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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=11"/>
<meta name="generator" content="Doxygen 1.11.0"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>CANopenDemo: CANopen device documentation</title>
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<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
<tbody>
<tr id="projectrow">
<td id="projectlogo"><img alt="Logo" src="CANopenNode.png"/></td>
<td id="projectalign">
<div id="projectname">CANopenDemo
</div>
<div id="projectbrief">CANopenNode demo, tutorial and testing</div>
</td>
</tr>
</tbody>
</table>
</div>
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<!-- Generated by Doxygen 1.11.0 -->
<script type="text/javascript">
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</div><!-- top -->
<div id="doc-content">
<div><div class="header">
<div class="headertitle"><div class="title">CANopen device documentation</div></div>
</div><!--header-->
<div class="contents">
<div class="toc"><h3>Table of Contents</h3>
<ul><li class="level1"><a href="#autotoc_md8">Device Information</a><ul><ul><li class="level3"><a href="#autotoc_md9">Supported Baud rates</a></li>
</ul>
</ul>
</li>
<li class="level1"><a href="#autotoc_md10">PDO Mapping</a><ul><li class="level2"><a href="#autotoc_md11">RPDO 0x1400</a></li>
<li class="level2"><a href="#autotoc_md12">RPDO 0x1401</a></li>
<li class="level2"><a href="#autotoc_md13">TPDO 0x1800</a></li>
<li class="level2"><a href="#autotoc_md14">TPDO 0x1801</a></li>
</ul>
</li>
<li class="level1"><a href="#autotoc_md15">Communication Specific Parameters</a><ul><li class="level2"><a href="#autotoc_md16">0x1000 - Device type</a></li>
<li class="level2"><a href="#autotoc_md17">0x1001 - Error register</a></li>
<li class="level2"><a href="#autotoc_md18">0x1003 - Pre-defined error field</a></li>
<li class="level2"><a href="#autotoc_md19">0x1005 - COB-ID SYNC message</a></li>
<li class="level2"><a href="#autotoc_md20">0x1006 - Communication cycle period</a></li>
<li class="level2"><a href="#autotoc_md21">0x1007 - Synchronous window length</a></li>
<li class="level2"><a href="#autotoc_md22">0x1008 - Manufacturer device name</a></li>
<li class="level2"><a href="#autotoc_md23">0x1009 - Manufacturer hardware version</a></li>
<li class="level2"><a href="#autotoc_md24">0x100A - Manufacturer software version</a></li>
<li class="level2"><a href="#autotoc_md25">0x1010 - Store parameters</a></li>
<li class="level2"><a href="#autotoc_md26">0x1011 - Restore default parameters</a></li>
<li class="level2"><a href="#autotoc_md27">0x1012 - COB-ID time stamp object</a></li>
<li class="level2"><a href="#autotoc_md28">0x1014 - COB-ID EMCY</a></li>
<li class="level2"><a href="#autotoc_md29">0x1015 - Inhibit time EMCY</a></li>
<li class="level2"><a href="#autotoc_md30">0x1016 - Consumer heartbeat time</a></li>
<li class="level2"><a href="#autotoc_md31">0x1017 - Producer heartbeat time</a></li>
<li class="level2"><a href="#autotoc_md32">0x1018 - Identity</a></li>
<li class="level2"><a href="#autotoc_md33">0x1019 - Synchronous counter overflow value</a></li>
<li class="level2"><a href="#autotoc_md34">0x1200 - SDO server parameter</a></li>
<li class="level2"><a href="#autotoc_md35">0x1400 - RPDO communication parameter</a></li>
<li class="level2"><a href="#autotoc_md36">0x1401 - RPDO communication parameter</a></li>
<li class="level2"><a href="#autotoc_md37">0x1402 - RPDO communication parameter</a></li>
<li class="level2"><a href="#autotoc_md38">0x1403 - RPDO communication parameter</a></li>
<li class="level2"><a href="#autotoc_md39">0x1600 - RPDO mapping parameter</a></li>
<li class="level2"><a href="#autotoc_md40">0x1601 - RPDO mapping parameter</a></li>
<li class="level2"><a href="#autotoc_md41">0x1602 - RPDO mapping parameter</a></li>
<li class="level2"><a href="#autotoc_md42">0x1603 - RPDO mapping parameter</a></li>
<li class="level2"><a href="#autotoc_md43">0x1800 - TPDO communication parameter</a></li>
<li class="level2"><a href="#autotoc_md44">0x1801 - TPDO communication parameter</a></li>
<li class="level2"><a href="#autotoc_md45">0x1802 - TPDO communication parameter</a></li>
<li class="level2"><a href="#autotoc_md46">0x1803 - TPDO communication parameter</a></li>
<li class="level2"><a href="#autotoc_md47">0x1A00 - TPDO mapping parameter</a></li>
<li class="level2"><a href="#autotoc_md48">0x1A01 - TPDO mapping parameter</a></li>
<li class="level2"><a href="#autotoc_md49">0x1A02 - TPDO mapping parameter</a></li>
<li class="level2"><a href="#autotoc_md50">0x1A03 - TPDO mapping parameter</a></li>
</ul>
</li>
<li class="level1"><a href="#autotoc_md51">Manufacturer Specific Parameters</a><ul><li class="level2"><a href="#autotoc_md52">0x2100 - Error status bits</a></li>
<li class="level2"><a href="#autotoc_md53">0x2106 - Power-on counter</a></li>
<li class="level2"><a href="#autotoc_md54">0x2110 - Variable Int32</a></li>
<li class="level2"><a href="#autotoc_md55">0x2111 - Variable Int32 save</a></li>
<li class="level2"><a href="#autotoc_md56">0x2112 - Variable NV Int32 auto save</a></li>
<li class="level2"><a href="#autotoc_md57">0x2120 - Demo record</a></li>
<li class="level2"><a href="#autotoc_md58">0x2121 - Demo strings</a></li>
<li class="level2"><a href="#autotoc_md59">0x2122 - Demo domain</a></li>
</ul>
</li>
<li class="level1"><a href="#autotoc_md60">Device Profile Specific Parameters</a><ul><li class="level2"><a href="#autotoc_md61">0x6000 - Read digital input 8-bit</a></li>
<li class="level2"><a href="#autotoc_md62">0x6200 - Write digital output 8-bit</a></li>
