CANopen documentation

New Product

Project File | DS301_profile.xpd
File Version | 1
Created | 23. 11. 2020 12:00:00
Created By |
Modified | 24. 11. 2020 13:31:53
Modified By |

This file was automatically generated with libedssharp Object Dictionary Editor v0.8-99-g0425f94

- Device Information
- PDO Mapping
- Communication Specific Parameters
- Manufacturer Specific Parameters
- Device Profile Specific Parameters

# Device Information

Vendor Name |
Vendor ID |
Product Name | New Product
Product ID |
Granularity | 8
RPDO count | 4
TPDO count | 4
LSS Slave | True
LSS Master | False

### Supported Baud rates

- [x] 10 kBit/s
- [x] 20 kBit/s
- [x] 50 kBit/s
- [x] 125 kBit/s
- [x] 250 kBit/s
- [x] 500 kBit/s
- [x] 800 kBit/s
- [x] 1000 kBit/s
- [ ] auto

# PDO Mapping

# Communication Specific Parameters

## 0x1000 - Device type

Object Type | Count Label | Storage Group | IO extension | PDO flags
--- | --- | --- | --- | ---
VAR | NMT | PERSIST_COMM | False | False

Data Type | SDO | PDO | SRDO | Default Value
--- | --- | --- | --- | ---
UNSIGNED32 | ro | no | no | 0x00000000

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

## 0x1001 - Error register

Object Type | Count Label | Storage Group | IO extension | PDO flags
--- | --- | --- | --- | ---
VAR | EM | RAM | False | False

Data Type | SDO | PDO | SRDO | Default Value
--- | --- | --- | --- | ---
UNSIGNED8 | ro | tr | no | 0x00

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

## 0x1003 - Pre-defined error field

Object Type | Count Label | Storage Group | IO extension | PDO flags
--- | --- | --- | --- | ---
ARRAY |  | RAM | True | False

Sub | Name | Data Type | SDO | PDO | SRDO | Default Value
--- | --- | --- | --- | --- | --- | ---
0x00 | Number of errors | UNSIGNED8 | rw | no | no | 0
0x01 | Standard error field | UNSIGNED32 | ro | no | no | 0x00000000
0x02 | Standard error field | UNSIGNED32 | ro | no | no | 0x00000000
0x03 | Standard error field | UNSIGNED32 | ro | no | no | 0x00000000
0x04 | Standard error field | UNSIGNED32 | ro | no | no | 0x00000000
0x05 | Standard error field | UNSIGNED32 | ro | no | no | 0x00000000
0x06 | Standard error field | UNSIGNED32 | ro | no | no | 0x00000000
0x07 | Standard error field | UNSIGNED32 | ro | no | no | 0x00000000
0x08 | Standard error field | UNSIGNED32 | ro | no | no | 0x00000000

- Sub Index 0: Contains number of actual errors. 0 can be written to clear error history.
- sub-index 1 and above:
  - bit 16-31: Manufacturer specific additional information
  - bit 0-15: Error code as transmited in the Emergency object

## 0x1005 - COB-ID SYNC message

Object Type | Count Label | Storage Group | IO extension | PDO flags
--- | --- | --- | --- | ---
VAR | SYNC | PERSIST_COMM | True | False

Data Type | SDO | PDO | SRDO | Default Value
--- | --- | --- | --- | ---
UNSIGNED32 | rw | no | no | 0x00000080

- bit 31: set to 0
- bit 30: If set, CANopen device generates SYNC object
- bit 11-29: set to 0
- bit 0-10: 11-bit CAN-ID

## 0x1006 - Communication cycle period

Object Type | Count Label | Storage Group | IO extension | PDO flags
--- | --- | --- | --- | ---
VAR | SYNC_PROD | PERSIST_COMM | True | False

Data Type | SDO | PDO | SRDO | Default Value
--- | --- | --- | --- | ---
UNSIGNED32 | rw | no | no | 0

Period of SYNC transmission in µs (0 = transmission disabled).

## 0x1007 - Synchronous window length

Object Type | Count Label | Storage Group | IO extension | PDO flags
--- | --- | --- | --- | ---
VAR |  | PERSIST_COMM | True | False

Data Type | SDO | PDO | SRDO | Default Value
--- | --- | --- | --- | ---
UNSIGNED32 | rw | no | no | 0

Synchronous window leghth in µs (0 = not used). All synchronous PDOs must be transmitted within this time window.

