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CANopenNode/example/DS301_profile.md
Janez fcd552ef96 example: update files with the latest CANopenEditor (v4.1-1) 
DS301_profile.xpd/.eds: "$NODEID" now appears at the beginning of the expression.
OD.h/.c: difference in C variable names generator.
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CANopen device documentation
============================
**New Product**
| | |
| ------------ | ------------------------------ |
| Project File | DS301_profile.xpd |
| File Version | 1 |
| Created | 23. 11. 2020 12:00:00 |
| Created By | |
| Modified | 17. 03. 2023 02:07:28 |
| Modified By | |
This file was automatically generated by [CANopenEditor](https://github.com/CANopenNode/CANopenEditor) v4.1-1-ga49a51a
[TOC]
Device Information
------------------
| | |
| ------------ | ------------------------------ |
| Vendor Name | |
| Vendor ID | |
| Product Name | New Product |
| Product ID | |
| Granularity | 8 |
| RPDO count | 4 |
| TPDO count | 4 |
| LSS Slave | True |
| LSS Master | False |
#### Supported Baud rates
* [x] 10 kBit/s
* [x] 20 kBit/s
* [x] 50 kBit/s
* [x] 125 kBit/s
* [x] 250 kBit/s
* [x] 500 kBit/s
* [x] 800 kBit/s
* [x] 1000 kBit/s
* [ ] auto
PDO Mapping
-----------
Communication Specific Parameters
---------------------------------
### 0x1000 - Device type
| Object Type | Count Label | Storage Group |
| ----------- | -------------- | -------------- |
| VAR | NMT | PERSIST_COMM |
| Data Type | SDO | PDO | SRDO | Default Value |
| ----------------------- | --- | --- | ---- | ------------------------------- |
| UNSIGNED32 | ro | no | no | 0x00000000 |
* bit 16-31: Additional information
* bit 0-15: Device profile number
### 0x1001 - Error register
| Object Type | Count Label | Storage Group |
| ----------- | -------------- | -------------- |
| VAR | EM | RAM |
| Data Type | SDO | PDO | SRDO | Default Value |
| ----------------------- | --- | --- | ---- | ------------------------------- |
| UNSIGNED8 | ro | t | no | 0x00 |
* bit 7: manufacturer specific
* bit 6: Reserved (always 0)
* bit 5: device profile specific
* bit 4: communication error (overrun, error state)
* bit 3: temperature
* bit 2: voltage
* bit 1: current
* bit 0: generic error
### 0x1003 - Pre-defined error field
| Object Type | Count Label | Storage Group |
| ----------- | -------------- | -------------- |
| ARRAY | | RAM |
| Sub | Name | Data Type | SDO | PDO | SRDO | Default Value |
| ---- | --------------------- | ---------- | --- | --- | ---- | ------------- |
| 0x00 | Number of errors | UNSIGNED8 | rw | no | no | |
| 0x01 | Standard error field | UNSIGNED32 | ro | no | no | |
| 0x02 | Standard error field | UNSIGNED32 | ro | no | no | |
| 0x03 | Standard error field | UNSIGNED32 | ro | no | no | |
| 0x04 | Standard error field | UNSIGNED32 | ro | no | no | |
| 0x05 | Standard error field | UNSIGNED32 | ro | no | no | |
| 0x06 | Standard error field | UNSIGNED32 | ro | no | no | |
| 0x07 | Standard error field | UNSIGNED32 | ro | no | no | |
| 0x08 | Standard error field | UNSIGNED32 | ro | no | no | |
| 0x09 | Standard error field | UNSIGNED32 | ro | no | no | |
| 0x0A | Standard error field | UNSIGNED32 | ro | no | no | |
| 0x0B | Standard error field | UNSIGNED32 | ro | no | no | |
| 0x0C | Standard error field | UNSIGNED32 | ro | no | no | |
| 0x0D | Standard error field | UNSIGNED32 | ro | no | no | |
| 0x0E | Standard error field | UNSIGNED32 | ro | no | no | |
| 0x0F | Standard error field | UNSIGNED32 | ro | no | no | |
| 0x10 | Standard error field | UNSIGNED32 | ro | no | no | |
* Sub Index 0: Contains number of actual errors. 0 can be written to clear error history.
