timer	UNSIGNED16	rw	no	no	0
06	SYNC start value	UNSIGNED8	rw	no	no	0

en: TPDO communication parameter

0x1800 - 0x19FF TPDO communication parameter (see description for 0x1800)

1A00 - TPDO mapping parameter

Object Type	Sub Number	Memory Type
Record	9	ROM

Subindex	Name	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value
00	Number of mapped objects	UNSIGNED8	rw	no	no	2
01	mapped object 1	UNSIGNED32	rw	no	no	0x60000108
02	mapped object 2	UNSIGNED32	rw	no	no	0x60000208
03	mapped object 3	UNSIGNED32	rw	no	no	0x00000000
04	mapped object 4	UNSIGNED32	rw	no	no	0x00000000
05	mapped object 5	UNSIGNED32	rw	no	no	0x00000000
06	mapped object 6	UNSIGNED32	rw	no	no	0x00000000
07	mapped object 7	UNSIGNED32	rw	no	no	0x00000000
08	mapped object 8	UNSIGNED32	rw	no	no	0x00000000

en: TPDO mapping parameter

0x1A00 - 0x1BFF TPDO mapping parameter. (To change mapping, 'Number of mapped objects' must be set to 0).
Number of mapped objects

mapped object (subindex 1...8)
bit 0-7: data length in bits
bit 8-15: subindex from OD
bit 16-31: index from OD

1A01 - TPDO mapping parameter

Object Type	Sub Number	Memory Type
Record	9	ROM

Subindex	Name	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value
00	Number of mapped objects	UNSIGNED8	rw	no	no	0
01	mapped object 1	UNSIGNED32	rw	no	no	0x00000000
02	mapped object 2	UNSIGNED32	rw	no	no	0x00000000
03	mapped object 3	UNSIGNED32	rw	no	no	0x00000000
04	mapped object 4	UNSIGNED32	rw	no	no	0x00000000
05	mapped object 5	UNSIGNED32	rw	no	no	0x00000000
06	mapped object 6	UNSIGNED32	rw	no	no	0x00000000
07	mapped object 7	UNSIGNED32	rw	no	no	0x00000000
08	mapped object 8	UNSIGNED32	rw	no	no	0x00000000

en: TPDO mapping parameter

0x1A00 - 0x1BFF TPDO mapping parameter (see description for 0x1A00)

1A02 - TPDO mapping parameter

Object Type	Sub Number	Memory Type
Record	9	ROM

Subindex	Name	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value
00	Number of mapped objects	UNSIGNED8	rw	no	no	0
01	mapped object 1	UNSIGNED32	rw	no	no	0x00000000
02	mapped object 2	UNSIGNED32	rw	no	no	0x00000000
03	mapped object 3	UNSIGNED32	rw	no	no	0x00000000
04	mapped object 4	UNSIGNED32	rw	no	no	0x00000000
05	mapped object 5	UNSIGNED32	rw	no	no	0x00000000
06	mapped object 6	UNSIGNED32	rw	no	no	0x00000000
07	mapped object 7	UNSIGNED32	rw	no	no	0x00000000
08	mapped object 8	UNSIGNED32	rw	no	no	0x00000000

en: TPDO mapping parameter

0x1A00 - 0x1BFF TPDO mapping parameter (see description for 0x1A00)

1A03 - TPDO mapping parameter

Object Type	Sub Number	Memory Type
Record	9	ROM

Subindex	Name	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value
00	Number of mapped objects	UNSIGNED8	rw	no	no	0
01	mapped object 1	UNSIGNED32	rw	no	no	0x00000000
02	mapped object 2	UNSIGNED32	rw	no	no	0x00000000
03	mapped object 3	UNSIGNED32	rw	no	no	0x00000000
04	mapped object 4	UNSIGNED32	rw	no	no	0x00000000
05	mapped object 5	UNSIGNED32	rw	no	no	0x00000000
06	mapped object 6	UNSIGNED32	rw	no	no	0x00000000
07	mapped object 7	UNSIGNED32	rw	no	no	0x00000000
08	mapped object 8	UNSIGNED32	rw	no	no	0x00000000

en: TPDO mapping parameter

0x1A00 - 0x1BFF TPDO mapping parameter (see description for 0x1A00)

1F80 - NMT startup

Object Type	Memory Type	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value	Actual value
Var	ROM	UNSIGNED32	rw	no	no	0x00000000

en: NMT Startup

Only bit 2 is implemented.