<li class="level2"><a href="#autotoc_md63">0x6401 - Read analog input 16-bit</a></li>
<li class="level2"><a href="#autotoc_md64">0x6411 - Write analog output 16-bit</a></li>
</ul>
</li>
</ul>
</div>
<div class="textblock"><p><b>Demo device</b></p>
<p>Demo CANopen device with example usage.</p>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone"></th><th class="markdownTableHeadNone"></th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">Project File </td><td class="markdownTableBodyNone">demoDevice.xdd </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">File Version </td><td class="markdownTableBodyNone">1 </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">Created </td><td class="markdownTableBodyNone">28. 11. 2020 12:37:54 </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">Created By </td><td class="markdownTableBodyNone">Janez Paternoster </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">Modified </td><td class="markdownTableBodyNone">17. 03. 2023 16:49:28 </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">Modified By </td><td class="markdownTableBodyNone">Janez Paternoster </td></tr>
</table>
<p>This file was automatically generated by <a href="https://github.com/CANopenNode/CANopenEditor">CANopenEditor</a> v4.1-1-ga49a51a</p>
<h1><a class="anchor" id="autotoc_md8"></a>
Device Information</h1>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone"></th><th class="markdownTableHeadNone"></th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">Vendor Name </td><td class="markdownTableBodyNone">- </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">Vendor ID </td><td class="markdownTableBodyNone">0 </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">Product Name </td><td class="markdownTableBodyNone">Demo device </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">Product ID </td><td class="markdownTableBodyNone">1 </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">Granularity </td><td class="markdownTableBodyNone">8 </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">RPDO count </td><td class="markdownTableBodyNone">4 </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">TPDO count </td><td class="markdownTableBodyNone">4 </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">LSS Slave </td><td class="markdownTableBodyNone">True </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">LSS Master </td><td class="markdownTableBodyNone">False </td></tr>
</table>
<h3><a class="anchor" id="autotoc_md9"></a>
Supported Baud rates</h3>
<ul>
<li>[x] 10 kBit/s</li>
<li>[x] 20 kBit/s</li>
<li>[x] 50 kBit/s</li>
<li>[x] 125 kBit/s</li>
<li>[x] 250 kBit/s</li>
<li>[x] 500 kBit/s</li>
<li>[x] 800 kBit/s</li>
<li>[x] 1000 kBit/s</li>
<li>[ ] auto</li>
</ul>
<h1><a class="anchor" id="autotoc_md10"></a>
PDO Mapping</h1>
<h2><a class="anchor" id="autotoc_md11"></a>
RPDO 0x1400</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone"></th><th class="markdownTableHeadNone"></th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">COB_ID </td><td class="markdownTableBodyNone">$NODEID+0x00000200 </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">Transmission </td><td class="markdownTableBodyNone">type=255 </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x62000108 </td><td class="markdownTableBodyNone">Write digital output 8-bit (Output) </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x62000208 </td><td class="markdownTableBodyNone">Write digital output 8-bit (Output) </td></tr>
</table>
<h2><a class="anchor" id="autotoc_md12"></a>
RPDO 0x1401</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone"></th><th class="markdownTableHeadNone"></th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">COB_ID </td><td class="markdownTableBodyNone">$NODEID+0x00000300 </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">Transmission </td><td class="markdownTableBodyNone">type=255 </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x64110110 </td><td class="markdownTableBodyNone">Write analog output 16-bit (Output) </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x64110210 </td><td class="markdownTableBodyNone">Write analog output 16-bit (Output) </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x64110310 </td><td class="markdownTableBodyNone">Write analog output 16-bit (Output) </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x64110410 </td><td class="markdownTableBodyNone">Write analog output 16-bit (Output) </td></tr>
</table>
<h2><a class="anchor" id="autotoc_md13"></a>
TPDO 0x1800</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone"></th><th class="markdownTableHeadNone"></th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">COB_ID </td><td class="markdownTableBodyNone">$NODEID+0x40000180 </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">Transmission </td><td class="markdownTableBodyNone">type=255; inhibit-time=0; event-timer=0 </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x60000108 </td><td class="markdownTableBodyNone">Read digital input 8-bit (Input) </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x60000208 </td><td class="markdownTableBodyNone">Read digital input 8-bit (Input) </td></tr>
</table>
<h2><a class="anchor" id="autotoc_md14"></a>