## 0x1010 - Store parameters

Object Type | Count Label | Storage Group | IO extension | PDO flags
--- | --- | --- | --- | ---
ARRAY |  | RAM | True | False

Sub | Name | Data Type | SDO | PDO | SRDO | Default Value
--- | --- | --- | --- | --- | --- | ---
0x00 | Highest sub-index supported | UNSIGNED8 | ro | no | no | 0x04
0x01 | Save all parameters | UNSIGNED32 | rw | no | no | 0x00000001
0x02 | Save communication parameters | UNSIGNED32 | rw | no | no | 0x00000001
0x03 | Save application parameters | UNSIGNED32 | rw | no | no | 0x00000001
0x04 | Save manufacturer defined parameters | UNSIGNED32 | rw | no | no | 0x00000001

Sub-indexes 1 and above:

- Reading provides information about its storage functionality:
  - bit 1: If set, CANopen device saves parameters autonomously
  - bit 0: If set, CANopen device saves parameters on command
- Writing value 0x65766173 ('s','a','v','e' from LSB to MSB) stores corresponding data.

## 0x1011 - Restore default parameters

Object Type | Count Label | Storage Group | IO extension | PDO flags
--- | --- | --- | --- | ---
ARRAY |  | RAM | True | False

Sub | Name | Data Type | SDO | PDO | SRDO | Default Value
--- | --- | --- | --- | --- | --- | ---
0x00 | Highest sub-index supported | UNSIGNED8 | ro | no | no | 0x04
0x01 | Restore all default parameters | UNSIGNED32 | rw | no | no | 0x00000001
0x02 | Restore communication default parameters | UNSIGNED32 | rw | no | no | 0x00000001
0x03 | Restore application default parameters | UNSIGNED32 | rw | no | no | 0x00000001
0x04 | Restore manufacturer defined default parameters | UNSIGNED32 | rw | no | no | 0x00000001

Sub-indexes 1 and above:

- Reading provides information about its restoring capability:
  - bit 0: If set, CANopen device restores parameters
- Writing value 0x64616F6C ('l','o','a','d' from LSB to MSB) restores corresponding data.

## 0x1012 - COB-ID time stamp object

Object Type | Count Label | Storage Group | IO extension | PDO flags
--- | --- | --- | --- | ---
VAR | TIME | PERSIST_COMM | True | False

Data Type | SDO | PDO | SRDO | Default Value
--- | --- | --- | --- | ---
UNSIGNED32 | rw | no | no | 0x00000100

- bit 31: If set, CANopen device consumes TIME message
- bit 30: If set, CANopen device produces TIME message
- bit 11-29: set to 0
- bit 0-10: 11-bit CAN-ID

## 0x1014 - COB-ID EMCY

Object Type | Count Label | Storage Group | IO extension | PDO flags
--- | --- | --- | --- | ---
VAR | EM_PROD | PERSIST_COMM | True | False

Data Type | SDO | PDO | SRDO | Default Value
--- | --- | --- | --- | ---
UNSIGNED32 | rw | no | no | 0x80+$NODEID

- bit 31: If set, EMCY does NOT exist / is NOT valid
- bit 11-30: set to 0
- bit 0-10: 11-bit CAN-ID

## 0x1015 - Inhibit time EMCY

Object Type | Count Label | Storage Group | IO extension | PDO flags
--- | --- | --- | --- | ---
VAR |  | PERSIST_COMM | True | False

Data Type | SDO | PDO | SRDO | Default Value
--- | --- | --- | --- | ---
UNSIGNED16 | rw | no | no | 0

Inhibit time of emergency message in multiples of 100µs. The value 0 disables the inhibit time.

## 0x1016 - Consumer heartbeat time

Object Type | Count Label | Storage Group | IO extension | PDO flags
--- | --- | --- | --- | ---
ARRAY | HB_CONS | PERSIST_COMM | True | False

Sub | Name | Data Type | SDO | PDO | SRDO | Default Value
--- | --- | --- | --- | --- | --- | ---
0x00 | Highest sub-index supported | UNSIGNED8 | ro | no | no | 0x08
0x01 | Consumer heartbeat time | UNSIGNED32 | rw | no | no | 0x00000000
0x02 | Consumer heartbeat time | UNSIGNED32 | rw | no | no | 0x00000000
0x03 | Consumer heartbeat time | UNSIGNED32 | rw | no | no | 0x00000000
0x04 | Consumer heartbeat time | UNSIGNED32 | rw | no | no | 0x00000000
0x05 | Consumer heartbeat time | UNSIGNED32 | rw | no | no | 0x00000000
0x06 | Consumer heartbeat time | UNSIGNED32 | rw | no | no | 0x00000000
0x07 | Consumer heartbeat time | UNSIGNED32 | rw | no | no | 0x00000000
0x08 | Consumer heartbeat time | UNSIGNED32 | rw | no | no | 0x00000000

Consumer Heartbeat Time:

- bit 24-31: set to 0
- bit 16-23: Node ID of the monitored node. If 0 or greater than 127, sub-entry is not used.
- bit 0-15: Heartbeat time in ms (if 0, sub-intry is not used). Value should be higher than the corresponding producer heartbeat time.