* sub-index 1 and above:
* bit 16-31: Manufacturer specific additional information
* bit 0-15: Error code as transmited in the Emergency object
### 0x1005 - COB-ID SYNC message
| Object Type | Count Label | Storage Group |
| ----------- | -------------- | -------------- |
| VAR | SYNC | PERSIST_COMM |
| Data Type | SDO | PDO | SRDO | Default Value |
| ----------------------- | --- | --- | ---- | ------------------------------- |
| UNSIGNED32 | rw | no | no | 0x00000080 |
* bit 31: set to 0
* bit 30: If set, CANopen device generates SYNC object
* bit 11-29: set to 0
* bit 0-10: 11-bit CAN-ID
### 0x1006 - Communication cycle period
| Object Type | Count Label | Storage Group |
| ----------- | -------------- | -------------- |
| VAR | SYNC_PROD | PERSIST_COMM |
| Data Type | SDO | PDO | SRDO | Default Value |
| ----------------------- | --- | --- | ---- | ------------------------------- |
| UNSIGNED32 | rw | no | no | 0 |
Period of SYNC transmission in µs (0 = transmission disabled).
### 0x1007 - Synchronous window length
| Object Type | Count Label | Storage Group |
| ----------- | -------------- | -------------- |
| VAR | | PERSIST_COMM |
| Data Type | SDO | PDO | SRDO | Default Value |
| ----------------------- | --- | --- | ---- | ------------------------------- |
| UNSIGNED32 | rw | no | no | 0 |
Synchronous window leghth in µs (0 = not used). All synchronous PDOs must be transmitted within this time window.
### 0x1010 - Store parameters
| Object Type | Count Label | Storage Group |
| ----------- | -------------- | -------------- |
| ARRAY | STORAGE | RAM |
| Sub | Name | Data Type | SDO | PDO | SRDO | Default Value |
| ---- | --------------------- | ---------- | --- | --- | ---- | ------------- |
| 0x00 | Highest sub-index supported| UNSIGNED8 | ro | no | no | 0x04 |
| 0x01 | Save all parameters | UNSIGNED32 | rw | no | no | 0x00000001 |
| 0x02 | Save communication parameters| UNSIGNED32 | rw | no | no | 0x00000001 |
| 0x03 | Save application parameters| UNSIGNED32 | rw | no | no | 0x00000001 |
| 0x04 | Save manufacturer defined parameters| UNSIGNED32 | rw | no | no | 0x00000001 |
Sub-indexes 1 and above:
* Reading provides information about its storage functionality:
* bit 1: If set, CANopen device saves parameters autonomously
* bit 0: If set, CANopen device saves parameters on command
* Writing value 0x65766173 ('s','a','v','e' from LSB to MSB) stores corresponding data.
### 0x1011 - Restore default parameters
| Object Type | Count Label | Storage Group |
| ----------- | -------------- | -------------- |
| ARRAY | | RAM |
| Sub | Name | Data Type | SDO | PDO | SRDO | Default Value |
| ---- | --------------------- | ---------- | --- | --- | ---- | ------------- |
| 0x00 | Highest sub-index supported| UNSIGNED8 | ro | no | no | 0x04 |
| 0x01 | Restore all default parameters| UNSIGNED32 | rw | no | no | 0x00000001 |
| 0x02 | Restore communication default parameters| UNSIGNED32 | rw | no | no | 0x00000001 |
| 0x03 | Restore application default parameters| UNSIGNED32 | rw | no | no | 0x00000001 |
| 0x04 | Restore manufacturer defined default parameters| UNSIGNED32 | rw | no | no | 0x00000001 |
Sub-indexes 1 and above:
* Reading provides information about its restoring capability:
* bit 0: If set, CANopen device restores parameters
* Writing value 0x64616F6C ('l','o','a','d' from LSB to MSB) restores corresponding data.