TPDO 0x1801</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone"></th><th class="markdownTableHeadNone"></th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">COB_ID </td><td class="markdownTableBodyNone">$NODEID+0x40000280 </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">Transmission </td><td class="markdownTableBodyNone">type=255; inhibit-time=0; event-timer=0 </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x64010110 </td><td class="markdownTableBodyNone">Read analog input 16-bit (Input) </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x64010210 </td><td class="markdownTableBodyNone">Read analog input 16-bit (Input) </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x64010310 </td><td class="markdownTableBodyNone">Read analog input 16-bit (Input) </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x64010410 </td><td class="markdownTableBodyNone">Read analog input 16-bit (Input) </td></tr>
</table>
<h1><a class="anchor" id="autotoc_md15"></a>
Communication Specific Parameters</h1>
<h2><a class="anchor" id="autotoc_md16"></a>
0x1000 - Device type</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">VAR </td><td class="markdownTableBodyNone">NMT </td><td class="markdownTableBodyNone">PERSIST_COMM </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x000F0191 </td></tr>
</table>
<ul>
<li>bit 16-31: Additional information</li>
<li>bit 0-15: Device profile number</li>
</ul>
<h2><a class="anchor" id="autotoc_md17"></a>
0x1001 - Error register</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">VAR </td><td class="markdownTableBodyNone">EM </td><td class="markdownTableBodyNone">RAM </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">t </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00 </td></tr>
</table>
<ul>
<li>bit 7: manufacturer specific</li>
<li>bit 6: Reserved (always 0)</li>
<li>bit 5: device profile specific</li>
<li>bit 4: communication error (overrun, error state)</li>
<li>bit 3: temperature</li>
<li>bit 2: voltage</li>
<li>bit 1: current</li>
<li>bit 0: generic error</li>
</ul>
<h2><a class="anchor" id="autotoc_md18"></a>
0x1003 - Pre-defined error field</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">ARRAY </td><td class="markdownTableBodyNone"></td><td class="markdownTableBodyNone">RAM </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Sub </th><th class="markdownTableHeadNone">Name </th><th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x00 </td><td class="markdownTableBodyNone">Number of errors </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone"></td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x01 </td><td class="markdownTableBodyNone">Standard error field </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone"></td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x02 </td><td class="markdownTableBodyNone">Standard error field </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone"></td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x03 </td><td class="markdownTableBodyNone">Standard error field </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone"></td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x04 </td><td class="markdownTableBodyNone">Standard error field </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone"></td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x05 </td><td class="markdownTableBodyNone">Standard error field </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone"></td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x06 </td><td class="markdownTableBodyNone">Standard error field </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone"></td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x07 </td><td class="markdownTableBodyNone">Standard error field </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone"></td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x08 </td><td class="markdownTableBodyNone">Standard error field </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone"></td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x09 </td><td class="markdownTableBodyNone">Standard error field </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone"></td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x0A </td><td class="markdownTableBodyNone">Standard error field </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone"></td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x0B </td><td class="markdownTableBodyNone">Standard error field </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone"></td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x0C </td><td class="markdownTableBodyNone">Standard error field </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone"></td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x0D </td><td class="markdownTableBodyNone">Standard error field </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone"></td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x0E </td><td class="markdownTableBodyNone">Standard error field </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone"></td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x0F </td><td class="markdownTableBodyNone">Standard error field </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone"></td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x10 </td><td class="markdownTableBodyNone">Standard error field </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone"></td></tr>
</table>
<ul>
<li>Sub Index 0: Contains number of actual errors. 0 can be written to clear error history.</li>
<li>sub-index 1 and above:<ul>
<li>bit 16-31: Manufacturer specific additional information</li>
<li>bit 0-15: Error code as transmited in the Emergency object</li>
</ul>
</li>
</ul>
<h2><a class="anchor" id="autotoc_md19"></a>