## 0x1017 - Producer heartbeat time

Object Type | Count Label | Storage Group | IO extension | PDO flags
--- | --- | --- | --- | ---
VAR | HB_PROD | PERSIST_COMM | True | False

Data Type | SDO | PDO | SRDO | Default Value
--- | --- | --- | --- | ---
UNSIGNED16 | rw | no | no | 0

Heartbeat producer time in ms (0 = disable transmission).

## 0x1018 - Identity

Object Type | Count Label | Storage Group | IO extension | PDO flags
--- | --- | --- | --- | ---
RECORD |  | PERSIST_COMM | False | False

Sub | Name | Data Type | SDO | PDO | SRDO | Default Value
--- | --- | --- | --- | --- | --- | ---
0x00 | Highest sub-index supported | UNSIGNED8 | ro | no | no | 0x04
0x01 | Vendor-ID | UNSIGNED32 | ro | no | no | 0x00000000
0x02 | Product code | UNSIGNED32 | ro | no | no | 0x00000000
0x03 | Revision number | UNSIGNED32 | ro | no | no | 0x00000000
0x04 | Serial number | UNSIGNED32 | ro | no | no | 0x00000000

- Vendor-ID, assigned by CiA
- Product code, manufacturer specific
- Revision number:
  - bit 16-31: Major revision number (CANopen behavior has changed)
  - bit 0-15: Minor revision num. (CANopen behavior has not changed)
- Serial number, manufacturer specific

## 0x1019 - Synchronous counter overflow value

Object Type | Count Label | Storage Group | IO extension | PDO flags
--- | --- | --- | --- | ---
VAR |  | PERSIST_COMM | False | False

Data Type | SDO | PDO | SRDO | Default Value
--- | --- | --- | --- | ---
UNSIGNED8 | rw | no | no | 0

- Value 0: SYNC message is transmitted with data length 0.
- Value 1: reserved.
- Value 2-240: SYNC message has one data byte, which contains the counter.
- Value 241-255: reserved.

## 0x1200 - SDO server parameter

Object Type | Count Label | Storage Group | IO extension | PDO flags
--- | --- | --- | --- | ---
RECORD | SDO_SRV | RAM | True | False

Sub | Name | Data Type | SDO | PDO | SRDO | Default Value
--- | --- | --- | --- | --- | --- | ---
0x00 | Highest sub-index supported | UNSIGNED8 | ro | no | no | 2
0x01 | COB-ID client to server (rx) | UNSIGNED32 | ro | t | no | 0x600+$NODEID
0x02 | COB-ID server to client (tx) | UNSIGNED32 | ro | t | no | 0x580+$NODEID

Sub-indexes 1 and 2:

- bit 11-31: set to 0
- bit 0-10: 11-bit CAN-ID

## 0x1280 - SDO client parameter

Object Type | Count Label | Storage Group | IO extension | PDO flags
--- | --- | --- | --- | ---
RECORD | SDO_CLI | PERSIST_COMM | True | False

Sub | Name | Data Type | SDO | PDO | SRDO | Default Value
--- | --- | --- | --- | --- | --- | ---
0x00 | Highest sub-index supported | UNSIGNED8 | ro | no | no | 0x03
0x01 | COB-ID client to server (tx) | UNSIGNED32 | rw | tr | no | 0x80000000
0x02 | COB-ID server to client (rx) | UNSIGNED32 | rw | tr | no | 0x80000000
0x03 | Node-ID of the SDO server | UNSIGNED8 | rw | no | no | 0x01

- Sub-indexes 1 and 2:
  - bit 31: If set, SDO does NOT exist / is NOT valid
  - bit 30: If set, value is assigned dynamically
  - bit 11-29: set to 0
  - bit 0-10: 11-bit CAN-ID
- Node-ID of the SDO server, 0x01 to 0x7F

## 0x1400 - RPDO communication parameter

Object Type | Count Label | Storage Group | IO extension | PDO flags
--- | --- | --- | --- | ---
RECORD | RPDO | PERSIST_COMM | True | False

