CANopen object dictionary for HANcoderNode

• Device information

  • File information

    File Name	HANcoderNode
    File Version	3.0
    Creation Time	21:55:02
    Creation Date	2015-11-10
    Created By	Voorburg

  • Device Identity

    Vendor name	HAN
    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...
    Version	Version Type=FW, version=1.00

  • 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...

    SDO client, value = 1

    Associated objects:

    Name	Index	Max Index	Index step
    SDO client parameter	1280	1281	1

    en: Service Data Object (SDO)

    A Service Data Object (SDO) reads from entries or writes to entries of the Object Dictionary.
    SDO client is usually a master device in a CANopen network.
    
    Permissible value for SDO client 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...

    NMT master, value = 1

    Associated objects:

    en: NMT master

    NMT master can send CANopen NMT command, which can start, stop or reset nodes.

• 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:
  • 1280 - SDO client parameter
    • 00 - max sub-index:
    • 01 - COB-ID client to server:
    • 02 - COB-ID server to client:
    • 03 - Node-ID of the SDO server:
  • 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:

• Device Profile

  • 6000 - Generic application inputs
    • 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:
    • 0D - Input:
    • 0E - Input:
    • 0F - Input:
    • 10 - Input:
    • 11 - Input:
    • 12 - Input:
    • 13 - Input:
    • 14 - Input:
    • 15 - Input:
    • 16 - Input:
    • 17 - Input:
    • 18 - Input:
    • 19 - Input:
    • 1A - Input:
    • 1B - Input:
    • 1C - Input:
    • 1D - Input:
    • 1E - Input:
    • 1F - Input:
    • 20 - Input:
  • 6200 - Generic application outputs
    • 00 - max sub-index:
    • 01 - Output:
    • 02 - Output:
    • 03 - Output:
    • 04 - Output:
    • 05 - Output:
    • 06 - Output:
    • 07 - Output:
    • 08 - Output:
    • 09 - Output:
    • 0A - Output:
    • 0B - Output:
    • 0C - Output:
    • 0D - Output:
    • 0E - Output:
    • 0F - Output:
    • 10 - Output:
    • 11 - Output:
    • 12 - Output:
    • 13 - Output:
    • 14 - Output:
    • 15 - Output:
    • 16 - Output:
    • 17 - Output:
    • 18 - Output:
    • 19 - Output:
    • 1A - Output:
    • 1B - Output:
    • 1C - Output:
    • 1D - Output:
    • 1E - Output:
    • 1F - Output:
    • 20 - 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 ?s (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 ?s, (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 100?s

• 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	Actual 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	Actual 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	Actual 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	Actual 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)

• 1280 - SDO client parameter

  Object Type	Sub Number	Memory Type
  Record	4	RAM

  
  

  Subindex	Name	Data Type	Access Type	PDO Mapping	TPDO detects COS	Default value	Actual value
  00	max sub-index	UNSIGNED8	ro	no	no	3
  01	COB-ID client to server	UNSIGNED32	rw	optional	no	0
  02	COB-ID server to client	UNSIGNED32	rw	optional	no	0
  03	Node-ID of the SDO server	UNSIGNED8	rw	no	no	0

  en: SDO client parameter

  0x1280 - 0x12FF SDO client parameter
  max sub-index
  
  COB-ID client to server (Transmit 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 (Receive SDO)
  bit 0-31: same as previous
  
  Node-ID of the SDO server
  0-7: Node ID

• 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	Actual 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	Actual 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	255

  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	Actual 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	255

  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	Actual 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	255

  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	Actual value
  00	Number of mapped objects	UNSIGNED8	rw	no	no	8
  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	0x62000308
  04	mapped object 4	UNSIGNED32	rw	no	no	0x62000408
  05	mapped object 5	UNSIGNED32	rw	no	no	0x62000508
  06	mapped object 6	UNSIGNED32	rw	no	no	0x62000608
  07	mapped object 7	UNSIGNED32	rw	no	no	0x62000708
  08	mapped object 8	UNSIGNED32	rw	no	no	0x62000808