0x1005 - COB-ID SYNC message</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">VAR </td><td class="markdownTableBodyNone">SYNC </td><td class="markdownTableBodyNone">PERSIST_COMM </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000080 </td></tr>
</table>
<ul>
<li>bit 31: set to 0</li>
<li>bit 30: If set, CANopen device generates SYNC object</li>
<li>bit 11-29: set to 0</li>
<li>bit 0-10: 11-bit CAN-ID</li>
</ul>
<h2><a class="anchor" id="autotoc_md20"></a>
0x1006 - Communication cycle period</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">VAR </td><td class="markdownTableBodyNone">SYNC_PROD </td><td class="markdownTableBodyNone">PERSIST_COMM </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0 </td></tr>
</table>
<p>Period of SYNC transmission in µs (0 = transmission disabled).</p>
<h2><a class="anchor" id="autotoc_md21"></a>
0x1007 - Synchronous window length</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">VAR </td><td class="markdownTableBodyNone"></td><td class="markdownTableBodyNone">PERSIST_COMM </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0 </td></tr>
</table>
<p>Synchronous window leghth in µs (0 = not used). All synchronous PDOs must be transmitted within this time window.</p>
<h2><a class="anchor" id="autotoc_md22"></a>
0x1008 - Manufacturer device name</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">VAR </td><td class="markdownTableBodyNone"></td><td class="markdownTableBodyNone">PERSIST_COMM </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">VISIBLE_STRING </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone"></td></tr>
</table>
<h2><a class="anchor" id="autotoc_md23"></a>
0x1009 - Manufacturer hardware version</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">VAR </td><td class="markdownTableBodyNone"></td><td class="markdownTableBodyNone">PERSIST_COMM </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">VISIBLE_STRING </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone"></td></tr>
</table>
<h2><a class="anchor" id="autotoc_md24"></a>
0x100A - Manufacturer software version</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">VAR </td><td class="markdownTableBodyNone"></td><td class="markdownTableBodyNone">PERSIST_COMM </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">VISIBLE_STRING </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone"></td></tr>
</table>
<h2><a class="anchor" id="autotoc_md25"></a>
0x1010 - Store parameters</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">ARRAY </td><td class="markdownTableBodyNone">STORAGE </td><td class="markdownTableBodyNone">RAM </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Sub </th><th class="markdownTableHeadNone">Name </th><th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x00 </td><td class="markdownTableBodyNone">Highest sub-index supported </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x06 </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x01 </td><td class="markdownTableBodyNone">Save all parameters </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000003 </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x02 </td><td class="markdownTableBodyNone">Save communication parameters </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000001 </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x03 </td><td class="markdownTableBodyNone">Save application parameters </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000001 </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x04 </td><td class="markdownTableBodyNone">Save mainline data block </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000003 </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x05 </td><td class="markdownTableBodyNone">Save PERSIST_APP parameters </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000001 </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x06 </td><td class="markdownTableBodyNone">Save PERSIST_APP_AUTO auto-store parameters </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000003 </td></tr>
</table>
<p>Sub-indexes 1 and above:</p><ul>
<li>Reading provides information about its storage functionality:<ul>
<li>bit 0: If set, CANopen device saves parameters on command</li>
<li>bit 1: If set, CANopen device saves parameters autonomously</li>
</ul>
</li>
<li>Writing value 0x65766173 ('s','a','v','e' from LSB to MSB) stores corresponding data.</li>
</ul>
<h2><a class="anchor" id="autotoc_md26"></a>
0x1011 - Restore default parameters</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">ARRAY </td><td class="markdownTableBodyNone"></td><td class="markdownTableBodyNone">RAM </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Sub </th><th class="markdownTableHeadNone">Name </th><th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x00 </td><td class="markdownTableBodyNone">Highest sub-index supported </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x06 </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x01 </td><td class="markdownTableBodyNone">Restore all default parameters </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000001 </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x02 </td><td class="markdownTableBodyNone">Restore communication default parameters </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000001 </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x03 </td><td class="markdownTableBodyNone">Restore application default parameters </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000001 </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x04 </td><td class="markdownTableBodyNone">Restore mainline default data block </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000001 </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x05 </td><td class="markdownTableBodyNone">Restore PERSIST_APP default parameters </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000001 </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x06 </td><td class="markdownTableBodyNone">Restore PERSIST_APP_AUTO auto-store default parameters </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000001 </td></tr>