Sub | Name | Data Type | SDO | PDO | SRDO | Default Value
--- | --- | --- | --- | --- | --- | ---
0x00 | Highest sub-index supported | UNSIGNED8 | ro | no | no | 0x05
0x01 | COB-ID used by RPDO | UNSIGNED32 | rw | no | no | 0x80000200+$NODEID
0x02 | Transmission type | UNSIGNED8 | rw | no | no | 254
0x05 | Event timer | UNSIGNED16 | rw | no | no | 0

- COB-ID used by RPDO:
  - bit 31: If set, PDO does not exist / is not valid
  - bit 11-30: set to 0
  - bit 0-10: 11-bit CAN-ID
- Transmission type:
  - Value 0-240: synchronous, processed after next reception of SYNC object
  - Value 241-253: not used
  - Value 254: event-driven (manufacturer-specific)
  - Value 255: event-driven (device profile and application profile specific)
- Event timer in ms (0 = disabled) for deadline monitoring.

## 0x1401 - RPDO communication parameter

Object Type | Count Label | Storage Group | IO extension | PDO flags
--- | --- | --- | --- | ---
RECORD | RPDO | PERSIST_COMM | True | False

Sub | Name | Data Type | SDO | PDO | SRDO | Default Value
--- | --- | --- | --- | --- | --- | ---
0x00 | Highest sub-index supported | UNSIGNED8 | ro | no | no | 0x05
0x01 | COB-ID used by RPDO | UNSIGNED32 | rw | no | no | 0x80000300+$NODEID
0x02 | Transmission type | UNSIGNED8 | rw | no | no | 254
0x05 | Event timer | UNSIGNED16 | rw | no | no | 0

- COB-ID used by RPDO:
  - bit 31: If set, PDO does not exist / is not valid
  - bit 11-30: set to 0
  - bit 0-10: 11-bit CAN-ID
- Transmission type:
  - Value 0-240: synchronous, processed after next reception of SYNC object
  - Value 241-253: not used
  - Value 254: event-driven (manufacturer-specific)
  - Value 255: event-driven (device profile and application profile specific)
- Event timer in ms (0 = disabled) for deadline monitoring.

## 0x1402 - RPDO communication parameter

Object Type | Count Label | Storage Group | IO extension | PDO flags
--- | --- | --- | --- | ---
RECORD | RPDO | PERSIST_COMM | True | False

Sub | Name | Data Type | SDO | PDO | SRDO | Default Value
--- | --- | --- | --- | --- | --- | ---
0x00 | Highest sub-index supported | UNSIGNED8 | ro | no | no | 0x05
0x01 | COB-ID used by RPDO | UNSIGNED32 | rw | no | no | 0x80000400+$NODEID
0x02 | Transmission type | UNSIGNED8 | rw | no | no | 254
0x05 | Event timer | UNSIGNED16 | rw | no | no | 0

- COB-ID used by RPDO:
  - bit 31: If set, PDO does not exist / is not valid
  - bit 11-30: set to 0
  - bit 0-10: 11-bit CAN-ID
- Transmission type:
  - Value 0-240: synchronous, processed after next reception of SYNC object
  - Value 241-253: not used
  - Value 254: event-driven (manufacturer-specific)
  - Value 255: event-driven (device profile and application profile specific)
- Event timer in ms (0 = disabled) for deadline monitoring.

## 0x1403 - RPDO communication parameter

Object Type | Count Label | Storage Group | IO extension | PDO flags
--- | --- | --- | --- | ---
RECORD | RPDO | PERSIST_COMM | True | False

Sub | Name | Data Type | SDO | PDO | SRDO | Default Value
--- | --- | --- | --- | --- | --- | ---
0x00 | Highest sub-index supported | UNSIGNED8 | ro | no | no | 0x05
0x01 | COB-ID used by RPDO | UNSIGNED32 | rw | no | no | 0x80000500+$NODEID
0x02 | Transmission type | UNSIGNED8 | rw | no | no | 254
0x05 | Event timer | UNSIGNED16 | rw | no | no | 0

- COB-ID used by RPDO:
  - bit 31: If set, PDO does not exist / is not valid
  - bit 11-30: set to 0
  - bit 0-10: 11-bit CAN-ID
- Transmission type:
  - Value 0-240: synchronous, processed after next reception of SYNC object
  - Value 241-253: not used
  - Value 254: event-driven (manufacturer-specific)
  - Value 255: event-driven (device profile and application profile specific)
- Event timer in ms (0 = disabled) for deadline monitoring.