bit 0: 0(1) - device is not (is) NMT master
bit 1: 0(1) - if bit3=0, start explicitly assigned (all) nodes
bit 2: 0(1) - automaticaly enter (DO NOT automaticaly enter) the operational state on bootup
bit 3: 0(1) - NMT master may (may not) start nodes automatically
bit 4: 0(1) - if monitored node fails heartbeat handle that (all) node(s)
bit 5: 0(1) - flying master process not (yes) supported
bit 6: 0(1) - use bit 4 (ignore bit 4, stop all nodes)
bit 7-31: reserved, set to 0

2100 - Error status bits

Object Type	Memory Type	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value	Actual value
Var	RAM	OCTET_STRING	ro	optional	no	00 00 00 00 00 00 00 00 00 00

en: Error Status Bits

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.

Default error status bits are:

Communication or protocol errors from driver (informative):
00 - ERROR_NO_ERROR - Error Reset or No Error.
01 - ERROR_CAN_BUS_WARNING - CAN bus warning.
02 - ERROR_RXMSG_WRONG_LENGTH - Wrong data length of received CAN message.
03 - ERROR_RXMSG_OVERFLOW - Previous received CAN message wasn't processed yet.
04 - ERROR_RPDO_WRONG_LENGTH - Wrong data length of received PDO.
05 - ERROR_RPDO_OVERFLOW - Previous received PDO wasn't processed yet.
06 - ERROR_CAN_RX_BUS_PASSIVE - CAN receive bus is passive.
07 - ERROR_CAN_TX_BUS_PASSIVE - CAN transmit bus is passive.

Communication or protocol errors from driver (critical):
08 - ERROR_08_reserved - (reserved)
09 - ERROR_09_reserved - (reserved)
0A - ERROR_CAN_TX_BUS_OFF - CAN transmit bus is off.
0B - ERROR_CAN_RXB_OVERFLOW - CAN module receive buffer has overflowed.
0C - ERROR_CAN_TX_OVERFLOW - CAN transmit buffer has overflowed.
0D - ERROR_TPDO_OUTSIDE_WINDOW - TPDO is outside SYNC window.
0E - ERROR_CAN_CONFIGURATION_FAILED - Configuration of CAN module CAN failed (Rx or Tx).
0F - ERROR_0F_reserved - (reserved)

Communication or protocol errors (informative):
10 - ERROR_NMT_WRONG_COMMAND - Wrong NMT command received.
11 - ERROR_SYNC_EARLY - SYNC message was too early.
12 - ERROR_12_reserved - (reserved)
13 - ERROR_13_reserved - (reserved)
14 - ERROR_14_reserved - (reserved)
15 - ERROR_15_reserved - (reserved)
16 - ERROR_16_reserved - (reserved)
17 - ERROR_17_reserved - (reserved)

Communication or protocol errors (critical):
18 - ERROR_SYNC_TIME_OUT - SYNC message timeout.
19 - ERROR_SYNC_LENGTH - Unexpected SYNC data length
1A - ERROR_PDO_WRONG_MAPPING - Error with PDO mapping.
1B - ERROR_HEARTBEAT_CONSUMER - Heartbeat consumer timeout.
1C - ERROR_HEARTBEAT_CONSUMER_REMOTE_RESET - Heartbeat consumer detected remote node reset.
1D - ERROR_1D_reserved - (reserved)
1E - ERROR_1E_reserved - (reserved)
1F - ERROR_1F_reserved - (reserved)

Generic errors (informative):
20 - ERROR_20_reserved - (reserved)
21 - ERROR_21_reserved - (reserved)
22 - ERROR_22_reserved - (reserved)
23 - ERROR_23_reserved - (reserved)
24 - ERROR_24_reserved - (reserved)
25 - ERROR_25_reserved - (reserved)
26 - ERROR_26_reserved - (reserved)
27 - ERROR_27_reserved - (reserved)

Generic errors (critical):
28 - ERROR_WRONG_ERROR_REPORT - Wrong parameters to <CO_errorReport()> function.
29 - ERROR_ISR_TIMER_OVERFLOW - Timer task has overflowed.
2A - ERROR_MEMORY_ALLOCATION_ERROR - Unable to allocate memory for objects.
2B - ERROR_GENERIC_ERROR - Generic error, test usage.
2C - ERROR_MAIN_TIMER_OVERFLOW - Mainline function exceeded maximum execution time.
2D - ERROR_INTERNAL_STATE_APPL - Error in application software internal state.
2E - ERROR_2E_reserved - (reserved)
2F - ERROR_2F_reserved - (reserved)

Manufacturer specific errors:
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).