### 0x1012 - COB-ID time stamp object
| Object Type | Count Label | Storage Group |
| ----------- | -------------- | -------------- |
| VAR | TIME | PERSIST_COMM |
| Data Type | SDO | PDO | SRDO | Default Value |
| ----------------------- | --- | --- | ---- | ------------------------------- |
| UNSIGNED32 | rw | no | no | 0x00000100 |
* bit 31: If set, CANopen device consumes TIME message
* bit 30: If set, CANopen device produces TIME message
* bit 11-29: set to 0
* bit 0-10: 11-bit CAN-ID
### 0x1014 - COB-ID EMCY
| Object Type | Count Label | Storage Group |
| ----------- | -------------- | -------------- |
| VAR | EM_PROD | PERSIST_COMM |
| Data Type | SDO | PDO | SRDO | Default Value |
| ----------------------- | --- | --- | ---- | ------------------------------- |
| UNSIGNED32 | rw | no | no | $NODEID+0x80 |
* bit 31: If set, EMCY does NOT exist / is NOT valid
* bit 11-30: set to 0
* bit 0-10: 11-bit CAN-ID
### 0x1015 - Inhibit time EMCY
| Object Type | Count Label | Storage Group |
| ----------- | -------------- | -------------- |
| VAR | | PERSIST_COMM |
| Data Type | SDO | PDO | SRDO | Default Value |
| ----------------------- | --- | --- | ---- | ------------------------------- |
| UNSIGNED16 | rw | no | no | 0 |
Inhibit time of emergency message in multiples of 100µs. The value 0 disables the inhibit time.
### 0x1016 - Consumer heartbeat time
| Object Type | Count Label | Storage Group |
| ----------- | -------------- | -------------- |
| ARRAY | HB_CONS | PERSIST_COMM |
| Sub | Name | Data Type | SDO | PDO | SRDO | Default Value |
| ---- | --------------------- | ---------- | --- | --- | ---- | ------------- |
| 0x00 | Highest sub-index supported| UNSIGNED8 | ro | no | no | 0x08 |
| 0x01 | Consumer heartbeat time| UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x02 | Consumer heartbeat time| UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x03 | Consumer heartbeat time| UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x04 | Consumer heartbeat time| UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x05 | Consumer heartbeat time| UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x06 | Consumer heartbeat time| UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x07 | Consumer heartbeat time| UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x08 | Consumer heartbeat time| UNSIGNED32 | rw | no | no | 0x00000000 |
Consumer Heartbeat Time:
* bit 24-31: set to 0
* bit 16-23: Node ID of the monitored node. If 0 or greater than 127, sub-entry is not used.
* bit 0-15: Heartbeat time in ms (if 0, sub-intry is not used). Value should be higher than the corresponding producer heartbeat time.
### 0x1017 - Producer heartbeat time
| Object Type | Count Label | Storage Group |
| ----------- | -------------- | -------------- |
| VAR | HB_PROD | PERSIST_COMM |
| Data Type | SDO | PDO | SRDO | Default Value |
| ----------------------- | --- | --- | ---- | ------------------------------- |
| UNSIGNED16 | rw | no | no | 0 |
Heartbeat producer time in ms (0 = disable transmission).
### 0x1018 - Identity
| Object Type | Count Label | Storage Group |
| ----------- | -------------- | -------------- |
| RECORD | | PERSIST_COMM |
| Sub | Name | Data Type | SDO | PDO | SRDO | Default Value |
| ---- | --------------------- | ---------- | --- | --- | ---- | ------------- |
| 0x00 | Highest sub-index supported| UNSIGNED8 | ro | no | no | 0x04 |
| 0x01 | Vendor-ID | UNSIGNED32 | ro | no | no | 0x00000000 |
| 0x02 | Product code | UNSIGNED32 | ro | no | no | 0x00000000 |
| 0x03 | Revision number | UNSIGNED32 | ro | no | no | 0x00000000 |
| 0x04 | Serial number | UNSIGNED32 | ro | no | no | 0x00000000 |
* Vendor-ID, assigned by CiA
* Product code, manufacturer specific
* Revision number:
* bit 16-31: Major revision number (CANopen behavior has changed)
* bit 0-15: Minor revision num. (CANopen behavior has not changed)
* Serial number, manufacturer specific
### 0x1019 - Synchronous counter overflow value
| Object Type | Count Label | Storage Group |
| ----------- | -------------- | -------------- |
| VAR | | PERSIST_COMM |
| Data Type | SDO | PDO | SRDO | Default Value |
| ----------------------- | --- | --- | ---- | ------------------------------- |
| UNSIGNED8 | rw | no | no | 0 |
* Value 0: SYNC message is transmitted with data length 0.
* Value 1: reserved.
* Value 2-240: SYNC message has one data byte, which contains the counter.