## 0x1600 - RPDO mapping parameter

Object Type | Count Label | Storage Group | IO extension | PDO flags
--- | --- | --- | --- | ---
RECORD |  | PERSIST_COMM | True | False

Sub | Name | Data Type | SDO | PDO | SRDO | Default Value
--- | --- | --- | --- | --- | --- | ---
0x00 | Number of mapped application objects in PDO | UNSIGNED8 | rw | no | no | 0
0x01 | Application object 1 | UNSIGNED32 | rw | no | no | 0x00000000
0x02 | Application object 2 | UNSIGNED32 | rw | no | no | 0x00000000
0x03 | Application object 3 | UNSIGNED32 | rw | no | no | 0x00000000
0x04 | Application object 4 | UNSIGNED32 | rw | no | no | 0x00000000
0x05 | Application object 5 | UNSIGNED32 | rw | no | no | 0x00000000
0x06 | Application object 6 | UNSIGNED32 | rw | no | no | 0x00000000
0x07 | Application object 7 | UNSIGNED32 | rw | no | no | 0x00000000
0x08 | Application object 8 | UNSIGNED32 | rw | no | no | 0x00000000

- Number of mapped application objects in PDO:
  - Value 0: mapping is disabled.
  - Value 1: sub-index 0x01 is valid.
  - Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid.
- Application object 1-8:
  - bit 16-31: index
  - bit 8-15: sub-index
  - bit 0-7: data length in bits

## 0x1601 - RPDO mapping parameter

Object Type | Count Label | Storage Group | IO extension | PDO flags
--- | --- | --- | --- | ---
RECORD |  | PERSIST_COMM | True | False

Sub | Name | Data Type | SDO | PDO | SRDO | Default Value
--- | --- | --- | --- | --- | --- | ---
0x00 | Number of mapped application objects in PDO | UNSIGNED8 | rw | no | no | 0
0x01 | Application object 1 | UNSIGNED32 | rw | no | no | 0x00000000
0x02 | Application object 2 | UNSIGNED32 | rw | no | no | 0x00000000
0x03 | Application object 3 | UNSIGNED32 | rw | no | no | 0x00000000
0x04 | Application object 4 | UNSIGNED32 | rw | no | no | 0x00000000
0x05 | Application object 5 | UNSIGNED32 | rw | no | no | 0x00000000
0x06 | Application object 6 | UNSIGNED32 | rw | no | no | 0x00000000
0x07 | Application object 7 | UNSIGNED32 | rw | no | no | 0x00000000
0x08 | Application object 8 | UNSIGNED32 | rw | no | no | 0x00000000

- Number of mapped application objects in PDO:
  - Value 0: mapping is disabled.
  - Value 1: sub-index 0x01 is valid.
  - Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid.
- Application object 1-8:
  - bit 16-31: index
  - bit 8-15: sub-index
  - bit 0-7: data length in bits

## 0x1602 - RPDO mapping parameter

Object Type | Count Label | Storage Group | IO extension | PDO flags
--- | --- | --- | --- | ---
RECORD |  | PERSIST_COMM | True | False

Sub | Name | Data Type | SDO | PDO | SRDO | Default Value
--- | --- | --- | --- | --- | --- | ---
0x00 | Number of mapped application objects in PDO | UNSIGNED8 | rw | no | no | 0
0x01 | Application object 1 | UNSIGNED32 | rw | no | no | 0x00000000
0x02 | Application object 2 | UNSIGNED32 | rw | no | no | 0x00000000
0x03 | Application object 3 | UNSIGNED32 | rw | no | no | 0x00000000
0x04 | Application object 4 | UNSIGNED32 | rw | no | no | 0x00000000
0x05 | Application object 5 | UNSIGNED32 | rw | no | no | 0x00000000
0x06 | Application object 6 | UNSIGNED32 | rw | no | no | 0x00000000
0x07 | Application object 7 | UNSIGNED32 | rw | no | no | 0x00000000
0x08 | Application object 8 | UNSIGNED32 | rw | no | no | 0x00000000

- Number of mapped application objects in PDO:
  - Value 0: mapping is disabled.
  - Value 1: sub-index 0x01 is valid.
  - Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid.
- Application object 1-8:
  - bit 16-31: index
  - bit 8-15: sub-index
  - bit 0-7: data length in bits

## 0x1603 - RPDO mapping parameter

Object Type | Count Label | Storage Group | IO extension | PDO flags
--- | --- | --- | --- | ---
RECORD |  | PERSIST_COMM | True | False

