CANopen device documentation ============================ **Basic device** Basic CANopen device with example usage. | | | | ------------ | ------------------------------ | | Project File | basicDevice.xdd | | File Version | 1 | | Created | 28. 11. 2020 12:37:54 | | Created By | Janez Paternoster | | Modified | 16. 03. 2021 19:31:59 | | Modified By | Janez Paternoster | This file was automatically generated with [libedssharp](https://github.com/robincornelius/libedssharp) Object Dictionary Editor v0.8-122-g6c02323 * [Device Information](#device-information) * [PDO Mapping](#pdo-mapping) * [Communication Specific Parameters](#communication-specific-parameters) * [Manufacturer Specific Parameters](#manufacturer-specific-parameters) * [Device Profile Specific Parameters](#device-profile-specific-parameters) Device Information {#device-information} ---------------------------------------- | | | | ------------ | ------------------------------ | | Vendor Name | | | Vendor ID | | | Product Name | Basic device | | 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 {#pdo-mapping} -------------------------- ### RPDO 0x1400 | | | | ------------ | ------------------------------------------------------------- | | COB_ID | 0x00000200+$NODEID | | Transmission | type=255 | | 0x62000108 | Write digital output 8-bit (Output) | | 0x62000208 | Write digital output 8-bit (Output) | ### RPDO 0x1401 | | | | ------------ | ------------------------------------------------------------- | | COB_ID | 0x00000300+$NODEID | | Transmission | type=255 | | 0x64110110 | Write analog output 16-bit (Output) | | 0x64110210 | Write analog output 16-bit (Output) | | 0x64110310 | Write analog output 16-bit (Output) | | 0x64110410 | Write analog output 16-bit (Output) | ### TPDO 0x1800 | | | | ------------ | ------------------------------------------------------------- | | COB_ID | 0x40000180+$NODEID | | Transmission | type=255; inhibit-time=0; event-timer=0 | | 0x60000108 | Read digital input 8-bit (Input) | | 0x60000208 | Read digital input 8-bit (Input) | ### TPDO 0x1801 | | | | ------------ | ------------------------------------------------------------- | | COB_ID | 0x40000280+$NODEID | | Transmission | type=255; inhibit-time=0; event-timer=0 | | 0x64010110 | Read analog input 16-bit (Input) | | 0x64010210 | Read analog input 16-bit (Input) | | 0x64010310 | Read analog input 16-bit (Input) | | 0x64010410 | Read analog input 16-bit (Input) | Communication Specific Parameters {#communication-specific-parameters} ---------------------------------------------------------------------- ### 0x1000 - Device type | Object Type | Count Label | Storage Group | | ----------- | -------------- | -------------- | | VAR | NMT | PERSIST_COMM | | Data Type | SDO | PDO | SRDO | Default Value | | ----------------------- | --- | --- | ---- | ------------------------------- | | UNSIGNED32 | ro | no | no | 0x000F0191 | * bit 16-31: Additional information * bit 0-15: Device profile number ### 0x1001 - Error register | Object Type | Count Label | Storage Group | | ----------- | -------------- | -------------- | | VAR | EM | RAM | | Data Type | SDO | PDO | SRDO | Default Value | | ----------------------- | --- | --- | ---- | ------------------------------- | | UNSIGNED8 | ro | tr | no | 0x00 | * bit 7: manufacturer specific * bit 6: Reserved (always 0) * bit 5: device profile specific * bit 4: communication error (overrun, error state) * bit 3: temperature * bit 2: voltage * bit 1: current * bit 0: generic error ### 0x1003 - Pre-defined error field | Object Type | Count Label | Storage Group | | ----------- | -------------- | -------------- | | ARRAY | | RAM | | Sub | Name | Data Type | SDO | PDO | SRDO | Default Value | | ---- | --------------------- | ---------- | --- | --- | ---- | ------------- | | 0x00 | Number of errors | UNSIGNED8 | rw | no | no | 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 | | ----------- | -------------- | -------------- | | VAR | SYNC | PERSIST_COMM | | Data Type | SDO | PDO | SRDO | Default Value | | ----------------------- | --- | --- | ---- | ------------------------------- | | UNSIGNED32 | rw | no | no | 0x00000080 | * bit 31: set to 0 * bit 30: If set, CANopen device generates SYNC object * bit 11-29: set to 0 * bit 0-10: 11-bit CAN-ID ### 0x1006 - Communication cycle period | Object Type | Count Label | Storage Group | | ----------- | -------------- | -------------- | | VAR | SYNC_PROD | PERSIST_COMM | | Data Type | SDO | PDO | SRDO | Default Value | | ----------------------- | --- | --- | ---- | ------------------------------- | | UNSIGNED32 | rw | no | no | 0 | Period of SYNC transmission in µs (0 = transmission disabled). ### 0x1007 - Synchronous window length | Object Type | Count Label | Storage Group | | ----------- | -------------- | -------------- | | VAR | | PERSIST_COMM | | Data Type | SDO | PDO | SRDO | Default Value | | ----------------------- | --- | --- | ---- | ------------------------------- | | UNSIGNED32 | rw | no | no | 0 | Synchronous window leghth in µs (0 = not used). All synchronous PDOs must be transmitted within this time window. ### 0x1010 - Store parameters | Object Type | Count Label | Storage Group | | ----------- | -------------- | -------------- | | ARRAY | STORAGE | RAM | | Sub | Name | Data Type | SDO | PDO | SRDO | Default Value | | ---- | --------------------- | ---------- | --- | --- | ---- | ------------- | | 