* Value 241-255: reserved.
### 0x1200 - SDO server parameter
| Object Type | Count Label | Storage Group |
| ----------- | -------------- | -------------- |
| RECORD | SDO_SRV | RAM |
| Sub | Name | Data Type | SDO | PDO | SRDO | Default Value |
| ---- | --------------------- | ---------- | --- | --- | ---- | ------------- |
| 0x00 | Highest sub-index supported| UNSIGNED8 | ro | no | no | 2 |
| 0x01 | COB-ID client to server (rx)| UNSIGNED32 | ro | t | no | $NODEID+0x600 |
| 0x02 | COB-ID server to client (tx)| UNSIGNED32 | ro | t | no | $NODEID+0x580 |
Sub-indexes 1 and 2:
* bit 11-31: set to 0
* bit 0-10: 11-bit CAN-ID
### 0x1280 - SDO client parameter
| Object Type | Count Label | Storage Group |
| ----------- | -------------- | -------------- |
| RECORD | SDO_CLI | PERSIST_COMM |
| Sub | Name | Data Type | SDO | PDO | SRDO | Default Value |
| ---- | --------------------- | ---------- | --- | --- | ---- | ------------- |
| 0x00 | Highest sub-index supported| UNSIGNED8 | ro | no | no | 0x03 |
| 0x01 | COB-ID client to server (tx)| UNSIGNED32 | rw | tr | no | 0x80000000 |
| 0x02 | COB-ID server to client (rx)| UNSIGNED32 | rw | tr | no | 0x80000000 |
| 0x03 | Node-ID of the SDO server| UNSIGNED8 | rw | no | no | 0x01 |
* Sub-indexes 1 and 2:
* bit 31: If set, SDO does NOT exist / is NOT valid
* bit 30: If set, value is assigned dynamically
* bit 11-29: set to 0
* bit 0-10: 11-bit CAN-ID
* Node-ID of the SDO server, 0x01 to 0x7F
### 0x1400 - RPDO communication parameter
| Object Type | Count Label | Storage Group |
| ----------- | -------------- | -------------- |
| RECORD | RPDO | PERSIST_COMM |
| Sub | Name | Data Type | SDO | PDO | SRDO | Default Value |
| ---- | --------------------- | ---------- | --- | --- | ---- | ------------- |
| 0x00 | Highest sub-index supported| UNSIGNED8 | ro | no | no | 0x05 |
| 0x01 | COB-ID used by RPDO | UNSIGNED32 | rw | no | no | $NODEID+0x80000200|
| 0x02 | Transmission type | UNSIGNED8 | rw | no | no | 254 |
| 0x05 | Event timer | UNSIGNED16 | rw | no | no | 0 |
* COB-ID used by RPDO:
* bit 31: If set, PDO does not exist / is not valid
* bit 11-30: set to 0
* bit 0-10: 11-bit CAN-ID
* Transmission type:
* Value 0-240: synchronous, processed after next reception of SYNC object
* Value 241-253: not used
* Value 254: event-driven (manufacturer-specific)
* Value 255: event-driven (device profile and application profile specific)
* Event timer in ms (0 = disabled) for deadline monitoring.
### 0x1401 - RPDO communication parameter
| Object Type | Count Label | Storage Group |
| ----------- | -------------- | -------------- |
| RECORD | RPDO | PERSIST_COMM |
| Sub | Name | Data Type | SDO | PDO | SRDO | Default Value |
| ---- | --------------------- | ---------- | --- | --- | ---- | ------------- |
| 0x00 | Highest sub-index supported| UNSIGNED8 | ro | no | no | 0x05 |
| 0x01 | COB-ID used by RPDO | UNSIGNED32 | rw | no | no | $NODEID+0x80000300|
| 0x02 | Transmission type | UNSIGNED8 | rw | no | no | 254 |
| 0x05 | Event timer | UNSIGNED16 | rw | no | no | 0 |
* COB-ID used by RPDO:
* bit 31: If set, PDO does not exist / is not valid
* bit 11-30: set to 0
* bit 0-10: 11-bit CAN-ID
* Transmission type:
* Value 0-240: synchronous, processed after next reception of SYNC object
* Value 241-253: not used
* Value 254: event-driven (manufacturer-specific)
* Value 255: event-driven (device profile and application profile specific)
* Event timer in ms (0 = disabled) for deadline monitoring.