Sub | Name | Data Type | SDO | PDO | SRDO | Default Value
--- | --- | --- | --- | --- | --- | ---
0x00 | Number of mapped application objects in PDO | UNSIGNED8 | rw | no | no | 0
0x01 | Application object 1 | UNSIGNED32 | rw | no | no | 0x00000000
0x02 | Application object 2 | UNSIGNED32 | rw | no | no | 0x00000000
0x03 | Application object 3 | UNSIGNED32 | rw | no | no | 0x00000000
0x04 | Application object 4 | UNSIGNED32 | rw | no | no | 0x00000000
0x05 | Application object 5 | UNSIGNED32 | rw | no | no | 0x00000000
0x06 | Application object 6 | UNSIGNED32 | rw | no | no | 0x00000000
0x07 | Application object 7 | UNSIGNED32 | rw | no | no | 0x00000000
0x08 | Application object 8 | UNSIGNED32 | rw | no | no | 0x00000000

- Number of mapped application objects in PDO:
  - Value 0: mapping is disabled.
  - Value 1: sub-index 0x01 is valid.
  - Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid.
- Application object 1-8:
  - bit 16-31: index
  - bit 8-15: sub-index
  - bit 0-7: data length in bits

## 0x1800 - TPDO communication parameter

Object Type | Count Label | Storage Group | IO extension | PDO flags
--- | --- | --- | --- | ---
RECORD | TPDO | PERSIST_COMM | True | False

Sub | Name | Data Type | SDO | PDO | SRDO | Default Value
--- | --- | --- | --- | --- | --- | ---
0x00 | Highest sub-index supported | UNSIGNED8 | ro | no | no | 0x06
0x01 | COB-ID used by TPDO | UNSIGNED32 | rw | no | no | 0xC0000180+$NODEID
0x02 | Transmission type | UNSIGNED8 | rw | no | no | 254
0x03 | Inhibit time | UNSIGNED16 | rw | no | no | 0
0x05 | Event timer | UNSIGNED16 | rw | no | no | 0
0x06 | SYNC start value | UNSIGNED8 | rw | no | no | 0

- COB-ID used by RPDO:
  - bit 31: If set, PDO does not exist / is not valid
  - bit 30: If set, NO RTR is allowed on this PDO
  - bit 11-29: set to 0
  - bit 0-10: 11-bit CAN-ID
- Transmission type:
  - Value 0: synchronous (acyclic)
  - Value 1-240: synchronous (cyclic every (1-240)-th sync)
  - Value 241-253: not used
  - Value 254: event-driven (manufacturer-specific)
  - Value 255: event-driven (device profile and application profile specific)
- Inhibit time in multiple of 100µs, if the transmission type is set to 254 or 255 (0 = disabled).
- Event timer interval in ms, if the transmission type is set to 254 or 255 (0 = disabled).
- SYNC start value
  - Value 0: Counter of the SYNC message shall not be processed.
  - Value 1-240: The SYNC message with the counter value equal to this value shall be regarded as the first received SYNC message.

## 0x1801 - TPDO communication parameter

Object Type | Count Label | Storage Group | IO extension | PDO flags
--- | --- | --- | --- | ---
RECORD | TPDO | PERSIST_COMM | True | False

Sub | Name | Data Type | SDO | PDO | SRDO | Default Value
--- | --- | --- | --- | --- | --- | ---
0x00 | Highest sub-index supported | UNSIGNED8 | ro | no | no | 0x06
0x01 | COB-ID used by TPDO | UNSIGNED32 | rw | no | no | 0xC0000280+$NODEID
0x02 | Transmission type | UNSIGNED8 | rw | no | no | 254
0x03 | Inhibit time | UNSIGNED16 | rw | no | no | 0
0x05 | Event timer | UNSIGNED16 | rw | no | no | 0
0x06 | SYNC start value | UNSIGNED8 | rw | no | no | 0

- COB-ID used by RPDO:
  - bit 31: If set, PDO does not exist / is not valid
  - bit 30: If set, NO RTR is allowed on this PDO
  - bit 11-29: set to 0
  - bit 0-10: 11-bit CAN-ID
- Transmission type:
  - Value 0: synchronous (acyclic)
  - Value 1-240: synchronous (cyclic every (1-240)-th sync)
  - Value 241-253: not used
  - Value 254: event-driven (manufacturer-specific)
  - Value 255: event-driven (device profile and application profile specific)
- Inhibit time in multiple of 100µs, if the transmission type is set to 254 or 255 (0 = disabled).
- Event timer interval in ms, if the transmission type is set to 254 or 255 (0 = disabled).
- SYNC start value
  - Value 0: Counter of the SYNC message shall not be processed.
  - Value 1-240: The SYNC message with the counter value equal to this value shall be regarded as the first received SYNC message.