  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	Actual value
  00	Number of mapped objects	UNSIGNED8	rw	no	no	8
  01	mapped object 1	UNSIGNED32	rw	no	no	0x62000908
  02	mapped object 2	UNSIGNED32	rw	no	no	0x62000A08
  03	mapped object 3	UNSIGNED32	rw	no	no	0x62000B08
  04	mapped object 4	UNSIGNED32	rw	no	no	0x62000C08
  05	mapped object 5	UNSIGNED32	rw	no	no	0x62000D08
  06	mapped object 6	UNSIGNED32	rw	no	no	0x62000E08
  07	mapped object 7	UNSIGNED32	rw	no	no	0x62000F08
  08	mapped object 8	UNSIGNED32	rw	no	no	0x62001008

  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	Actual value
  00	Number of mapped objects	UNSIGNED8	rw	no	no	8
  01	mapped object 1	UNSIGNED32	rw	no	no	0x62001108
  02	mapped object 2	UNSIGNED32	rw	no	no	0x62001208
  03	mapped object 3	UNSIGNED32	rw	no	no	0x62001308
  04	mapped object 4	UNSIGNED32	rw	no	no	0x62001408
  05	mapped object 5	UNSIGNED32	rw	no	no	0x62001508
  06	mapped object 6	UNSIGNED32	rw	no	no	0x62001608
  07	mapped object 7	UNSIGNED32	rw	no	no	0x62001708
  08	mapped object 8	UNSIGNED32	rw	no	no	0x62001808

  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	Actual value
  00	Number of mapped objects	UNSIGNED8	rw	no	no	8
  01	mapped object 1	UNSIGNED32	rw	no	no	0x62001908
  02	mapped object 2	UNSIGNED32	rw	no	no	0x62001A08
  03	mapped object 3	UNSIGNED32	rw	no	no	0x62001B08
  04	mapped object 4	UNSIGNED32	rw	no	no	0x62001C08
  05	mapped object 5	UNSIGNED32	rw	no	no	0x62001D08
  06	mapped object 6	UNSIGNED32	rw	no	no	0x62001E08
  07	mapped object 7	UNSIGNED32	rw	no	no	0x62001F08
  08	mapped object 8	UNSIGNED32	rw	no	no	0x62002008

  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	Actual 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	254
  03	inhibit time	UNSIGNED16	rw	no	no	100
  04	compatibility entry	UNSIGNED8	rw	no	no	0
  05	event timer	UNSIGNED16	rw	no	no	100
  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 100?s. 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	Actual 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	100
  04	compatibility entry	UNSIGNED8	rw	no	no	0
  05	event timer	UNSIGNED16	rw	no	no	100
  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	Actual 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	100
  04	compatibility entry	UNSIGNED8	rw	no	no	0
  05	event timer	UNSIGNED16	rw	no	no	100
  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	Actual 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	100
  04	compatibility entry	UNSIGNED8	rw	no	no	0
  05	event timer	UNSIGNED16	rw	no	no	100
  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	Actual value
  00	Number of mapped objects	UNSIGNED8	rw	no	no	8
  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	0x60000308
  04	mapped object 4	UNSIGNED32	rw	no	no	0x60000408
  05	mapped object 5	UNSIGNED32	rw	no	no	0x60000508
  06	mapped object 6	UNSIGNED32	rw	no	no	0x60000608
  07	mapped object 7	UNSIGNED32	rw	no	no	0x60000708
  08	mapped object 8	UNSIGNED32	rw	no	no	0x60000808

  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	Actual value
  00	Number of mapped objects	UNSIGNED8	rw	no	no	8
  01	mapped object 1	UNSIGNED32	rw	no	no	0x60000908
  02	mapped object 2	UNSIGNED32	rw	no	no	0x60000A08
  03	mapped object 3	UNSIGNED32	rw	no	no	0x60000B08
  04	mapped object 4	UNSIGNED32	rw	no	no	0x60000C08
  05	mapped object 5	UNSIGNED32	rw	no	no	0x60000D08
  06	mapped object 6	UNSIGNED32	rw	no	no	0x60000E08
  07	mapped object 7	UNSIGNED32	rw	no	no	0x60000F08
  08	mapped object 8	UNSIGNED32	rw	no	no	0x60001008