### 0x1402 - RPDO communication parameter
| Object Type | Count Label | Storage Group |
| ----------- | -------------- | -------------- |
| RECORD | RPDO | PERSIST_COMM |
| Sub | Name | Data Type | SDO | PDO | SRDO | Default Value |
| ---- | --------------------- | ---------- | --- | --- | ---- | ------------- |
| 0x00 | Highest sub-index supported| UNSIGNED8 | ro | no | no | 0x05 |
| 0x01 | COB-ID used by RPDO | UNSIGNED32 | rw | no | no | $NODEID+0x80000400|
| 0x02 | Transmission type | UNSIGNED8 | rw | no | no | 254 |
| 0x05 | Event timer | UNSIGNED16 | rw | no | no | 0 |
* COB-ID used by RPDO:
* bit 31: If set, PDO does not exist / is not valid
* bit 11-30: set to 0
* bit 0-10: 11-bit CAN-ID
* Transmission type:
* Value 0-240: synchronous, processed after next reception of SYNC object
* Value 241-253: not used
* Value 254: event-driven (manufacturer-specific)
* Value 255: event-driven (device profile and application profile specific)
* Event timer in ms (0 = disabled) for deadline monitoring.
### 0x1403 - RPDO communication parameter
| Object Type | Count Label | Storage Group |
| ----------- | -------------- | -------------- |
| RECORD | RPDO | PERSIST_COMM |
| Sub | Name | Data Type | SDO | PDO | SRDO | Default Value |
| ---- | --------------------- | ---------- | --- | --- | ---- | ------------- |
| 0x00 | Highest sub-index supported| UNSIGNED8 | ro | no | no | 0x05 |
| 0x01 | COB-ID used by RPDO | UNSIGNED32 | rw | no | no | $NODEID+0x80000500|
| 0x02 | Transmission type | UNSIGNED8 | rw | no | no | 254 |
| 0x05 | Event timer | UNSIGNED16 | rw | no | no | 0 |
* COB-ID used by RPDO:
* bit 31: If set, PDO does not exist / is not valid
* bit 11-30: set to 0
* bit 0-10: 11-bit CAN-ID
* Transmission type:
* Value 0-240: synchronous, processed after next reception of SYNC object
* Value 241-253: not used
* Value 254: event-driven (manufacturer-specific)
* Value 255: event-driven (device profile and application profile specific)
* Event timer in ms (0 = disabled) for deadline monitoring.
### 0x1600 - RPDO mapping parameter
| Object Type | Count Label | Storage Group |
| ----------- | -------------- | -------------- |
| RECORD | | PERSIST_COMM |
| Sub | Name | Data Type | SDO | PDO | SRDO | Default Value |
| ---- | --------------------- | ---------- | --- | --- | ---- | ------------- |
| 0x00 | Number of mapped application objects in PDO| UNSIGNED8 | rw | no | no | 0 |
| 0x01 | Application object 1 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x02 | Application object 2 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x03 | Application object 3 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x04 | Application object 4 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x05 | Application object 5 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x06 | Application object 6 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x07 | Application object 7 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x08 | Application object 8 | UNSIGNED32 | rw | no | no | 0x00000000 |
* Number of mapped application objects in PDO:
* Value 0: mapping is disabled.
* Value 1: sub-index 0x01 is valid.
* Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid.
* Application object 1-8:
* bit 16-31: index
* bit 8-15: sub-index
* bit 0-7: data length in bits
### 0x1601 - RPDO mapping parameter
| Object Type | Count Label | Storage Group |
| ----------- | -------------- | -------------- |
| RECORD | | PERSIST_COMM |
| Sub | Name | Data Type | SDO | PDO | SRDO | Default Value |
| ---- | --------------------- | ---------- | --- | --- | ---- | ------------- |
| 0x00 | Number of mapped application objects in PDO| UNSIGNED8 | rw | no | no | 0 |
| 0x01 | Application object 1 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x02 | Application object 2 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x03 | Application object 3 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x04 | Application object 4 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x05 | Application object 5 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x06 | Application object 6 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x07 | Application object 7 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x08 | Application object 8 | UNSIGNED32 | rw | no | no | 0x00000000 |
* Number of mapped application objects in PDO:
* Value 0: mapping is disabled.