## 0x1802 - TPDO communication parameter

Object Type | Count Label | Storage Group | IO extension | PDO flags
--- | --- | --- | --- | ---
RECORD | TPDO | PERSIST_COMM | True | False

Sub | Name | Data Type | SDO | PDO | SRDO | Default Value
--- | --- | --- | --- | --- | --- | ---
0x00 | Highest sub-index supported | UNSIGNED8 | ro | no | no | 0x06
0x01 | COB-ID used by TPDO | UNSIGNED32 | rw | no | no | 0xC0000380+$NODEID
0x02 | Transmission type | UNSIGNED8 | rw | no | no | 254
0x03 | Inhibit time | UNSIGNED16 | rw | no | no | 0
0x05 | Event timer | UNSIGNED16 | rw | no | no | 0
0x06 | SYNC start value | UNSIGNED8 | rw | no | no | 0

- COB-ID used by RPDO:
  - bit 31: If set, PDO does not exist / is not valid
  - bit 30: If set, NO RTR is allowed on this PDO
  - bit 11-29: set to 0
  - bit 0-10: 11-bit CAN-ID
- Transmission type:
  - Value 0: synchronous (acyclic)
  - Value 1-240: synchronous (cyclic every (1-240)-th sync)
  - Value 241-253: not used
  - Value 254: event-driven (manufacturer-specific)
  - Value 255: event-driven (device profile and application profile specific)
- Inhibit time in multiple of 100µs, if the transmission type is set to 254 or 255 (0 = disabled).
- Event timer interval in ms, if the transmission type is set to 254 or 255 (0 = disabled).
- SYNC start value
  - Value 0: Counter of the SYNC message shall not be processed.
  - Value 1-240: The SYNC message with the counter value equal to this value shall be regarded as the first received SYNC message.

## 0x1803 - TPDO communication parameter

Object Type | Count Label | Storage Group | IO extension | PDO flags
--- | --- | --- | --- | ---
RECORD | TPDO | PERSIST_COMM | True | False

Sub | Name | Data Type | SDO | PDO | SRDO | Default Value
--- | --- | --- | --- | --- | --- | ---
0x00 | Highest sub-index supported | UNSIGNED8 | ro | no | no | 0x06
0x01 | COB-ID used by TPDO | UNSIGNED32 | rw | no | no | 0xC0000480+$NODEID
0x02 | Transmission type | UNSIGNED8 | rw | no | no | 254
0x03 | Inhibit time | UNSIGNED16 | rw | no | no | 0
0x05 | Event timer | UNSIGNED16 | rw | no | no | 0
0x06 | SYNC start value | UNSIGNED8 | rw | no | no | 0

- COB-ID used by RPDO:
  - bit 31: If set, PDO does not exist / is not valid
  - bit 30: If set, NO RTR is allowed on this PDO
  - bit 11-29: set to 0
  - bit 0-10: 11-bit CAN-ID
- Transmission type:
  - Value 0: synchronous (acyclic)
  - Value 1-240: synchronous (cyclic every (1-240)-th sync)
  - Value 241-253: not used
  - Value 254: event-driven (manufacturer-specific)
  - Value 255: event-driven (device profile and application profile specific)
- Inhibit time in multiple of 100µs, if the transmission type is set to 254 or 255 (0 = disabled).
- Event timer interval in ms, if the transmission type is set to 254 or 255 (0 = disabled).
- SYNC start value
  - Value 0: Counter of the SYNC message shall not be processed.
  - Value 1-240: The SYNC message with the counter value equal to this value shall be regarded as the first received SYNC message.

## 0x1A00 - TPDO mapping parameter

Object Type | Count Label | Storage Group | IO extension | PDO flags
--- | --- | --- | --- | ---
RECORD |  | PERSIST_COMM | True | False

Sub | Name | Data Type | SDO | PDO | SRDO | Default Value
--- | --- | --- | --- | --- | --- | ---
0x00 | Number of mapped application objects in PDO | UNSIGNED8 | rw | no | no | 0
0x01 | Application object 1 | UNSIGNED32 | rw | no | no | 0x00000000
0x02 | Application object 2 | UNSIGNED32 | rw | no | no | 0x00000000
0x03 | Application object 3 | UNSIGNED32 | rw | no | no | 0x00000000
0x04 | Application object 4 | UNSIGNED32 | rw | no | no | 0x00000000
0x05 | Application object 5 | UNSIGNED32 | rw | no | no | 0x00000000
0x06 | Application object 6 | UNSIGNED32 | rw | no | no | 0x00000000
0x07 | Application object 7 | UNSIGNED32 | rw | no | no | 0x00000000
0x08 | Application object 8 | UNSIGNED32 | rw | no | no | 0x00000000