0x00 | Highest sub-index supported| UNSIGNED8 | ro | no | no | 0x06 | | 0x01 | Save all parameters | UNSIGNED32 | rw | no | no | 0x00000003 | | 0x02 | Save communication parameters| UNSIGNED32 | rw | no | no | 0x00000001 | | 0x03 | Save application parameters| UNSIGNED32 | rw | no | no | 0x00000001 | | 0x04 | Save LSS parameters | UNSIGNED32 | rw | no | no | 0x00000003 | | 0x05 | Save testing parameters| UNSIGNED32 | rw | no | no | 0x00000001 | | 0x06 | Save testing auto-store parameters| UNSIGNED32 | rw | no | no | 0x00000003 | Sub-indexes 1 and above: * Reading provides information about its storage functionality: * bit 0: If set, CANopen device saves parameters on command * bit 1: If set, CANopen device saves parameters autonomously * Writing value 0x65766173 ('s','a','v','e' from LSB to MSB) stores corresponding data. ### 0x1011 - Restore default parameters | Object Type | Count Label | Storage Group | | ----------- | -------------- | -------------- | | ARRAY | | RAM | | Sub | Name | Data Type | SDO | PDO | SRDO | Default Value | | ---- | --------------------- | ---------- | --- | --- | ---- | ------------- | | 0x00 | Highest sub-index supported| UNSIGNED8 | ro | no | no | 0x06 | | 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 LSS default parameters| UNSIGNED32 | rw | no | no | 0x00000001 | | 0x05 | Restore testing default parameters| UNSIGNED32 | rw | no | no | 0x00000001 | | 0x06 | Restore testing auto-store default parameters| UNSIGNED32 | rw | no | no | 0x00000001 | Sub-indexes 1 and above: * Reading provides information about its restoring capability: * bit 0: If set, CANopen device restores parameters * Writing value 0x64616F6C ('l','o','a','d' from LSB to MSB) restores corresponding data. ### 0x1012 - COB-ID time stamp object | Object Type | Count Label | Storage Group | | ----------- | -------------- | -------------- | | VAR | TIME | PERSIST_COMM | | Data Type | SDO | PDO | SRDO | Default Value | | ----------------------- | --- | --- | ---- | ------------------------------- | | UNSIGNED32 | rw | no | no | 0x00000100 | * bit 31: If set, CANopen device consumes TIME message * bit 30: If set, CANopen device produces TIME message * bit 11-29: set to 0 * bit 0-10: 11-bit CAN-ID ### 0x1014 - COB-ID EMCY | Object Type | Count Label | Storage Group | | ----------- | -------------- | -------------- | | VAR | EM_PROD | PERSIST_COMM | | Data Type | SDO | PDO | SRDO | Default Value | | ----------------------- | --- | --- | ---- | ------------------------------- | | UNSIGNED32 | rw | no | no | 0x80+$NODEID | * bit 31: If set, EMCY does NOT exist / is NOT valid * bit 11-30: set to 0 * bit 0-10: 11-bit CAN-ID ### 0x1015 - Inhibit time EMCY | Object Type | Count Label | Storage Group | | ----------- | -------------- | -------------- | | VAR | | PERSIST_COMM | | Data Type | SDO | PDO | SRDO | Default Value | | ----------------------- | --- | --- | ---- | ------------------------------- | | UNSIGNED16 | rw | no | no | 0 | Inhibit time of emergency message in multiples of 100µs. The value 0 disables the inhibit time. ### 0x1016 - Consumer heartbeat time | Object Type | Count Label | Storage Group | | ----------- | -------------- | -------------- | | ARRAY | HB_CONS | PERSIST_COMM | | Sub | Name | Data Type | SDO | PDO | SRDO | Default Value | | ---- | --------------------- | ---------- | --- | --- | ---- | ------------- | | 0x00 | Highest sub-index supported| UNSIGNED8 | ro | no | no | 0x08 | | 0x01 | Consumer heartbeat time| UNSIGNED32 | rw | no | no | 0x00000000 | | 0x02 | Consumer heartbeat time| UNSIGNED32 | rw | no | no | 0x00000000 | | 0x03 | Consumer heartbeat time| UNSIGNED32 | rw | no | no | 0x00000000 | | 0x04 | Consumer heartbeat time| UNSIGNED32 | rw | no | no | 0x00000000 | | 0x05 | Consumer heartbeat time| UNSIGNED32 | rw | no | no | 0x00000000 | | 0x06 | Consumer heartbeat time| UNSIGNED32 | rw | no | no | 0x00000000 | | 0x07 | Consumer heartbeat time| UNSIGNED32 | rw | no | no | 0x00000000 | | 0x08 | Consumer heartbeat time| UNSIGNED32 | rw | no | no | 0x00000000 | Consumer Heartbeat Time: * bit 24-31: set to 0 * bit 16-23: Node ID of the monitored node. If 0 or greater than 127, sub-entry is not used. * bit 0-15: Heartbeat time in ms (if 0, sub-intry is not used). Value should be higher than the corresponding producer heartbeat time. ### 0x1017 - Producer heartbeat time | Object Type | Count Label | Storage Group | | ----------- | -------------- | -------------- | | VAR | HB_PROD | PERSIST_COMM | | Data Type | SDO | PDO | SRDO | Default Value | | ----------------------- | --- | --- | ---- | ------------------------------- | | UNSIGNED16 | rw | no | no | 0 | Heartbeat producer time in ms (0 = disable transmission). ### 0x1018 - Identity | Object Type | Count Label | Storage Group | | ----------- | -------------- | -------------- | | RECORD | | PERSIST_COMM | | Sub | Name | Data Type | SDO | PDO | SRDO | Default Value | | ---- | --------------------- | ---------- | --- | --- | ---- | ------------- | | 0x00 | Highest sub-index supported| UNSIGNED8 | ro | no | no | 0x04 | | 0x01 | Vendor-ID | UNSIGNED32 | ro | no | no | 0x00000000 | | 0x02 | Product code | UNSIGNED32 | ro | no | no | 0x00000000 | | 0x03 | Revision number | UNSIGNED32 | ro | no | no | 0x00000000 | | 0x04 | Serial number | UNSIGNED32 | ro | no | no | 0x00000000 | * Vendor-ID, assigned by CiA * Product code, manufacturer specific * Revision number: * bit 16-31: Major revision number (CANopen behavior has changed) * bit 0-15: Minor revision num. (CANopen behavior has not changed) * Serial number, manufacturer specific ### 0x1019 - Synchronous counter overflow value | Object Type | Count Label | Storage Group | | ----------- | -------------- | -------------- | | VAR | | PERSIST_COMM | | Data Type | SDO | PDO | SRDO | Default Value | | ----------------------- | --- | --- | ---- | ------------------------------- | | UNSIGNED8 | rw | no | no | 0 | * Value 0: SYNC message is transmitted with data length 0. * Value 1: reserved. * Value 2-240: SYNC message has one data byte, which contains the counter. * Value 241-255: reserved. ### 0x1200 - SDO server parameter | Object Type | Count Label | Storage Group | | ----------- | -------------- | -------------- | | RECORD | SDO_SRV | RAM | | Sub | Name | Data Type | SDO | PDO | SRDO | Default Value | | ---- | --------------------- | ---------- | --- | --- | ---- | ------------- | | 0x00 | Highest sub-index supported| UNSIGNED8 | ro | no | no | 2 | | 0x01 | COB-ID client to server (rx)| UNSIGNED32 | ro | t | no | 0x600+$NODEID | | 0x02 | COB-ID server to client (tx)| UNSIGNED32 | ro | t | no | 0x580+$NODEID | Sub-indexes 1 and 2: * bit 11-31: set to 0 * bit 0-10: 11-bit CAN-ID ### 0x1280 - SDO client parameter | Object Type | Count Label | Storage Group | | ----------- | -------------- | -------------- | | RECORD | SDO_CLI | PERSIST_COMM | | Sub | Name | Data Type | SDO | PDO | SRDO | Default Value | | ---- | --------------------- | ---------- | --- | --- | ---- | ------------- | | 0x00 | Highest sub-index supported| UNSIGNED8 | ro | no | no | 0x03 | | 0x01 | COB-ID client to server (tx)| UNSIGNED32 | rw | tr | no | 0x80000000 | | 0x02 | COB-ID server to client (rx)| UNSIGNED32 | rw | tr | no | 0x80000000 | | 0x03 | Node-ID of the SDO server| UNSIGNED8 | rw | no | no | 0x01 | * Sub-indexes 1 and 2: * bit 31: If set, SDO does NOT exist / is NOT valid * bit 30: If set, value is assigned dynamically * bit 11-29: set to 0 * bit 0-10: 11-bit CAN-ID * Node-ID of the SDO server, 0x01 to 0x7F ### 0x1400 - RPDO communication parameter | Object Type | Count Label | Storage Group | | ----------- | -------------- | -------------- | | RECORD | RPDO | PERSIST_COMM | | Sub | Name | Data Type | SDO | PDO | SRDO | Default Value | | ---- | --------------------- | ---------- | --- | --- | ---- | ------------- | | 0x00 | Highest sub-index supported| UNSIGNED8 | ro | no | no | 0x05 | | 0x01 | COB-ID used by RPDO | UNSIGNED32 | rw | no | no | 0x00000200+$NODEID| | 0x02 | Transmission type | UNSIGNED8 | rw | no | no | 255 | | 0x05 | Event timer | UNSIGNED16 | rw | no | no | 0 | * COB-ID used by RPDO: * bit 31: If set, PDO does not exist / is not valid * bit 11-30: set to 0 * bit 0-10: 11-bit CAN-ID * Transmission type: * Value 0-240: synchronous, processed after next reception of SYNC object * Value 241-253: not used * Value 254: event-driven (manufacturer-specific) * Value 255: event-driven (device profile and application profile specific) * Event timer in ms (0 = disabled) for deadline monitoring. ### 0x1401 - RPDO communication parameter | Object Type | Count Label | Storage Group | | ----------- | -------------- | -------------- | | RECORD | RPDO | PERSIST_COMM | | Sub | Name | Data Type | SDO | PDO | SRDO | Default Value | | ---- | --------------------- | ---------- | --- | --- | ---- | ------------- | | 0x00 | Highest sub-index supported| UNSIGNED8 | ro | no | no | 0x05 | | 0x01 | COB-ID used by RPDO | UNSIGNED32 | rw | no | no | 0x00000300+$NODEID| | 0x02 | Transmission type | UNSIGNED8 | rw | no | no | 255 | | 0x05 | Event timer | UNSIGNED16 | rw | no | no | 0 | * COB-ID used by RPDO: * bit 31: If set, PDO does not exist / is not valid * bit 11-30: set to 0 * bit 0-10: 11-bit CAN-ID * Transmission type: * Value 0-240: synchronous, processed after next reception of SYNC object * Value 241-253: not used * Value 254: event-driven (manufacturer-specific) * Value 255: event-driven (device profile and application profile specific) * Event timer in ms (0 = disabled) for deadline monitoring. ### 0x1402 - RPDO communication parameter | Object Type | Count Label | Storage Group | | ----------- | -------------- | -------------- | | RECORD | RPDO | PERSIST_COMM | | Sub | Name | Data Type | SDO | PDO | SRDO | Default Value | | ---- | --------------------- | ---------- | --- | --- | ---- | ------------- | | 0x00 | Highest sub-index supported| UNSIGNED8 | ro | no | no | 0x05 | | 0x01 | COB-ID used by RPDO | UNSIGNED32 | rw | no | no | 0x80000400+$NODEID| | 0x02 | Transmission type | UNSIGNED8 | rw | no | no | 254 | | 0x05 | Event timer | UNSIGNED16 | rw | no | no | 0 | * COB-ID used by RPDO: * bit 31: If set, PDO does not exist / is not valid * bit 11-30: set to 0 * bit 0-10: 11-bit CAN-ID * Transmission type: * Value 0-240: synchronous, processed after next reception of SYNC object * Value 241-253: not used * Value 254: event-driven (manufacturer-specific) * Value 255: event-driven (device profile and application profile specific) * Event timer in ms (0 = disabled) for deadline monitoring. ### 0x1403 - RPDO communication parameter | Object Type | Count Label | Storage Group | | ----------- | -------------- | -------------- | | RECORD | RPDO | PERSIST_COMM | | Sub | Name | Data Type | SDO | PDO | SRDO | Default Value | | ---- | --------------------- | ---------- | --- | --- | ---- | ------------- | | 0x00 | Highest sub-index supported| UNSIGNED8 | ro | no | no | 0x05 | | 0x01 | COB-ID used by RPDO | UNSIGNED32 | rw | no | no | 0x80000500+$NODEID| | 0x02 | Transmission type | UNSIGNED8 | rw | no | no | 254 | | 0x05 | Event timer | UNSIGNED16 | rw | no | no | 0 | * COB-ID used by RPDO: * bit 31: If set, PDO does not exist / is not valid * bit 11-30: set to 0 * bit 0-10: 11-bit CAN-ID * Transmission type: * Value 0-240: synchronous, processed after next reception of SYNC object * Value 241-253: not used * Value 254: event-driven (manufacturer-specific) * Value 255: event-driven (device profile and application profile specific) * Event timer in ms (0 = disabled) for deadline monitoring. ### 0x1600 - RPDO mapping parameter | Object Type | Count Label | Storage Group | | ----------- | -------------- | -------------- | | RECORD | | PERSIST_COMM | | Sub | Name | Data Type | SDO | PDO | SRDO | Default Value | | ---- | --------------------- | ---------- | --- | --- | ---- | ------------- | | 0x00 | Number of mapped application objects in PDO| UNSIGNED8 | rw | no | no | 2 | | 0x01 | Application object 1 | UNSIGNED32 | rw | no | no | 0x62000108 | | 0x02 | Application object 2 | UNSIGNED32 | rw | no | no | 0x62000208 | | 0x03 | Application object 3 | UNSIGNED32 | rw | no | no | 0x62000308 | | 0x04 | Application object 4 | UNSIGNED32 | rw | no | no | 0x62000408 | | 0x05 | Application object 5 | UNSIGNED32 | rw | no | no | 0x62000508 | | 0x06 | Application object 6 | UNSIGNED32 | rw | no | no | 0x62000608 | | 0x07 | Application object 7 | UNSIGNED32 | rw | no | no | 0x62000708 | | 0x08 | Application object 8 | UNSIGNED32 | rw | no | no | 0x62000808 | * Number of mapped application objects in PDO: * Value 0: mapping is disabled. * Value 1: sub-index 0x01 is valid. * Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid. * Application object 1-8: * bit 16-31: index * bit 8-15: sub-index * bit 0-7: data length in bits ### 0x1601 - RPDO mapping parameter | Object Type | Count Label | Storage Group | | ----------- | -------------- | -------------- | | RECORD | | PERSIST_COMM | | Sub | Name | Data Type | SDO | PDO | SRDO | Default Value | | ---- | --------------------- | ---------- | --- | --- | ---- | ------------- | | 0x00 | Number of mapped application objects in PDO| UNSIGNED8 | rw | no | no | 4 | | 0x01 | Application object 1 | UNSIGNED32 | rw | no | no | 0x64110110 | | 0x02 | Application object 2 | UNSIGNED32 | rw | no | no | 0x64110210 | | 0x03 | Application object 3 | UNSIGNED32 | rw | no | no | 0x64110310 | | 0x04 | Application object 4 | UNSIGNED32 | rw | no | no | 0x64110410 | | 0x05 | Application object 5 | UNSIGNED32 | rw | no | no | 0x00000000 | | 0x06 | Application object 6 | UNSIGNED32 | rw | no | no | 0x00000000 | | 0x07 | Application object 7 | UNSIGNED32 | rw | no | no | 0x00000000 | | 0x08 | Application object 8 | UNSIGNED32 | rw | no | no | 0x00000000 | * Number of mapped application objects in PDO: * Value 0: mapping is disabled. * Value 1: sub-index 0x01 is valid. * Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid. * Application object 1-8: * bit 16-31: index * bit 8-15: sub-index * bit 0-7: data length in bits ### 0x1602 - RPDO mapping parameter | Object Type | Count Label | Storage Group | | ----------- | -------------- | -------------- | | RECORD | | PERSIST_COMM | | Sub | Name | Data Type | SDO | PDO | SRDO | Default Value | | ---- | --------------------- | ---------- | --- | --- | ---- | ------------- | | 0x00 | Number of mapped application objects in PDO| UNSIGNED8 | rw | no | no | 0 | | 0x01 | Application object 1 | UNSIGNED32 | rw | no | no | 0x00000000 | | 0x02 | Application object 2 | UNSIGNED32 | rw | no | no | 0x00000000 | | 0x03 | Application object 3 | UNSIGNED32 | rw | no | no | 0x00000000 | | 0x04 | Application object 4 | UNSIGNED32 | rw | no | no | 0x00000000 | | 0x05 | Application object 5 | UNSIGNED32 | rw | no | no | 0x00000000 | | 0x06 | Application object 6 | UNSIGNED32 | rw | no | no | 0x00000000 | | 0x07 | Application object 7 | UNSIGNED32 | rw | no | no | 0x00000000 | | 0x08 | Application object 8 | UNSIGNED32 | rw | no | no | 0x00000000 | * Number of mapped application objects in PDO: * Value 0: mapping is disabled. * Value 1: sub-index 0x01 is valid. * Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid. * Application object 1-8: * bit 16-31: index * bit 8-15: sub-index * bit 0-7: data length in bits ### 0x1603 - RPDO mapping parameter | Object Type | Count Label | Storage Group | | ----------- | -------------- | -------------- | | RECORD | | PERSIST_COMM | | Sub | Name | Data Type | SDO | PDO | SRDO | Default Value | | ---- | --------------------- | ---------- | --- | --- | ---- | ------------- | | 0x00 | Number of mapped application objects in PDO| UNSIGNED8 | rw | no | no | 0 | | 0x01 | Application object 1 | UNSIGNED32 | rw | no | no | 0x00000000 | | 0x02 | Application object 2 | UNSIGNED32 | rw | no | no | 0x00000000 | | 0x03 | Application object 3 | UNSIGNED32 | rw | no | no | 0x00000000 | | 0x04 | Application object 4 | UNSIGNED32 | rw | no | no | 0x00000000 | | 0x05 | Application object 5 | UNSIGNED32 | rw | no | no | 0x00000000 | | 0x06 | Application object 6 | UNSIGNED32 | rw | no | no | 0x00000000 | | 0x07 | Application object 7 | UNSIGNED32 | rw | no | no | 0x00000000 | | 0x08 | Application object 