</table>
<p>Sub-indexes 1 and above:</p><ul>
<li>Reading provides information about its restoring capability:<ul>
<li>bit 0: If set, CANopen device restores parameters</li>
</ul>
</li>
<li>Writing value 0x64616F6C ('l','o','a','d' from LSB to MSB) restores corresponding data.</li>
</ul>
<h2><a class="anchor" id="autotoc_md27"></a>
0x1012 - COB-ID time stamp object</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">VAR </td><td class="markdownTableBodyNone">TIME </td><td class="markdownTableBodyNone">PERSIST_COMM </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000100 </td></tr>
</table>
<ul>
<li>bit 31: If set, CANopen device consumes TIME message</li>
<li>bit 30: If set, CANopen device produces TIME message</li>
<li>bit 11-29: set to 0</li>
<li>bit 0-10: 11-bit CAN-ID</li>
</ul>
<h2><a class="anchor" id="autotoc_md28"></a>
0x1014 - COB-ID EMCY</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">VAR </td><td class="markdownTableBodyNone">EM_PROD </td><td class="markdownTableBodyNone">PERSIST_COMM </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">$NODEID+0x80 </td></tr>
</table>
<ul>
<li>bit 31: If set, EMCY does NOT exist / is NOT valid</li>
<li>bit 11-30: set to 0</li>
<li>bit 0-10: 11-bit CAN-ID</li>
</ul>
<h2><a class="anchor" id="autotoc_md29"></a>
0x1015 - Inhibit time EMCY</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">VAR </td><td class="markdownTableBodyNone"></td><td class="markdownTableBodyNone">PERSIST_COMM </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">UNSIGNED16 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0 </td></tr>
</table>
<p>Inhibit time of emergency message in multiples of 100µs. The value 0 disables the inhibit time.</p>
<h2><a class="anchor" id="autotoc_md30"></a>
0x1016 - Consumer heartbeat time</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">ARRAY </td><td class="markdownTableBodyNone">HB_CONS </td><td class="markdownTableBodyNone">PERSIST_COMM </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Sub </th><th class="markdownTableHeadNone">Name </th><th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x00 </td><td class="markdownTableBodyNone">Highest sub-index supported </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x08 </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x01 </td><td class="markdownTableBodyNone">Consumer heartbeat time </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000 </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x02 </td><td class="markdownTableBodyNone">Consumer heartbeat time </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000 </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x03 </td><td class="markdownTableBodyNone">Consumer heartbeat time </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000 </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x04 </td><td class="markdownTableBodyNone">Consumer heartbeat time </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000 </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x05 </td><td class="markdownTableBodyNone">Consumer heartbeat time </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000 </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x06 </td><td class="markdownTableBodyNone">Consumer heartbeat time </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000 </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x07 </td><td class="markdownTableBodyNone">Consumer heartbeat time </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000 </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x08 </td><td class="markdownTableBodyNone">Consumer heartbeat time </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000 </td></tr>
</table>
<p>Consumer Heartbeat Time:</p><ul>
<li>bit 24-31: set to 0</li>
<li>bit 16-23: Node ID of the monitored node. If 0 or greater than 127, sub-entry is not used.</li>
<li>bit 0-15: Heartbeat time in ms (if 0, sub-intry is not used). Value should be higher than the corresponding producer heartbeat time.</li>
</ul>
<h2><a class="anchor" id="autotoc_md31"></a>
0x1017 - Producer heartbeat time</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">VAR </td><td class="markdownTableBodyNone">HB_PROD </td><td class="markdownTableBodyNone">PERSIST_COMM </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">UNSIGNED16 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0 </td></tr>
</table>
<p>Heartbeat producer time in ms (0 = disable transmission).</p>
<h2><a class="anchor" id="autotoc_md32"></a>