* Value 1: sub-index 0x01 is valid.
* Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid.
* Application object 1-8:
* bit 16-31: index
* bit 8-15: sub-index
* bit 0-7: data length in bits
### 0x1602 - RPDO mapping parameter
| Object Type | Count Label | Storage Group |
| ----------- | -------------- | -------------- |
| RECORD | | PERSIST_COMM |
| Sub | Name | Data Type | SDO | PDO | SRDO | Default Value |
| ---- | --------------------- | ---------- | --- | --- | ---- | ------------- |
| 0x00 | Number of mapped application objects in PDO| UNSIGNED8 | rw | no | no | 0 |
| 0x01 | Application object 1 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x02 | Application object 2 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x03 | Application object 3 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x04 | Application object 4 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x05 | Application object 5 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x06 | Application object 6 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x07 | Application object 7 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x08 | Application object 8 | UNSIGNED32 | rw | no | no | 0x00000000 |
* Number of mapped application objects in PDO:
* Value 0: mapping is disabled.
* Value 1: sub-index 0x01 is valid.
* Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid.
* Application object 1-8:
* bit 16-31: index
* bit 8-15: sub-index
* bit 0-7: data length in bits
### 0x1603 - RPDO mapping parameter
| Object Type | Count Label | Storage Group |
| ----------- | -------------- | -------------- |
| RECORD | | PERSIST_COMM |
| Sub | Name | Data Type | SDO | PDO | SRDO | Default Value |
| ---- | --------------------- | ---------- | --- | --- | ---- | ------------- |
| 0x00 | Number of mapped application objects in PDO| UNSIGNED8 | rw | no | no | 0 |
| 0x01 | Application object 1 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x02 | Application object 2 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x03 | Application object 3 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x04 | Application object 4 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x05 | Application object 5 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x06 | Application object 6 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x07 | Application object 7 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x08 | Application object 8 | UNSIGNED32 | rw | no | no | 0x00000000 |
* Number of mapped application objects in PDO:
* Value 0: mapping is disabled.
* Value 1: sub-index 0x01 is valid.
* Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid.
* Application object 1-8:
* bit 16-31: index
* bit 8-15: sub-index
* bit 0-7: data length in bits
### 0x1800 - TPDO communication parameter
| Object Type | Count Label | Storage Group |
| ----------- | -------------- | -------------- |
| RECORD | TPDO | PERSIST_COMM |
| Sub | Name | Data Type | SDO | PDO | SRDO | Default Value |
| ---- | --------------------- | ---------- | --- | --- | ---- | ------------- |
| 0x00 | Highest sub-index supported| UNSIGNED8 | ro | no | no | 0x06 |
| 0x01 | COB-ID used by TPDO | UNSIGNED32 | rw | no | no | $NODEID+0xC0000180|
| 0x02 | Transmission type | UNSIGNED8 | rw | no | no | 254 |
| 0x03 | Inhibit time | UNSIGNED16 | rw | no | no | 0 |
| 0x05 | Event timer | UNSIGNED16 | rw | no | no | 0 |
| 0x06 | SYNC start value | UNSIGNED8 | rw | no | no | 0 |
* COB-ID used by RPDO:
* bit 31: If set, PDO does not exist / is not valid
* bit 30: If set, NO RTR is allowed on this PDO
* bit 11-29: set to 0
* bit 0-10: 11-bit CAN-ID
* Transmission type:
* Value 0: synchronous (acyclic)
* Value 1-240: synchronous (cyclic every (1-240)-th sync)
* Value 241-253: not used
* Value 254: event-driven (manufacturer-specific)
* Value 255: event-driven (device profile and application profile specific)
* Inhibit time in multiple of 100µs, if the transmission type is set to 254 or 255 (0 = disabled).
* Event timer interval in ms, if the transmission type is set to 254 or 255 (0 = disabled).
* 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.