8 | UNSIGNED32 | rw | no | no | 0x00000000 | * Number of mapped application objects in PDO: * Value 0: mapping is disabled. * Value 1: sub-index 0x01 is valid. * Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid. * Application object 1-8: * bit 16-31: index * bit 8-15: sub-index * bit 0-7: data length in bits ### 0x1800 - TPDO communication parameter | Object Type | Count Label | Storage Group | | ----------- | -------------- | -------------- | | RECORD | TPDO | PERSIST_COMM | | Sub | Name | Data Type | SDO | PDO | SRDO | Default Value | | ---- | --------------------- | ---------- | --- | --- | ---- | ------------- | | 0x00 | Highest sub-index supported| UNSIGNED8 | ro | no | no | 0x06 | | 0x01 | COB-ID used by TPDO | UNSIGNED32 | rw | no | no | 0x40000180+$NODEID| | 0x02 | Transmission type | UNSIGNED8 | rw | no | no | 255 | | 0x03 | Inhibit time | UNSIGNED16 | rw | no | no | 0 | | 0x05 | Event timer | UNSIGNED16 | rw | no | no | 0 | | 0x06 | SYNC start value | UNSIGNED8 | rw | no | no | 0 | * COB-ID used by RPDO: * bit 31: If set, PDO does not exist / is not valid * bit 30: If set, NO RTR is allowed on this PDO * bit 11-29: set to 0 * bit 0-10: 11-bit CAN-ID * Transmission type: * Value 0: synchronous (acyclic) * Value 1-240: synchronous (cyclic every (1-240)-th sync) * Value 241-253: not used * Value 254: event-driven (manufacturer-specific) * Value 255: event-driven (device profile and application profile specific) * Inhibit time in multiple of 100µs, if the transmission type is set to 254 or 255 (0 = disabled). * Event timer interval in ms, if the transmission type is set to 254 or 255 (0 = disabled). * SYNC start value * Value 0: Counter of the SYNC message shall not be processed. * Value 1-240: The SYNC message with the counter value equal to this value shall be regarded as the first received SYNC message. ### 0x1801 - TPDO communication parameter | Object Type | Count Label | Storage Group | | ----------- | -------------- | -------------- | | RECORD | TPDO | PERSIST_COMM | | Sub | Name | Data Type | SDO | PDO | SRDO | Default Value | | ---- | --------------------- | ---------- | --- | --- | ---- | ------------- | | 0x00 | Highest sub-index supported| UNSIGNED8 | ro | no | no | 0x06 | | 0x01 | COB-ID used by TPDO | UNSIGNED32 | rw | no | no | 0x40000280+$NODEID| | 0x02 | Transmission type | UNSIGNED8 | rw | no | no | 255 | | 0x03 | Inhibit time | UNSIGNED16 | rw | no | no | 0 | | 0x05 | Event timer | UNSIGNED16 | rw | no | no | 0 | | 0x06 | SYNC start value | UNSIGNED8 | rw | no | no | 0 | * COB-ID used by RPDO: * bit 31: If set, PDO does not exist / is not valid * bit 30: If set, NO RTR is allowed on this PDO * bit 11-29: set to 0 * bit 0-10: 11-bit CAN-ID * Transmission type: * Value 0: synchronous (acyclic) * Value 1-240: synchronous (cyclic every (1-240)-th sync) * Value 241-253: not used * Value 254: event-driven (manufacturer-specific) * Value 255: event-driven (device profile and application profile specific) * Inhibit time in multiple of 100µs, if the transmission type is set to 254 or 255 (0 = disabled). * Event timer interval in ms, if the transmission type is set to 254 or 255 (0 = disabled). * SYNC start value * Value 0: Counter of the SYNC message shall not be processed. * Value 1-240: The SYNC message with the counter value equal to this value shall be regarded as the first received SYNC message. ### 0x1802 - TPDO communication parameter | Object Type | Count Label | Storage Group | | ----------- | -------------- | -------------- | | RECORD | TPDO | PERSIST_COMM | | Sub | Name | Data Type | SDO | PDO | SRDO | Default Value | | ---- | --------------------- | ---------- | --- | --- | ---- | ------------- | | 0x00 | Highest sub-index supported| UNSIGNED8 | ro | no | no | 0x06 | | 0x01 | COB-ID used by TPDO | UNSIGNED32 | rw | no | no | 0xC0000380+$NODEID| | 0x02 | Transmission type | UNSIGNED8 | rw | no | no | 254 | | 0x03 | Inhibit time | UNSIGNED16 | rw | no | no | 0 | | 0x05 | Event timer | UNSIGNED16 | rw | no | no | 0 | | 0x06 | SYNC start value | UNSIGNED8 | rw | no | no | 0 | * COB-ID used by RPDO: * bit 31: If set, PDO does not exist / is not valid * bit 30: If set, NO RTR is allowed on this PDO * bit 11-29: set to 0 * bit 0-10: 11-bit CAN-ID * Transmission type: * Value 0: synchronous (acyclic) * Value 1-240: synchronous (cyclic every (1-240)-th sync) * Value 241-253: not used * Value 254: event-driven (manufacturer-specific) * Value 255: event-driven (device profile and application profile specific) * Inhibit time in multiple of 100µs, if the transmission type is set to 254 or 255 (0 = disabled). * Event timer interval in ms, if the transmission type is set to 254 or 255 (0 = disabled). * SYNC start value * Value 0: Counter of the SYNC message shall not be processed. * Value 1-240: The SYNC message with the counter value equal to this value shall be regarded as the first received SYNC message. ### 0x1803 - TPDO communication parameter | Object Type | Count Label | Storage Group | | ----------- | -------------- | -------------- | | RECORD | TPDO | PERSIST_COMM | | Sub | Name | Data Type | SDO | PDO | SRDO | Default Value | | ---- | --------------------- | ---------- | --- | --- | ---- | ------------- | | 0x00 | Highest sub-index supported| UNSIGNED8 | ro | no | no | 0x06 | | 0x01 | COB-ID used by TPDO | UNSIGNED32 | rw | no | no | 0xC0000480+$NODEID| | 0x02 | Transmission type | UNSIGNED8 | rw | no | no | 254 | | 0x03 | Inhibit time | UNSIGNED16 | rw | no | no | 0 | | 0x05 | Event timer | UNSIGNED16 | rw | no | no | 0 | | 0x06 | SYNC start value | UNSIGNED8 | rw | no | no | 0 | * COB-ID used by RPDO: * bit 31: If set, PDO does not exist / is not valid * bit 30: If set, NO RTR is allowed on this PDO * bit 11-29: set to 0 * bit 0-10: 11-bit CAN-ID * Transmission type: * Value 0: synchronous (acyclic) * Value 1-240: synchronous (cyclic every (1-240)-th sync) * Value 241-253: not used * Value 254: event-driven (manufacturer-specific) * Value 255: event-driven (device profile and application profile specific) * Inhibit time in multiple of 100µs, if the transmission type is set to 254 or 255 (0 = disabled). * Event timer interval in ms, if the transmission type is set to 254 or 255 (0 = disabled). * SYNC start value * Value 0: Counter of the SYNC message shall not be processed. * Value 1-240: The SYNC message with the counter value equal to this value shall be regarded as the first received SYNC message. ### 0x1A00 - TPDO mapping parameter | Object Type | Count Label | Storage Group | | ----------- | -------------- | -------------- | | RECORD | | PERSIST_COMM | | Sub | Name | Data Type | SDO | PDO | SRDO | Default Value | | ---- | --------------------- | ---------- | --- | --- | ---- | ------------- | | 0x00 | Number of mapped application objects in PDO| UNSIGNED8 | rw | no | no | 2 | | 0x01 | Application object 1 | UNSIGNED32 | rw | no | no | 0x60000108 | | 0x02 | Application object 2 | UNSIGNED32 | rw | no | no | 0x60000208 | | 0x03 | Application object 3 | UNSIGNED32 | rw | no | no | 0x60000308 | | 0x04 | Application object 4 | UNSIGNED32 | rw | no | no | 0x60000408 | | 0x05 | Application object 5 | UNSIGNED32 | rw | no | no | 0x60000508 | | 0x06 | Application object 6 | UNSIGNED32 | rw | no | no | 0x60000608 | | 0x07 | Application object 7 | UNSIGNED32 | rw | no | no | 0x60000708 | | 0x08 | Application object 8 | UNSIGNED32 | rw | no | no | 0x60000808 | * Number of mapped application objects in PDO: * Value 0: mapping is disabled. * Value 1: sub-index 0x01 is valid. * Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid. * Application object 1-8: * bit 16-31: index * bit 8-15: sub-index * bit 0-7: data length in bits ### 0x1A01 - TPDO mapping parameter | Object Type | Count Label | Storage Group | | ----------- | -------------- | -------------- | | RECORD | | PERSIST_COMM | | Sub | Name | Data Type | SDO | PDO | SRDO | Default Value | | ---- | --------------------- | ---------- | --- | --- | ---- | ------------- | | 0x00 | Number of mapped application objects in PDO| UNSIGNED8 | rw | no | no | 4 | | 0x01 | Application object 1 | UNSIGNED32 | rw | no | no | 0x64010110 | | 0x02 | Application object 2 | UNSIGNED32 | rw | no | no | 0x64010210 | | 0x03 | Application object 3 | UNSIGNED32 | rw | no | no | 0x64010310 | | 0x04 | Application object 4 | UNSIGNED32 | rw | no | no | 0x64010410 | | 0x05 | Application object 5 | UNSIGNED32 | rw | no | no | 0x00000000 | | 0x06 | Application object 6 | UNSIGNED32 | rw | no | no | 0x00000000 | | 0x07 | Application object 7 | UNSIGNED32 | rw | no | no | 0x00000000 | | 0x08 | Application object 8 | UNSIGNED32 | rw | no | no | 0x00000000 | * Number of mapped application objects in PDO: * Value 0: mapping is disabled. * Value 1: sub-index 0x01 is valid. * Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid. * Application object 1-8: * bit 16-31: index * bit 8-15: sub-index * bit 0-7: data length in bits ### 0x1A02 - TPDO mapping parameter | Object Type | Count Label | Storage Group | | ----------- | -------------- | -------------- | | RECORD | | PERSIST_COMM | | Sub | Name | Data Type | SDO | PDO | SRDO | Default Value | | ---- | --------------------- | ---------- | --- | --- | ---- | ------------- | | 0x00 | Number of mapped application objects in PDO| UNSIGNED8 | rw | no | no | 0 | | 0x01 | Application object 1 | UNSIGNED32 | rw | no | no | 0x00000000 | | 0x02 | Application object 2 | UNSIGNED32 | rw | no | no | 0x00000000 | | 0x03 | Application object 3 | UNSIGNED32 | rw | no | no | 0x00000000 | | 0x04 | Application object 4 | UNSIGNED32 | rw | no | no | 0x00000000 | | 0x05 | Application object 5 | UNSIGNED32 | rw | no | no | 0x00000000 | | 0x06 | Application object 6 | UNSIGNED32 | rw | no | no | 0x00000000 | | 0x07 | Application object 7 | UNSIGNED32 | rw | no | no | 0x00000000 | | 0x08 | Application object 8 | UNSIGNED32 | rw | no | no | 0x00000000 | * Number of mapped application objects in PDO: * Value 0: mapping is disabled. * Value 1: sub-index 0x01 is valid. * Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid. * Application object 1-8: * bit 16-31: index * bit 8-15: sub-index * bit 0-7: data length in bits ### 0x1A03 - TPDO mapping parameter | Object Type | Count Label | Storage Group | | ----------- | -------------- | -------------- | | RECORD | | PERSIST_COMM | | Sub | Name | Data Type | SDO | PDO | SRDO | Default Value | | ---- | --------------------- | ---------- | --- | --- | ---- | ------------- | | 0x00 | Number of mapped application objects in PDO| UNSIGNED8 | rw | no | no | 0 | | 0x01 | Application object 1 | UNSIGNED32 | rw | no | no | 0x00000000 | | 0x02 | Application object 2 | UNSIGNED32 | rw | no | no | 0x00000000 | | 0x03 | Application object 3 | UNSIGNED32 | rw | no | no | 0x00000000 | | 0x04 | Application object 4 | UNSIGNED32 | rw | no | no | 0x00000000 | | 0x05 | Application object 5 | UNSIGNED32 | rw | no | no | 0x00000000 | | 0x06 | Application object 6 | UNSIGNED32 | rw | no | no | 0x00000000 | | 0x07 | Application object 7 | UNSIGNED32 | rw | no | no | 0x00000000 | | 0x08 | Application object 8 | UNSIGNED32 | rw | no | no | 0x00000000 | * Number of mapped application objects in PDO: * Value 0: mapping is disabled. * Value 1: sub-index 0x01 is valid. * Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid. * Application object 1-8: * bit 16-31: index * bit 8-15: sub-index * bit 0-7: data length in bits Manufacturer Specific Parameters {#manufacturer-specific-parameters} -------------------------------------------------------------------- ### 0x2100 - Error status bits | Object Type | Count Label | Storage Group | | ----------- | -------------- | -------------- | | VAR | | RAM | | Data Type | SDO | PDO | SRDO | Default Value | | ----------------------- | --- | --- | ---- | ------------------------------- | | OCTET_STRING | ro | t | no | 00 00 00 00 00 00 00 00 00 00 | Error Status Bits indicates internal error conditions inside stack or inside application. For details see CO_EM_errorStatusBits_t in CO_Emergency.h file or in https://canopennode.github.io/CANopenSocket/group__CO__Emergency.html ### 0x2105 - Version | Object Type | Count Label | Storage Group | | ----------- | -------------- | -------------- | | RECORD | | RAM | | Sub | Name | Data Type | SDO | PDO | SRDO | Default Value | | ---- | --------------------- | ---------- | --- | --- | ---- | ------------- | | 0x00 | Highest sub-index supported| UNSIGNED8 | ro | no | no | 0x02 | | 0x01 | CANopenNode | VISIBLE_STRING| ro | no | no | | | 0x02 | Application | VISIBLE_STRING| ro | no | no | | ### 0x2106 - Power-on counter | Object Type | Count Label | Storage Group | | ----------- | -------------- | -------------- | | VAR | | PERSIST_TEST_AUTO| | Data Type | SDO | PDO | SRDO | Default Value | | ----------------------- | --- | --- | ---- | ------------------------------- | | UNSIGNED32 | ro | no | no | 0 | Power on Counter counts total microcontroller resets in it's lifetime. Variable is an example of EEPROM usage. ### 0x2110 - Variable Int32 | Object Type | Count Label | Storage Group | | ----------- | -------------- | -------------- | | ARRAY | | RAM | | Sub | Name | Data Type | SDO | PDO | SRDO | Default Value | | ---- | --------------------- | ---------- | --- | --- | ---- | ------------- | | 0x00 | Highest sub-index supported| UNSIGNED8 | ro | tr | no | 0x10 | | 0x01 | int32 | INTEGER32 | rw | tr | no | 0 | | 0x02 | int32 | INTEGER32 | rw | tr | no | 0 | | 0x03 | int32 | INTEGER32 | rw | tr | no | 0 | | 0x04 | int32 | INTEGER32 | rw | tr | no | 0 | | 0x05 | int32 | INTEGER32 | rw | tr | no | 0 | | 0x06 | int32 | INTEGER32 | rw | tr | no | 0 | | 0x07 | int32 | INTEGER32 | rw | tr | no | 0 | | 0x08 | int32 | INTEGER32 | rw | tr | no | 0 | | 0x09 | int32 | INTEGER32 | rw | tr | no | 0 | | 0x0A | int32 | INTEGER32 | rw | tr | no | 0 | | 0x0B | int32 | INTEGER32 | rw | tr | no | 0 | | 0x0C | int32 | INTEGER32 | rw | tr | no | 0 | | 0x0D | int32 | INTEGER32 | rw | tr | no | 0 | | 0x0E | int32 | INTEGER32 | rw | tr | no | 0 | | 0x0F | int32 | INTEGER32 | rw | tr | no | 0 | | 0x10 | int32 | INTEGER32 | rw | tr | no | 0 | Vartiable is free to use by application. ### 0x2111 - Variable Int32 save | Object Type | Count Label | Storage Group | | ----------- | -------------- | -------------- | | ARRAY | | PERSIST_TEST | | Sub | Name | Data Type | SDO | PDO | SRDO | Default Value | | ---- | --------------------- | ---------- | --- | --- | ---- | ------------- | | 0x00 | Highest sub-index supported| UNSIGNED8 | ro | tr | no | 0x10 | | 0x01 | int32 | INTEGER32 | rw | no | no | 0 | | 0x02 | int32 | INTEGER32 | rw | no | no | 0 | | 0x03 | int32 | INTEGER32 | rw | no | no | 0 | | 0x04 | int32 | INTEGER32 | rw | no | no | 0 | | 0x05 | int32 | INTEGER32 | rw | no | no | 0 | | 0x06 | int32 | INTEGER32 | rw | no | no | 0 | | 0x07 | int32 | INTEGER32 | rw | no | no | 0 | | 0x08 | int32 | INTEGER32 | rw | no | no | 0 | | 0x09 | int32 | INTEGER32 | rw | no | no | 0 | | 0x0A | int32 | INTEGER32 | rw | no | no | 0 | | 0x0B | int32 | INTEGER32 | rw | no | no | 0 | | 0x0C | int32 | INTEGER32 | rw | no | no | 0 | | 0x0D | int32 | INTEGER32 | rw | no | no | 0 | | 0x0E | int32 | INTEGER32 | rw | no | no | 0 | | 0x0F | int32 | INTEGER32 | rw | no | no | 0 | | 0x10 | int32 | INTEGER32 | rw | no | no | 0 | Vartiable is free to use by application. Variables can be saved on command. ### 0x2112 - Variable NV Int32 auto save | Object Type | Count Label | Storage Group | | ----------- | -------------- | -------------- | | ARRAY | | PERSIST_TEST_AUTO| | Sub | Name | Data Type | SDO | PDO | SRDO | Default Value | | ---- | --------------------- | ---------- | --- | --- | ---- | ------------- | | 0x00 | Highest sub-index supported| UNSIGNED8 | ro | tr | no | 0x10 | | 0x01 | int32 | INTEGER32 | rw | no | no | 0 | | 0x02 | int32 | INTEGER32 | rw | no | no | 0 | | 0x03 | int32 | INTEGER32 | rw | no | no | 0 | | 0x04 | int32 | INTEGER32 | rw | no | no | 0 | | 0x05 | int32 | INTEGER32 | rw | no | no | 0 | | 0x06 | int32 | INTEGER32 | rw | no | no | 0 | | 0x07 | int32 | INTEGER32 | rw | no | no | 0 | | 0x08 | int32 | INTEGER32 | rw | no | no | 0 | | 0x09 | int32 | INTEGER32 | rw | no | no | 0 | | 0x0A | int32 | INTEGER32 | rw | no | no | 0 | | 0x0B | int32 | INTEGER32 | rw | no | no | 0 | | 0x0C | int32 | INTEGER32 | rw | no | no | 0 | | 0x0D | int32 | INTEGER32 | rw | no | no | 0 | | 0x0E | int32 | INTEGER32 | rw | no | no | 0 | | 0x0F | int32 | INTEGER32 | rw | no | no | 0 | | 0x10 | int32 | INTEGER32 | rw | no | no | 0 | Vartiable is free to use by application. Variable is automatically saved. ### 0x2120 - Testing variables | Object Type | Count Label | Storage Group | | ----------- | -------------- | -------------- | | RECORD | | PERSIST_TEST | | Sub | Name | Data Type | SDO | PDO | SRDO | Default Value | | ---- | --------------------- | ---------- | --- | --- | ---- | ------------- | | 0x00 | Highest sub-index supported| UNSIGNED8 | ro | no | no | 0x0C | | 0x01 | I64 | INTEGER64 | rw | tr | no | -1234567890123456789| | 0x02 | U64 | UNSIGNED64 | rw | tr | no | 0x1234567890ABCDEF| | 0x03 | R32 | REAL32 | rw | tr | no | 12.345 | | 0x04 | R64 | REAL64 | rw | tr | no | 456.789 | | 0x05 | Average of four numbers| REAL64 | ro | t | no | | | 0x06 | String short | VISIBLE_STRING| rw | no | no | str | | 0x07 | String long | VISIBLE_STRING (len=1000)| rw | no | no | Example string with 1000 bytes capacity. It may contain UTF-8 characters, like '€', tabs ' ', newlines, etc.| | 0x08 | Octet string | OCTET_STRING| rw | no | no | C8 3D BB | | 0x09 | Parameter with default value| UNSIGNED16 | rw | no | no | 0x1234 | | 0x0A | Domain | DOMAIN | rw | no | no | | | 0x0B | Domain file name read | VISIBLE_STRING (len=100)| rw | no | no | basicDevice.md| | 0x0C | Domain file name write| VISIBLE_STRING (len=100)| rw | no | no | fileWrittenByDomain| Device Profile Specific Parameters {#device-profile-specific-parameters} ------------------------------------------------------------------------ ### 0x6000 - Read digital input 8-bit | Object Type | Count Label | Storage Group | | ----------- | -------------- | -------------- | | ARRAY | | RAM | | Sub | Name | Data Type | SDO | PDO | SRDO | Default Value | | ---- | --------------------- | ---------- | --- | --- | ---- | ------------- | | 0x00 | Highest sub-index supported| UNSIGNED8 | ro | no | no | 0x08 | | 0x01 | Input | UNSIGNED8 | ro | t | no | 0x00 | | 0x02 | Input | UNSIGNED8 | ro | t | no | 0x00 | | 0x03 | Input | UNSIGNED8 | ro | t | no | 0x00 | | 0x04 | Input | UNSIGNED8 | ro | t | no | 0x00 | | 0x05 | Input | UNSIGNED8 | ro | t | no | 0x00 | | 0x06 | Input | UNSIGNED8 | ro | t | no | 0x00 | | 0x07 | Input | UNSIGNED8 | ro | t | no | 0x00 | | 0x08 | Input | UNSIGNED8 | ro | t | no | 0x00 | Digital inputs from hardware. ### 0x6200 - Write digital output 8-bit | Object Type | Count Label | Storage Group | | ----------- | -------------- | -------------- | | ARRAY | | RAM | | Sub | Name | Data Type | SDO | PDO | SRDO | Default Value | | ---- | --------------------- | ---------- | --- | --- | ---- | ------------- | | 0x00 | Highest sub-index supported| UNSIGNED8 | ro | tr | no | 0x08 | | 0x01 | Output | UNSIGNED8 | rw | tr | no | 0x00 | | 0x02 | Output | UNSIGNED8 | rw | tr | no | 0x00 | | 0x03 | Output | UNSIGNED8 | rw | tr | no | 0x00 | | 0x04 | Output | UNSIGNED8 | rw | tr | no | 0x00 | | 0x05 | Output | UNSIGNED8 | rw | tr | no | 0x00 | | 0x06 | Output | UNSIGNED8 | rw | tr | no | 0x00 | | 0x07 | Output | UNSIGNED8 | rw | tr | no | 0x00 | | 0x08 | Output | UNSIGNED8 | rw | tr | no | 0x00 | Digital outputs on hardware. ### 0x6401 - Read analog input 16-bit | Object Type | Count Label | Storage Group | | ----------- | -------------- | -------------- | | ARRAY | | RAM | | Sub | Name | Data Type | SDO | PDO | SRDO | Default Value | | ---- | --------------------- | ---------- | --- | --- | ---- | ------------- | | 0x00 | Highest sub-index supported| UNSIGNED8 | ro | tr | no | 0x10 | | 0x01 | Input | INTEGER16 | ro | tr | no | 0 | | 0x02 | Input | INTEGER16 | ro | tr | no | 0 | | 0x03 | Input | INTEGER16 | ro | tr | no | 0 | | 0x04 | Input | INTEGER16 | ro | tr | no | 0 | | 0x05 | Input | INTEGER16 | ro | tr | no | 0 | | 0x06 | Input | INTEGER16 | ro | tr | no | 0 | | 0x07 | Input | INTEGER16 | ro | tr | no | 0 | | 0x08 | Input | INTEGER16 | ro | tr | no | 0 | | 0x09 | Input | INTEGER16 | ro | tr | no | 0 | | 0x0A | Input | INTEGER16 | ro | tr | no | 0 | | 0x0B | Input | INTEGER16 | ro | tr | no | 0 | | 0x0C | Input | INTEGER16 | ro | tr | no | 0 | | 0x0D | Input | INTEGER16 | ro | tr | no | 0 | | 0x0E | Input | INTEGER16 | ro | tr | no | 0 | | 0x0F | Input | INTEGER16 | ro | tr | no | 0 | | 0x10 | Input | INTEGER16 | ro | tr | no | 0 | Analogue inputs from hardware. The integer value is left adjusted. ### 0x6411 - Write analog output 16-bit | Object Type | Count Label | Storage Group | | ----------- | -------------- | -------------- | | ARRAY | | RAM | | Sub | Name | Data Type | SDO | PDO | SRDO | Default Value | | ---- | --------------------- | ---------- | --- | --- | ---- | ------------- | | 0x00 | Highest sub-index supported| UNSIGNED8 | ro | tr | no | 0x08 | | 0x01 | Output | INTEGER16 | rw | tr | no | 0 | | 0x02 | Output | INTEGER16 | rw | tr | no | 0 | | 0x03 | Output | INTEGER16 | rw | tr | no | 0 | | 0x04 | Output | INTEGER16 | rw | tr | no | 0 | | 0x05 | Output | INTEGER16 | rw | tr | no | 0 | | 0x06 | Output | INTEGER16 | rw | tr | no | 0 | | 0x07 | Output | INTEGER16 | rw | tr | no | 0 | | 0x08 | Output | INTEGER16 | rw | tr | no | 0 | Analogue outputs on hardware. The integer value is left adjusted.