2101 - CAN node ID

Object Type	Memory Type	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value	Actual value
Var	ROM	UNSIGNED8	rw	no	no	0x30

en: CAN Node ID

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.

Valid values are from 1 to 127:

2102 - CAN bit rate

Object Type	Memory Type	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value	Actual value
Var	ROM	UNSIGNED16	rw	no	no	250

en: CAN Bit-Rate

CAN Bit-Rate is CANopenNode specific variable. It sets CAN Bit-Rate for device on CANopen network.

Valid values are in [kbps]:
10, 20, 50, 125, 250, 500, 800, 1000

2103 - SYNC counter

Object Type	Memory Type	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value	Actual value
Var	RAM	UNSIGNED16	rw	no	no	0

en: SYNC Counter

SYNC Counter is incremented each time, SYNC message is received or transmitted.

2104 - SYNC time

Object Type	Memory Type	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value	Actual value
Var	RAM	UNSIGNED16	ro	no	no	0

en: SYNC Time

SYNC Time is incremented each timer period and reset to zero, each time SYNC is received or transmitted.

2106 - Power-on counter

Object Type	Memory Type	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value	Actual value
Var	EEPROM	UNSIGNED32	ro	no	no	0

en: Power on Counter

Power on Counter counts total microcontroller resets in it's lifetime. Variable is an example of EEPROM usage.

2107 - Performance

Object Type	Sub Number	Memory Type	Data Type	Access Type	PDO Mapping	TPDO detects COS
Array	6	RAM	UNSIGNED16	rw	optional	no

Subindex	Name	Default value
00	max sub-index	5
01	cycles per second	1000
02	timer cycle time	0
03	timer cycle max time	0
04	main cycle time	0
05	main cycle max time	0

en: Performance

Internal performance of the microcontroller.

cycles per second - cycle frequency of internal timer.
timer cycle time - current timer cycle time in percent of timer period.
timer cycle max time - maximum timer cycle time in percent of timer period.
main cycle time - current mainline function cycle time in percent of timer period.
main cycle max time - maximum mainline function cycle time in percent of timer period.

2108 - Temperature

Object Type	Sub Number	Memory Type	Data Type	Access Type	PDO Mapping	TPDO detects COS
Array	2	RAM	INTEGER16	ro	optional	no

Subindex	Name	Default value	Actual value
00	max sub-index	1
01	main PCB	0

en: Temperature

Current temperature on device in 0,1°C.

2109 - Voltage

Object Type	Sub Number	Memory Type	Data Type	Access Type	PDO Mapping	TPDO detects COS
Array	2	RAM	INTEGER16	ro	optional	no

Subindex	Name	Default value	Actual value
00	max sub-index	1
01	main PCB supply	0

en: Voltage

Current voltage on device in 0,1V.

2110 - Variable Int32

Object Type	Sub Number	Memory Type	Data Type	Access Type	PDO Mapping	TPDO detects COS
Array	17	RAM	INTEGER32	rw	optional	yes

Subindex	Name	Default value
00	max sub-index	16
01	int32	0
02	int32	0
03	int32	0
04	int32	0
05	int32	0
06	int32	0
07	int32	0
08	int32	0
09	int32	0
0A	int32	0
0B	int32	0
0C	int32	0
0D	int32	0
0E	int32	0
0F	int32	0
10	int32	0

en: Variable Integer 32bit

Vartiable is free to use by application.

2111 - Variable ROM Int32

Object Type	Sub Number	Memory Type	Data Type	Access Type	PDO Mapping	TPDO detects COS
Array	17	ROM	INTEGER32	rw	optional	yes

Subindex	Name	Default value
00	max sub-index	16
01	int32	1
02	int32	0
03	int32	0
04	int32	0
05	int32	0
06	int32	0
07	int32	0
08	int32	0
09	int32	0
0A	int32	0
0B	int32	0
0C	int32	0
0D	int32	0
0E	int32	0
0F	int32	0
10	int32	0

en: Variable ROM Integer 32bit

Vartiable is free to use by application.

2112 - Variable NV Int32

Object Type	Sub Number	Memory Type	Data Type	Access Type	PDO Mapping	TPDO detects COS
Array	17	EEPROM	INTEGER32	rw	optional	yes

Subindex	Name	Default value
00	max sub-index	16
01	int32	1
02	int32	0
03	int32	0
04	int32	0
05	int32	0
06	int32	0
07	int32	0
08	int32	0
09	int32	0
0A	int32	0
0B	int32	0
0C	int32	0
0D	int32	0
0E	int32	0
0F	int32	0
10	int32	0

en: Variable nonvolatile Integer 32bit

Vartiable is free to use by application. Variable is stored to internal baterry powered SRAM.