- Number of mapped application objects in PDO:
  - Value 0: mapping is disabled.
  - Value 1: sub-index 0x01 is valid.
  - Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid.
- Application object 1-8:
  - bit 16-31: index
  - bit 8-15: sub-index
  - bit 0-7: data length in bits

## 0x1A01 - TPDO mapping parameter

Object Type | Count Label | Storage Group | IO extension | PDO flags
--- | --- | --- | --- | ---
RECORD |  | PERSIST_COMM | True | False

Sub | Name | Data Type | SDO | PDO | SRDO | Default Value
--- | --- | --- | --- | --- | --- | ---
0x00 | Number of mapped application objects in PDO | UNSIGNED8 | rw | no | no | 0
0x01 | Application object 1 | UNSIGNED32 | rw | no | no | 0x00000000
0x02 | Application object 2 | UNSIGNED32 | rw | no | no | 0x00000000
0x03 | Application object 3 | UNSIGNED32 | rw | no | no | 0x00000000
0x04 | Application object 4 | UNSIGNED32 | rw | no | no | 0x00000000
0x05 | Application object 5 | UNSIGNED32 | rw | no | no | 0x00000000
0x06 | Application object 6 | UNSIGNED32 | rw | no | no | 0x00000000
0x07 | Application object 7 | UNSIGNED32 | rw | no | no | 0x00000000
0x08 | Application object 8 | UNSIGNED32 | rw | no | no | 0x00000000

- Number of mapped application objects in PDO:
  - Value 0: mapping is disabled.
  - Value 1: sub-index 0x01 is valid.
  - Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid.
- Application object 1-8:
  - bit 16-31: index
  - bit 8-15: sub-index
  - bit 0-7: data length in bits

## 0x1A02 - TPDO mapping parameter

Object Type | Count Label | Storage Group | IO extension | PDO flags
--- | --- | --- | --- | ---
RECORD |  | PERSIST_COMM | True | False

Sub | Name | Data Type | SDO | PDO | SRDO | Default Value
--- | --- | --- | --- | --- | --- | ---
0x00 | Number of mapped application objects in PDO | UNSIGNED8 | rw | no | no | 0
0x01 | Application object 1 | UNSIGNED32 | rw | no | no | 0x00000000
0x02 | Application object 2 | UNSIGNED32 | rw | no | no | 0x00000000
0x03 | Application object 3 | UNSIGNED32 | rw | no | no | 0x00000000
0x04 | Application object 4 | UNSIGNED32 | rw | no | no | 0x00000000
0x05 | Application object 5 | UNSIGNED32 | rw | no | no | 0x00000000
0x06 | Application object 6 | UNSIGNED32 | rw | no | no | 0x00000000
0x07 | Application object 7 | UNSIGNED32 | rw | no | no | 0x00000000
0x08 | Application object 8 | UNSIGNED32 | rw | no | no | 0x00000000

- Number of mapped application objects in PDO:
  - Value 0: mapping is disabled.
  - Value 1: sub-index 0x01 is valid.
  - Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid.
- Application object 1-8:
  - bit 16-31: index
  - bit 8-15: sub-index
  - bit 0-7: data length in bits

## 0x1A03 - TPDO mapping parameter

Object Type | Count Label | Storage Group | IO extension | PDO flags
--- | --- | --- | --- | ---
RECORD |  | PERSIST_COMM | True | False

Sub | Name | Data Type | SDO | PDO | SRDO | Default Value
--- | --- | --- | --- | --- | --- | ---
0x00 | Number of mapped application objects in PDO | UNSIGNED8 | rw | no | no | 0
0x01 | Application object 1 | UNSIGNED32 | rw | no | no | 0x00000000
0x02 | Application object 2 | UNSIGNED32 | rw | no | no | 0x00000000
0x03 | Application object 3 | UNSIGNED32 | rw | no | no | 0x00000000
0x04 | Application object 4 | UNSIGNED32 | rw | no | no | 0x00000000
0x05 | Application object 5 | UNSIGNED32 | rw | no | no | 0x00000000
0x06 | Application object 6 | UNSIGNED32 | rw | no | no | 0x00000000
0x07 | Application object 7 | UNSIGNED32 | rw | no | no | 0x00000000
0x08 | Application object 8 | UNSIGNED32 | rw | no | no | 0x00000000

- Number of mapped application objects in PDO:
  - Value 0: mapping is disabled.
  - Value 1: sub-index 0x01 is valid.
  - Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid.
- Application object 1-8:
  - bit 16-31: index
  - bit 8-15: sub-index
  - bit 0-7: data length in bits