0x1018 - Identity</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">RECORD </td><td class="markdownTableBodyNone"></td><td class="markdownTableBodyNone">PERSIST_COMM </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Sub </th><th class="markdownTableHeadNone">Name </th><th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x00 </td><td class="markdownTableBodyNone">Highest sub-index supported </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x04 </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x01 </td><td class="markdownTableBodyNone">Vendor-ID </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000 </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x02 </td><td class="markdownTableBodyNone">Product code </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000001 </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x03 </td><td class="markdownTableBodyNone">Revision number </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000 </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x04 </td><td class="markdownTableBodyNone">Serial number </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000003 </td></tr>
</table>
<ul>
<li>Vendor-ID, assigned by CiA</li>
<li>Product code, manufacturer specific</li>
<li>Revision number:<ul>
<li>bit 16-31: Major revision number (CANopen behavior has changed)</li>
<li>bit 0-15: Minor revision num. (CANopen behavior has not changed)</li>
</ul>
</li>
<li>Serial number, manufacturer specific</li>
</ul>
<h2><a class="anchor" id="autotoc_md33"></a>
0x1019 - Synchronous counter overflow value</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">VAR </td><td class="markdownTableBodyNone"></td><td class="markdownTableBodyNone">PERSIST_COMM </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0 </td></tr>
</table>
<ul>
<li>Value 0: SYNC message is transmitted with data length 0.</li>
<li>Value 1: reserved.</li>
<li>Value 2-240: SYNC message has one data byte, which contains the counter.</li>
<li>Value 241-255: reserved.</li>
</ul>
<h2><a class="anchor" id="autotoc_md34"></a>
0x1200 - SDO server parameter</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">RECORD </td><td class="markdownTableBodyNone">SDO_SRV </td><td class="markdownTableBodyNone">RAM </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Sub </th><th class="markdownTableHeadNone">Name </th><th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x00 </td><td class="markdownTableBodyNone">Highest sub-index supported </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">2 </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x01 </td><td class="markdownTableBodyNone">COB-ID client to server (rx) </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">t </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">$NODEID+0x600 </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x02 </td><td class="markdownTableBodyNone">COB-ID server to client (tx) </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">t </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">$NODEID+0x580 </td></tr>
</table>
<p>Sub-indexes 1 and 2:</p><ul>
<li>bit 11-31: set to 0</li>
<li>bit 0-10: 11-bit CAN-ID</li>
</ul>
<h2><a class="anchor" id="autotoc_md35"></a>
0x1400 - RPDO communication parameter</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">RECORD </td><td class="markdownTableBodyNone">RPDO </td><td class="markdownTableBodyNone">PERSIST_COMM </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Sub </th><th class="markdownTableHeadNone">Name </th><th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x00 </td><td class="markdownTableBodyNone">Highest sub-index supported </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x05 </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x01 </td><td class="markdownTableBodyNone">COB-ID used by RPDO </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">$NODEID+0x00000200 </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x02 </td><td class="markdownTableBodyNone">Transmission type </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">255 </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x05 </td><td class="markdownTableBodyNone">Event timer </td><td class="markdownTableBodyNone">UNSIGNED16 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0 </td></tr>
</table>
<ul>
<li>COB-ID used by RPDO:<ul>
<li>bit 31: If set, PDO does not exist / is not valid</li>
<li>bit 11-30: set to 0</li>
<li>bit 0-10: 11-bit CAN-ID</li>
</ul>
</li>
<li>Transmission type:<ul>
<li>Value 0-240: synchronous, processed after next reception of SYNC object</li>
<li>Value 241-253: not used</li>
<li>Value 254: event-driven (manufacturer-specific)</li>
<li>Value 255: event-driven (device profile and application profile specific)</li>
</ul>
</li>
<li>Event timer in ms (0 = disabled) for deadline monitoring.</li>
</ul>
<h2><a class="anchor" id="autotoc_md36"></a>
0x1401 - RPDO communication parameter</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">RECORD </td><td class="markdownTableBodyNone">RPDO </td><td class="markdownTableBodyNone">PERSIST_COMM </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Sub </th><th class="markdownTableHeadNone">Name </th><th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x00 </td><td class="markdownTableBodyNone">Highest sub-index supported </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x05 </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x01 </td><td class="markdownTableBodyNone">COB-ID used by RPDO </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">$NODEID+0x00000300 </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x02 </td><td class="markdownTableBodyNone">Transmission type </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">255 </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x05 </td><td class="markdownTableBodyNone">Event timer </td><td class="markdownTableBodyNone">UNSIGNED16 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0 </td></tr>
</table>
<ul>
<li>COB-ID used by RPDO:<ul>
<li>bit 31: If set, PDO does not exist / is not valid</li>