  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	Actual value
  00	Number of mapped objects	UNSIGNED8	rw	no	no	8
  01	mapped object 1	UNSIGNED32	rw	no	no	0x60001108
  02	mapped object 2	UNSIGNED32	rw	no	no	0x60001208
  03	mapped object 3	UNSIGNED32	rw	no	no	0x60001308
  04	mapped object 4	UNSIGNED32	rw	no	no	0x60001408
  05	mapped object 5	UNSIGNED32	rw	no	no	0x60001508
  06	mapped object 6	UNSIGNED32	rw	no	no	0x60001608
  07	mapped object 7	UNSIGNED32	rw	no	no	0x60001708
  08	mapped object 8	UNSIGNED32	rw	no	no	0x60001808

  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	Actual value
  00	Number of mapped objects	UNSIGNED8	rw	no	no	8
  01	mapped object 1	UNSIGNED32	rw	no	no	0x60001908
  02	mapped object 2	UNSIGNED32	rw	no	no	0x60001A08
  03	mapped object 3	UNSIGNED32	rw	no	no	0x60001B08
  04	mapped object 4	UNSIGNED32	rw	no	no	0x60001C08
  05	mapped object 5	UNSIGNED32	rw	no	no	0x60001D08
  06	mapped object 6	UNSIGNED32	rw	no	no	0x60001E08
  07	mapped object 7	UNSIGNED32	rw	no	no	0x60001F08
  08	mapped object 8	UNSIGNED32	rw	no	no	0x60002008

  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	125

  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.

• 6000 - Generic application inputs

  Object Type	Sub Number	Memory Type	Data Type	Access Type	PDO Mapping	TPDO detects COS
  Array	33	RAM	UNSIGNED8	ro	optional	yes

  
  

  Subindex	Name	Default value	Actual value
  00	max sub-index	32
  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
  0D	Input	0
  0E	Input	0
  0F	Input	0
  10	Input	0
  11	Input	0
  12	Input	0
  13	Input	0
  14	Input	0
  15	Input	0
  16	Input	0
  17	Input	0
  18	Input	0
  19	Input	0
  1A	Input	0
  1B	Input	0
  1C	Input	0
  1D	Input	0
  1E	Input	0
  1F	Input	0
  20	Input	0

  en: Generic application inputs

  Object dictionary entry with 32 byte values that can be used as generic application inputs. So the application itself can write a value to it, such as the state of a digital input and other CANopen nodes have read access to these 32 bytes.

• 6200 - Generic application outputs

  Object Type	Sub Number	Memory Type	Data Type	Access Type	PDO Mapping	TPDO detects COS
  Array	33	RAM	UNSIGNED8	rw	optional	no

  
  

  Subindex	Name	Default value	Actual value
  00	max sub-index	32
  01	Output	0
  02	Output	0
  03	Output	0
  04	Output	0
  05	Output	0
  06	Output	0
  07	Output	0
  08	Output	0
  09	Output	0
  0A	Output	0
  0B	Output	0
  0C	Output	0
  0D	Output	0
  0E	Output	0
  0F	Output	0
  10	Output	0
  11	Output	0
  12	Output	0
  13	Output	0
  14	Output	0
  15	Output	0
  16	Output	0
  17	Output	0
  18	Output	0
  19	Output	0
  1A	Output	0
  1B	Output	0
  1C	Output	0
  1D	Output	0
  1E	Output	0
  1F	Output	0
  20	Output	0

  en: Generic application outputs

  Object dictionary entry with 32 byte values that can be used as generic application outputs. So other CANopen nodes can write a value to these 32 bytes and the application itself can read the values to for example control a digital output based on its value.