### 0x1801 - TPDO communication parameter
| Object Type | Count Label | Storage Group |
| ----------- | -------------- | -------------- |
| RECORD | TPDO | PERSIST_COMM |
| Sub | Name | Data Type | SDO | PDO | SRDO | Default Value |
| ---- | --------------------- | ---------- | --- | --- | ---- | ------------- |
| 0x00 | Highest sub-index supported| UNSIGNED8 | ro | no | no | 0x06 |
| 0x01 | COB-ID used by TPDO | UNSIGNED32 | rw | no | no | $NODEID+0xC0000280|
| 0x02 | Transmission type | UNSIGNED8 | rw | no | no | 254 |
| 0x03 | Inhibit time | UNSIGNED16 | rw | no | no | 0 |
| 0x05 | Event timer | UNSIGNED16 | rw | no | no | 0 |
| 0x06 | SYNC start value | UNSIGNED8 | rw | no | no | 0 |
* COB-ID used by RPDO:
* bit 31: If set, PDO does not exist / is not valid
* bit 30: If set, NO RTR is allowed on this PDO
* bit 11-29: set to 0
* bit 0-10: 11-bit CAN-ID
* Transmission type:
* Value 0: synchronous (acyclic)
* Value 1-240: synchronous (cyclic every (1-240)-th sync)
* Value 241-253: not used
* Value 254: event-driven (manufacturer-specific)
* Value 255: event-driven (device profile and application profile specific)
* Inhibit time in multiple of 100µs, if the transmission type is set to 254 or 255 (0 = disabled).
* Event timer interval in ms, if the transmission type is set to 254 or 255 (0 = disabled).
* 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.
### 0x1802 - TPDO communication parameter
| Object Type | Count Label | Storage Group |
| ----------- | -------------- | -------------- |
| RECORD | TPDO | PERSIST_COMM |
| Sub | Name | Data Type | SDO | PDO | SRDO | Default Value |
| ---- | --------------------- | ---------- | --- | --- | ---- | ------------- |
| 0x00 | Highest sub-index supported| UNSIGNED8 | ro | no | no | 0x06 |
| 0x01 | COB-ID used by TPDO | UNSIGNED32 | rw | no | no | $NODEID+0xC0000380|
| 0x02 | Transmission type | UNSIGNED8 | rw | no | no | 254 |
| 0x03 | Inhibit time | UNSIGNED16 | rw | no | no | 0 |
| 0x05 | Event timer | UNSIGNED16 | rw | no | no | 0 |
| 0x06 | SYNC start value | UNSIGNED8 | rw | no | no | 0 |
* COB-ID used by RPDO:
* bit 31: If set, PDO does not exist / is not valid
* bit 30: If set, NO RTR is allowed on this PDO
* bit 11-29: set to 0
* bit 0-10: 11-bit CAN-ID
* Transmission type:
* Value 0: synchronous (acyclic)
* Value 1-240: synchronous (cyclic every (1-240)-th sync)
* Value 241-253: not used
* Value 254: event-driven (manufacturer-specific)
* Value 255: event-driven (device profile and application profile specific)
* Inhibit time in multiple of 100µs, if the transmission type is set to 254 or 255 (0 = disabled).
* Event timer interval in ms, if the transmission type is set to 254 or 255 (0 = disabled).
* 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.
### 0x1803 - TPDO communication parameter
| Object Type | Count Label | Storage Group |
| ----------- | -------------- | -------------- |
| RECORD | TPDO | PERSIST_COMM |
| Sub | Name | Data Type | SDO | PDO | SRDO | Default Value |
| ---- | --------------------- | ---------- | --- | --- | ---- | ------------- |
| 0x00 | Highest sub-index supported| UNSIGNED8 | ro | no | no | 0x06 |
| 0x01 | COB-ID used by TPDO | UNSIGNED32 | rw | no | no | $NODEID+0xC0000480|
| 0x02 | Transmission type | UNSIGNED8 | rw | no | no | 254 |
| 0x03 | Inhibit time | UNSIGNED16 | rw | no | no | 0 |
| 0x05 | Event timer | UNSIGNED16 | rw | no | no | 0 |
| 0x06 | SYNC start value | UNSIGNED8 | rw | no | no | 0 |
* COB-ID used by RPDO:
* bit 31: If set, PDO does not exist / is not valid
* bit 30: If set, NO RTR is allowed on this PDO
* bit 11-29: set to 0
* bit 0-10: 11-bit CAN-ID
* Transmission type:
* Value 0: synchronous (acyclic)
* Value 1-240: synchronous (cyclic every (1-240)-th sync)
* Value 241-253: not used
* Value 254: event-driven (manufacturer-specific)
* Value 255: event-driven (device profile and application profile specific)
* Inhibit time in multiple of 100µs, if the transmission type is set to 254 or 255 (0 = disabled).