<li>bit 11-30: set to 0</li>
<li>bit 0-10: 11-bit CAN-ID</li>
</ul>
</li>
<li>Transmission type:<ul>
<li>Value 0-240: synchronous, processed after next reception of SYNC object</li>
<li>Value 241-253: not used</li>
<li>Value 254: event-driven (manufacturer-specific)</li>
<li>Value 255: event-driven (device profile and application profile specific)</li>
</ul>
</li>
<li>Event timer in ms (0 = disabled) for deadline monitoring.</li>
</ul>
<h2><a class="anchor" id="autotoc_md37"></a>
0x1402 - RPDO communication parameter</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">RECORD </td><td class="markdownTableBodyNone">RPDO </td><td class="markdownTableBodyNone">PERSIST_COMM </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Sub </th><th class="markdownTableHeadNone">Name </th><th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x00 </td><td class="markdownTableBodyNone">Highest sub-index supported </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x05 </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x01 </td><td class="markdownTableBodyNone">COB-ID used by RPDO </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">$NODEID+0x80000400 </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x02 </td><td class="markdownTableBodyNone">Transmission type </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">254 </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x05 </td><td class="markdownTableBodyNone">Event timer </td><td class="markdownTableBodyNone">UNSIGNED16 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0 </td></tr>
</table>
<ul>
<li>COB-ID used by RPDO:<ul>
<li>bit 31: If set, PDO does not exist / is not valid</li>
<li>bit 11-30: set to 0</li>
<li>bit 0-10: 11-bit CAN-ID</li>
</ul>
</li>
<li>Transmission type:<ul>
<li>Value 0-240: synchronous, processed after next reception of SYNC object</li>
<li>Value 241-253: not used</li>
<li>Value 254: event-driven (manufacturer-specific)</li>
<li>Value 255: event-driven (device profile and application profile specific)</li>
</ul>
</li>
<li>Event timer in ms (0 = disabled) for deadline monitoring.</li>
</ul>
<h2><a class="anchor" id="autotoc_md38"></a>
0x1403 - RPDO communication parameter</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">RECORD </td><td class="markdownTableBodyNone">RPDO </td><td class="markdownTableBodyNone">PERSIST_COMM </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Sub </th><th class="markdownTableHeadNone">Name </th><th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x00 </td><td class="markdownTableBodyNone">Highest sub-index supported </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x05 </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x01 </td><td class="markdownTableBodyNone">COB-ID used by RPDO </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">$NODEID+0x80000500 </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x02 </td><td class="markdownTableBodyNone">Transmission type </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">254 </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x05 </td><td class="markdownTableBodyNone">Event timer </td><td class="markdownTableBodyNone">UNSIGNED16 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0 </td></tr>
</table>
<ul>
<li>COB-ID used by RPDO:<ul>
<li>bit 31: If set, PDO does not exist / is not valid</li>
<li>bit 11-30: set to 0</li>
<li>bit 0-10: 11-bit CAN-ID</li>
</ul>
</li>
<li>Transmission type:<ul>
<li>Value 0-240: synchronous, processed after next reception of SYNC object</li>
<li>Value 241-253: not used</li>
<li>Value 254: event-driven (manufacturer-specific)</li>
<li>Value 255: event-driven (device profile and application profile specific)</li>
</ul>
</li>
<li>Event timer in ms (0 = disabled) for deadline monitoring.</li>
</ul>
<h2><a class="anchor" id="autotoc_md39"></a>
0x1600 - RPDO mapping parameter</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">RECORD </td><td class="markdownTableBodyNone"></td><td class="markdownTableBodyNone">PERSIST_COMM </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Sub </th><th class="markdownTableHeadNone">Name </th><th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x00 </td><td class="markdownTableBodyNone">Number of mapped application objects in PDO </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">2 </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x01 </td><td class="markdownTableBodyNone">Application object 1 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x62000108 </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x02 </td><td class="markdownTableBodyNone">Application object 2 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x62000208 </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x03 </td><td class="markdownTableBodyNone">Application object 3 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x62000308 </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x04 </td><td class="markdownTableBodyNone">Application object 4 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x62000408 </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x05 </td><td class="markdownTableBodyNone">Application object 5 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x62000508 </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x06 </td><td class="markdownTableBodyNone">Application object 6 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x62000608 </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x07 </td><td class="markdownTableBodyNone">Application object 7 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x62000708 </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x08 </td><td class="markdownTableBodyNone">Application object 8 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x62000808 </td></tr>
</table>
<ul>
<li>Number of mapped application objects in PDO:<ul>
<li>Value 0: mapping is disabled.</li>
<li>Value 1: sub-index 0x01 is valid.</li>
<li>Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid.</li>
</ul>
</li>
<li>Application object 1-8:<ul>
<li>bit 16-31: index</li>
<li>bit 8-15: sub-index</li>
<li>bit 0-7: data length in bits</li>
</ul>
</li>
</ul>
<h2><a class="anchor" id="autotoc_md40"></a>
0x1601 - RPDO mapping parameter</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">RECORD </td><td class="markdownTableBodyNone"></td><td class="markdownTableBodyNone">PERSIST_COMM </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Sub </th><th class="markdownTableHeadNone">Name </th><th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x00 </td><td class="markdownTableBodyNone">Number of mapped application objects in PDO </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">4 </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x01 </td><td class="markdownTableBodyNone">Application object 1 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x64110110 </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x02 </td><td class="markdownTableBodyNone">Application object 2 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x64110210 </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x03 </td><td class="markdownTableBodyNone">Application object 3 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x64110310 </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x04 </td><td class="markdownTableBodyNone">Application object 4 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x64110410 </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x05 </td><td class="markdownTableBodyNone">Application object 5 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000 </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x06 </td><td class="markdownTableBodyNone">Application object 6 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000 </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x07 </td><td class="markdownTableBodyNone">Application object 7 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000 </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x08 </td><td class="markdownTableBodyNone">Application object 8 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000 </td></tr>
</table>
<ul>
<li>Number of mapped application objects in PDO:<ul>
<li>Value 0: mapping is disabled.</li>
<li>Value 1: sub-index 0x01 is valid.</li>
<li>Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid.</li>
</ul>
</li>
<li>Application object 1-8:<ul>
<li>bit 16-31: index</li>
<li>bit 8-15: sub-index</li>
<li>bit 0-7: data length in bits</li>
</ul>
</li>
</ul>
<h2><a class="anchor" id="autotoc_md41"></a>
0x1602 - RPDO mapping parameter</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">RECORD </td><td class="markdownTableBodyNone"></td><td class="markdownTableBodyNone">PERSIST_COMM </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Sub </th><th class="markdownTableHeadNone">Name </th><th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x00 </td><td class="markdownTableBodyNone">Number of mapped application objects in PDO </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0 </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x01 </td><td class="markdownTableBodyNone">Application object 1 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000 </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x02 </td><td class="markdownTableBodyNone">Application object 2 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000 </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x03 </td><td class="markdownTableBodyNone">Application object 3 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000 </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x04 </td><td class="markdownTableBodyNone">Application object 4 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000 </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x05 </td><td class="markdownTableBodyNone">Application object 5 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000 </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x06 </td><td class="markdownTableBodyNone">Application object 6 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000 </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x07 </td><td class="markdownTableBodyNone">Application object 7 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000 </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x08 </td><td class="markdownTableBodyNone">Application object 8 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000 </td></tr>
</table>
<ul>
<li>Number of mapped application objects in PDO:<ul>
<li>Value 0: mapping is disabled.</li>
<li>Value 1: sub-index 0x01 is valid.</li>
<li>Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid.</li>
</ul>
</li>
<li>Application object 1-8:<ul>
<li>bit 16-31: index</li>
<li>bit 8-15: sub-index</li>
<li>bit 0-7: data length in bits</li>
</ul>
</li>
</ul>
<h2><a class="anchor" id="autotoc_md42"></a>
0x1603 - RPDO mapping parameter</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">RECORD </td><td class="markdownTableBodyNone"></td><td class="markdownTableBodyNone">PERSIST_COMM </td></tr>
</table>
<table class="markdownTable">