etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: CANOpen object dictionary Configuration etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0:

Object dictionary for Node :

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Node identity

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Device type (index 0x1000) : etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: Undefined etisserant@0: etisserant@0: etisserant@0:
Manufacturer device name (index 0x1008) : etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: Undefined etisserant@0: etisserant@0: etisserant@0:
Manufacturer hardware version (index 0x1009) : etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: Undefined. Default is the compilation date of objdict.c etisserant@0: etisserant@0: etisserant@0:
Manufacturer software version (index 0x100A) : etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: Undefined. Default is the compilation time of objdict.c etisserant@0: etisserant@0: etisserant@0:
Vendor id (index 0x1018, subindex 1) : etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: Undefined etisserant@0: etisserant@0: etisserant@0:
Product code (index 0x1018, subindex 2) : etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: Undefined etisserant@0: etisserant@0: etisserant@0:
Revision number (index 0x1018, subindex 3) : etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: Undefined etisserant@0: etisserant@0: etisserant@0:
Serial number (index 0x1018, subindex 4) : etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: Undefined etisserant@0: etisserant@0: etisserant@0:

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Mapped variables and tables

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etisserant@0: The access of the variable is by default "rw". A read-only variable cannot be mapped in a PDO receive. etisserant@0:

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Here are some others rules for the mapping :

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At an Index, you can map a variable at subindex 0x0 or 0x1, as you like.
To map several variables at the same Index, you must start at subindex 0x1, etisserant@0: because in this case, the subindex 0x0 contains the number of subindex.
You cannot map variables and tables at the same index.
The mapping of a table is always starting at subindex 0x1.

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Var Name	Bits	Index	Sub-index	access	Type (UNS/REAL)	Min value	Max value
Table Name	Bits	Index	Sub-index	access	Type (UNS/REAL)	Min value	Max value
String Name	Bytes	Index	Sub-index	access

etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0:

Number of heartbeat consumers : etisserant@0: etisserant@0:

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This means that the node can expect heartbeats sent by nodes. Canfestival limitation : You must at least have one.

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Number of SDO clients : etisserant@0: etisserant@0:

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Usualy, a slave node does not have the use of SDO clients, but etisserant@0: today - it is a Canfestival limitation - you must define at least one. etisserant@0:

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etisserant@0: The Master, which can etisserant@0: send SDO to "n" slaves nodes, must define here "n" SDO etisserant@0: clients. Remember that in most cases, the SDO protocol is used by etisserant@0: the master to configure a slave dictionary or read a value. In etisserant@0: this use, the master is the client, and the slave is the server.

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Number of SDO servers : etisserant@0: 1 (cannot be changed) etisserant@0:

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A Canfestival node must have exactly one SDO server, defined at index 0x1200. The user cannot change this.

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PDO etisserant@0: etisserant@0: etisserant@0: receive. etisserant@0: etisserant@0: etisserant@0: transmit. etisserant@0: etisserant@0: etisserant@0: Undefined. Not normal !!!! etisserant@0: etisserant@0: etisserant@0: CobId : etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: Undefined (Using default). etisserant@0: etisserant@0: etisserant@0: Index communication parameter : etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: Undefined (Using default). etisserant@0: etisserant@0: etisserant@0:

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etisserant@0: Maximum of objects (ie variables) that can be embeded : etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: Undefined (Using default : 8). etisserant@0: etisserant@0: etisserant@0:
etisserant@0: Transmission type : etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: Undefined (Using default : 253). etisserant@0: etisserant@0: etisserant@0:

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Default mapped objects :

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Var Name

Bits

Index

Sub-index

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About the cobId : The 4th first PDO receive defined at index 0x1400 to 0x1403, or transmit (0x1800 to 0x1803) are changed at runtime according to the DS 301, whatever the value you put here.

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If the Index communication parameter is not defined, have a look at objdict.c to know what index have beed created.

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It is not required to map some objects in a PDO. It can also be done by the node itself at runtime, or by an other node whith the SDO functionalitie.

etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: Undefined etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: Undefined. Default is RW etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: Undefined. Default is UNS etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: Undefined etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: Undefined etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: [] etisserant@0: etisserant@0: etisserant@0: 1 to etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: Undefined. Default is RW etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: Undefined. Default is UNS etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: Undefined etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: Undefined etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: Undefined. Default is RW etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: