Chapter 10 CANopen Function and Operation
10.7 Object Dictionary
The following table lists the communication objects in the object dictionary.
Index Subindex Object name Data type Attribute
Default
H’1001 H’00 Error register Unsigned 8 bits R 0
H’1005 H’00 COB-ID SYNC Unsigned 32 bits RW 0x00000080
H’1008 H’00 Manufacturer device name Vis-String R
AS300
H’1014 H’00 COB-ID EMCY Unsigned 32 bits R
0x80 + Node-
H’1016
-- Consumer heartbeat time
H’01 Consumer heartbeat time Unsigned 32 bits RW 0
H’1017 H’00 Producer heartbeat time Unsigned 16 bits RW 0
H’1018
H’00 Number of valid subindex Unsigned 8 bits R 3
H’01 Vendor-ID Unsigned 32 bits R 0x000001DD
H’1400
--
RxPDO1 communication
parameter
H’00 Number of valid subindex Unsigned 8 bits R 3
H’01 COB-ID of RxPDO1 Unsigned 32 bits RW
0x00000200+
H’1401
--
RxPDO2 communication
H’00 Number of valid subindex Unsigned 8 bits R 3
H’01 COB-ID of RxPDO2 Unsigned 32 bits RW 0x80000000
H’02 Transmission mode Unsigned 8 bits RW 0xFF
H’1402
--
RxPDO3 communication
parameter
H’00 Number of valid subindex Unsigned 8 bits R 3
H’02 Transmission mode Unsigned 8 bits RW 0xFF
H’1402 H’03 Inhibit time Unsigned 16 bits RW 0
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