2120 - test var

Object Type	Sub Number	Memory Type
Record	6	RAM

Subindex	Name	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value
00	max sub-index	UNSIGNED8	ro	no	no	5
01	I64	INTEGER64	rw	optional	no	0x1234567890ABCDEFLL
02	U64	UNSIGNED64	rw	optional	no	0x234567890ABCDEF1LL
03	R32	REAL32	rw	optional	no	12.345
04	R64	REAL64	rw	optional	no	456.789
05	domain	DOMAIN	rw	no	no	0

2130 - Time

Object Type	Sub Number	Memory Type
Record	4	RAM

Subindex	Name	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value
00	max sub-index	UNSIGNED8	ro	no	no	3
01	String	VISIBLE_STRING	ro	no	no	-
02	Epoch time base ms	UNSIGNED64	rw	no	no	0
03	Epoch time offset ms	UNSIGNED32	rw	optional	no	0

en: Time

Variable displays current time.

String - returns current time as string.

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.

2301 - Trace config

Object Type	Sub Number	Memory Type
Record	9	ROM

Subindex	Name	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value
00	max sub-index	UNSIGNED8	ro	no	no	8
01	Size	UNSIGNED32	rw	no	no	100
02	Axis no	UNSIGNED8	rw	no	no	1
03	Name	VISIBLE_STRING	rw	no	no	Trace1
04	Color	VISIBLE_STRING	rw	no	no	red
05	Map	UNSIGNED32	rw	no	no	0x60000108
06	Format	UNSIGNED8	rw	no	no	1
07	Trigger	UNSIGNED8	rw	no	no	0
08	Threshold	INTEGER32	rw	no	no	0

en: Trace config

Trace is used for recording variables.

See also Trace.

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).)

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.

Name - name of the trace as a string (informative).

Color - color of the trace as a string (informative).

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).

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...".

Trigger - 0=disabled, 1=rising edge, 2=falling edge, 3=both edges.

Threshold - If integer value passes threshold (based on trigger setting), time is recorded into 'trigger time'.

2302 - Trace config

Object Type	Sub Number	Memory Type
Record	9	ROM

Subindex	Name	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value
00	max sub-index	UNSIGNED8	ro	no	no	8
01	Size	UNSIGNED32	rw	no	no	0
02	Axis no	UNSIGNED8	rw	no	no	0
03	Name	VISIBLE_STRING	rw	no	no	Trace2
04	Color	VISIBLE_STRING	rw	no	no	green
05	Map	UNSIGNED32	rw	no	no	0x00000000
06	Format	UNSIGNED8	rw	no	no	0
07	Trigger	UNSIGNED8	rw	no	no	0
08	Threshold	INTEGER32	rw	no	no	0

2400 - Trace enable

Object Type	Memory Type	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value	Actual value
Var	RAM	UNSIGNED8	rw	optional	no	0

en: Trace enable

This object controls, how many trace objects (beginning from index 0x2401) are enabled. If zero, all traces are disabled.

2401 - Trace

Object Type	Sub Number	Memory Type
Record	7	RAM

Subindex	Name	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value
00	max sub-index	UNSIGNED8	ro	no	no	6
01	Size	UNSIGNED32	rw	optional	no	0
02	Value	INTEGER32	rw	optional	no	0
03	Min	INTEGER32	rw	optional	no	0
04	Max	INTEGER32	rw	optional	no	0
05	Plot	DOMAIN	ro	no	no	0
06	Trigger time	UNSIGNED32	rw	optional	no	0

en: Trace

Trace is used for recording variables.

See also Trace config.

Size - Number of current records in buffer.

Value - Latest value. If traceConfig.map (index and subindex) is valid, then mapped variable will be copied here.

Min, Max - Minimum and maximum value.

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.

Trigger time - If integer value passes 'TraceConfig->threshold', then time is recorded into this variable.

