nikon/CANopenNode
1
0
Fork 0
Code Activity Actions
CANopenNode/example/DS301_profile.md
Janez 01887f268d Update example Object dictionary
2021-06-26 13:37:30 +02:00

37 KiB
Raw Blame History

CANopen device documentation

New Product
Project File DS301_profile.xpd
File Version 1
Created 23. 11. 2020 13:00:00
Created By
Modified 26. 06. 2021 13:21:06
Modified By

This file was automatically generated by CANopenEditor v4.0-49-gd365995

[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

  • 10 kBit/s
  • 20 kBit/s
  • 50 kBit/s
  • 125 kBit/s
  • 250 kBit/s
  • 500 kBit/s
  • 800 kBit/s
  • 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 tr 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 0x80+$NODEID
  • 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 0x600+$NODEID
0x02 COB-ID server to client (tx) UNSIGNED32 ro t no 0x580+$NODEID

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 0x80000200+$NODEID
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 0x80000300+$NODEID
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 0x80000400+$NODEID
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 0x80000500+$NODEID
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 0xC0000180+$NODEID
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 0xC0000280+$NODEID
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 0xC0000380+$NODEID
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 0xC0000480+$NODEID
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