* Event timer interval in ms, if the transmission type is set to 254 or 255 (0 = disabled).
* 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.
### 0x1A00 - TPDO mapping parameter
| Object Type | Count Label | Storage Group |
| ----------- | -------------- | -------------- |
| RECORD | | PERSIST_COMM |
| Sub | Name | Data Type | SDO | PDO | SRDO | Default Value |
| ---- | --------------------- | ---------- | --- | --- | ---- | ------------- |
| 0x00 | Number of mapped application objects in PDO| UNSIGNED8 | rw | no | no | 0 |
| 0x01 | Application object 1 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x02 | Application object 2 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x03 | Application object 3 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x04 | Application object 4 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x05 | Application object 5 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x06 | Application object 6 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x07 | Application object 7 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x08 | Application object 8 | UNSIGNED32 | rw | no | no | 0x00000000 |
* Number of mapped application objects in PDO:
* Value 0: mapping is disabled.
* Value 1: sub-index 0x01 is valid.
* Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid.
* Application object 1-8:
* bit 16-31: index
* bit 8-15: sub-index
* bit 0-7: data length in bits
### 0x1A01 - TPDO mapping parameter
| Object Type | Count Label | Storage Group |
| ----------- | -------------- | -------------- |
| RECORD | | PERSIST_COMM |
| Sub | Name | Data Type | SDO | PDO | SRDO | Default Value |
| ---- | --------------------- | ---------- | --- | --- | ---- | ------------- |
| 0x00 | Number of mapped application objects in PDO| UNSIGNED8 | rw | no | no | 0 |
| 0x01 | Application object 1 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x02 | Application object 2 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x03 | Application object 3 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x04 | Application object 4 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x05 | Application object 5 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x06 | Application object 6 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x07 | Application object 7 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x08 | Application object 8 | UNSIGNED32 | rw | no | no | 0x00000000 |
* Number of mapped application objects in PDO:
* Value 0: mapping is disabled.
* Value 1: sub-index 0x01 is valid.
* Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid.
* Application object 1-8:
* bit 16-31: index
* bit 8-15: sub-index
* bit 0-7: data length in bits
### 0x1A02 - TPDO mapping parameter
| Object Type | Count Label | Storage Group |
| ----------- | -------------- | -------------- |
| RECORD | | PERSIST_COMM |
| Sub | Name | Data Type | SDO | PDO | SRDO | Default Value |
| ---- | --------------------- | ---------- | --- | --- | ---- | ------------- |
| 0x00 | Number of mapped application objects in PDO| UNSIGNED8 | rw | no | no | 0 |
| 0x01 | Application object 1 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x02 | Application object 2 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x03 | Application object 3 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x04 | Application object 4 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x05 | Application object 5 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x06 | Application object 6 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x07 | Application object 7 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x08 | Application object 8 | UNSIGNED32 | rw | no | no | 0x00000000 |
* Number of mapped application objects in PDO:
* Value 0: mapping is disabled.
* Value 1: sub-index 0x01 is valid.
* Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid.
* Application object 1-8:
* bit 16-31: index
* bit 8-15: sub-index
* bit 0-7: data length in bits
### 0x1A03 - TPDO mapping parameter
| Object Type | Count Label | Storage Group |
| ----------- | -------------- | -------------- |
| RECORD | | PERSIST_COMM |
| Sub | Name | Data Type | SDO | PDO | SRDO | Default Value |
| ---- | --------------------- | ---------- | --- | --- | ---- | ------------- |
| 0x00 | Number of mapped application objects in PDO| UNSIGNED8 | rw | no | no | 0 |
| 0x01 | Application object 1 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x02 | Application object 2 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x03 | Application object 3 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x04 | Application object 4 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x05 | Application object 5 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x06 | Application object 6 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x07 | Application object 7 | UNSIGNED32 | rw | no | no | 0x00000000 |
| 0x08 | Application object 8 | UNSIGNED32 | rw | no | no | 0x00000000 |
* Number of mapped application objects in PDO:
* Value 0: mapping is disabled.
* Value 1: sub-index 0x01 is valid.
* Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid.
* Application object 1-8:
* bit 16-31: index
* bit 8-15: sub-index
* bit 0-7: data length in bits
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