2402 - Trace

Object Type	Sub Number	Memory Type
Record	7	RAM

Subindex	Name	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value
00	max sub-index	UNSIGNED8	ro	no	no	6
01	Size	UNSIGNED32	rw	optional	no	0
02	Value	INTEGER32	rw	optional	no	0
03	Min	INTEGER32	rw	optional	no	0
04	Max	INTEGER32	rw	optional	no	0
05	Plot	DOMAIN	ro	no	no	0
06	Trigger time	UNSIGNED32	rw	optional	no	0

6000 - Read input 8 bit

Object Type	Sub Number	Memory Type	Data Type	Access Type	PDO Mapping	TPDO detects COS
Array	9	RAM	UNSIGNED8	ro	optional	yes

Subindex	Name	Default value
00	max sub-index	8
01	Input	0x00
02	Input	0x00
03	Input	0x00
04	Input	0x00
05	Input	0x00
06	Input	0x00
07	Input	0x00
08	Input	0x00

en: Read input 8 bit

Digital inputs from hardware.

6200 - Write output 8 bit

Object Type	Sub Number	Memory Type	Data Type	Access Type	PDO Mapping	TPDO detects COS
Array	9	RAM	UNSIGNED8	rw	optional	no

Subindex	Name	Default value
00	max sub-index	8
01	Output	0x00
02	Output	0x00
03	Output	0x00
04	Output	0x00
05	Output	0x00
06	Output	0x00
07	Output	0x00
08	Output	0x00

en: Write output 8 bit

Digital outputs on hardware.

6401 - Read analogue input 16 bit

Object Type	Sub Number	Memory Type	Data Type	Access Type	PDO Mapping	TPDO detects COS
Array	13	RAM	INTEGER16	ro	optional	no

Subindex	Name	Default value
00	max sub-index	12
01	Input	0
02	Input	0
03	Input	0
04	Input	0
05	Input	0
06	Input	0
07	Input	0
08	Input	0
09	Input	0
0A	Input	0
0B	Input	0
0C	Input	0

en: Read analogue input 16 bit

Analogue inputs from hardware. The integer value is left adjusted.

6411 - Write analogue output 16 bit

Object Type	Sub Number	Memory Type	Data Type	Access Type	PDO Mapping	TPDO detects COS
Array	9	RAM	INTEGER16	rw	optional	no

Subindex	Name	Default value
00	max sub-index	8
01	Output	0
02	Output	0
03	Output	0
04	Output	0
05	Output	0
06	Output	0
07	Output	0
08	Output	0

en: Write analogue output 16 bit

Analogue outputs on hardware. The integer value is left adjusted.

CANopen object dictionary for IO Example

Device information

File information

Device Identity

en: CANopenNode

CANopen features

SYNC, value = 1

Associated objects:

en: Synchronization object (Sync)

Emergency, value = 1

Associated objects:

en: Emergency object (Emcy)

SDO server, value = 1

Associated objects:

en: Service Data Object (SDO)

RPDO, value = 4

Associated objects:

en: Recive Process Data Object (RPDO)

TPDO, value = 4

Associated objects:

en: Transmit Process Data Object (TPDO)

Trace, value = 2

Associated objects:

en: Trace

Communication Profile

Manufacturer specific

Device Profile

1000 - Device type

en: Device type

1001 - Error register

en: Error register

1002 - Manufacturer status register

en: Manufacturer status register

1003 - Pre-defined error field

en: Pre-defined error field

1005 - COB-ID SYNC message

en: COB-ID SYNC message

1006 - Communication cycle period

en: Communication cycle period

1007 - Synchronous window length

en: Synchronous window length

1008 - Manufacturer device name

en: Manufacturer device name

1009 - Manufacturer hardware version

en: Manufacturer hardware version

100A - Manufacturer software version

en: Manufacturer software version

1010 - Store parameters

en: Store parameters

1011 - Restore default parameters

en: Restore default parameters

1014 - COB-ID EMCY

en: COB-ID emergency message

1015 - inhibit time EMCY

en: inhibit time emergency message

1016 - Consumer heartbeat time

en: Consumer heartbeat time

1017 - Producer heartbeat time

en: Producer heartbeat time

1018 - Identity

en: Identity

1019 - Synchronous counter overflow value

en: Synchronous counter overflow value

1029 - Error behavior

en: Error behavior

1200 - SDO server parameter

en: SDO server parameter

1400 - RPDO communication parameter

en: RPDO communication parameter

1401 - RPDO communication parameter

en: RPDO communication parameter

1402 - RPDO communication parameter

en: RPDO communication parameter

1403 - RPDO communication parameter

en: RPDO communication parameter

1600 - RPDO mapping parameter

en: RPDO mapping parameter

1601 - RPDO mapping parameter

en: RPDO mapping parameter

1602 - RPDO mapping parameter