Midrange Manufacturer Specific Object Dictionary Entries
(Original Document)
About us
Project Data
The table below presents the Object Entry 2010 (Project Data).
Index (Hex)
Sub-index
Description
Object type
Data type
Comments
2010
Project Data
RECORD
0
Number of entries
Unsigned8
1
Current byte length
Unsigned16
Read only access
Updated by the Master Manager
2
Project data domain
DOMAIN
CANopen Master Timing Control
The table below presents the Object Entry 2100 (CANopen Master Timing Control).
Index (Hex)
Sub-index
Description
Object type
Data type
Comments
2100
CANopen Master Timing Control
ARRAY
0
Number of entries
Unsigned8
1
Max. number of TPDOs to transmit during one cycle
Unsigned8
2
Max. number of high priority receive queue accesses during one cycle (RPDOs, EMCY)
Unsigned8
3
Max. number of low priority receive queue accesses during one cycle (SDOs, Heartbeat/Guarding)
Unsigned8
CANopen Master Status
The table below presents the Object Entry 4100 (CANopen Master Status).
Index (Hex)
Sub-index
Description
Object type
Data type
Comments
4100
CANopen Master Status
ARRAY
0
Number of entries
Unsigned8
1
Global_events
Unsigned16
2
COMM_state
Unsigned8
3
COMM_diagnostic
Unsigned8
4
Config_bits
Unsigned16
5
LED_control
Unsigned16
6
Minimum Cycle Time
Unsigned8
7
Maximum Cycle Time
Unsigned8
Nd_asg
The table below presents the Object Entry 4101 (Nd_asg).
Index (Hex)
Sub-index
Description
Object type
Data type
Comments
4101
Nd_asg
ARRAY
0
Number of entries
Unsigned8
1
Nd_asg[0,1,2,3
Unsigned32
2
Nd_asg[4,5,6,7
Unsigned32
3
Nd_asg[8,9,10,11
Unsigned32
4
Nd_asg[12,13,14,15
Unsigned32
Nd_cfg
The table below presents the Object Entry 4102 (Nd_cfg).
Index (Hex)
Sub-index
Description
Object type
Data type
Comments
4102
Nd_cfg
ARRAY
0
Number of entries
Unsigned8
1
Nd_cfg[0,1,2,3
Unsigned32
2
Nd_cfg[4,5,6,7
Unsigned32
3
Nd_cfg[8,9,10,11
Unsigned32
4
Nd_cfg[12,13,14,15
Unsigned32
Nd_asf
The table below presents the Object Entry 4103 (Nd_asf).
Index (Hex)
Sub-index
Description
Object type
Data type
Comments
4103
Nd_asf
ARRAY
0
Number of entries
Unsigned8
1
Nd_asf[0,1,2,3
Unsigned32
2
Nd_asf[4,5,6,7
Unsigned32
3
Nd_asf[8,9,10,11
Unsigned32
4
Nd_asf[12,13,14,15
Unsigned32
Nd_oper
The table below presents the Object Entry 4104 (Nd_oper).
Index (Hex)
Sub-index
Description
Object type
Data type
Comments
4104
Nd_oper
ARRAY
0
Number of entries
Unsigned8
1
Nd_oper[0,1,2,3
Unsigned32
2
Nd_oper[4,5,6,7
Unsigned32
3
Nd_oper[8,9,10,11
Unsigned32
4
Nd_oper[12,13,14,15
Unsigned32
Nd_stop
The table below presents the Object Entry 4105 (Nd_stop).
Index (Hex)
Sub-index
Description
Object type
Data type
Comments
4105
Nd_stop
ARRAY
0
Number of entries
Unsigned8
1
Nd_stop[0,1,2,3
Unsigned32
2
Nd_stop[4,5,6,7
Unsigned32
3
Nd_stop[8,9,10,11
Unsigned32
4
Nd_stop[12,13,14,15
Unsigned32
Nd_preop
The table below presents the Object Entry 4106 (Nd_preop).
Index (Hex)
Sub-index
Description
Object type
Data type
Comments
4106
Nd_preop
ARRAY
0
Number of entries
Unsigned8
1
Nd_preop[0,1,2,3
Unsigned32
2
Nd_preop[4,5,6,7
Unsigned32
3
Nd_preop[8,9,10,11
Unsigned32
4
Nd_preop[12,13,14,15
Unsigned32
Nd_err
The table below presents the Object Entry 4107 (Nd_err).
Index (Hex)
Sub-index
Description
Object type
Data type
Comments
4107
Nd_err
ARRAY
0
Number of entries
Unsigned8
1
Nd_err[0,1,2,3
Unsigned32
2
Nd_err[4,5,6,7
Unsigned32
3
Nd_err[8,9,10,11
Unsigned32
4
Nd_err[12,13,14,15
Unsigned32
Node Error Count
The table below presents the Object Entry 4110 (Node Error Count).
Index (Hex)
Sub-index
Description
Object type
Data type
Comments
4110
Node Error Count
ARRAY
0
Number of entries
Unsigned8
1
Number of the received emergency messages of node number 1
Unsigned8
...
127
Number of the received emergency messages of node number 127
Unsigned8
Error Code Specific Error Counters
The table below presents the Object Entries 4111 to 4117 (Error Code Specific Error Counters).
Index (Hex)
Sub-index
Description
Object type
Data type
Comments
4111
Generic_error_count (Code 10xxH)
VAR
Unsigned8
4112
Device_hardware_error_count (Code 50xxH)
VAR
Unsigned8
4113
Device_software_error_count (Code 60xxH)
VAR
Unsigned8
4114
Communication_error_count (Code 81xxH)
VAR
Unsigned8
4115
Protocol_error_count (Code 82xxH)
VAR
Unsigned8
4116
External_error_count (Code 90xxH)
VAR
Unsigned8
4117
Device_specific (Code FFxxH)
VAR
Unsigned8
Emergency History
The table below presents the Object Entry 4118 (Emergency History).
Index (Hex)
Sub-index
Description
Object type
Data type
Comments
4118
Emergency History
ARRAY
0
Number of entries
Unsigned8
1
Emergency history of node number 1
Domain
...
127
Emergency history of node number 127
Domain
input Process Image
The table below presents the Object Entry 4200 (Input Process Image).
Index (Hex)
Sub-index
Description
Object type
Data type
Comments
4200
Input Process Image
RECORD
0
Number of entries
Unsigned8
1
Current byte length
Unsigned16
Read only access
Updated by the Master Manager
Output Process Image
The table below presents the Object Entry 4201 (Output Process Image).
Index (Hex)
Sub-index
Description
Object type
Data type
Comments
4201
Output Process Image
RECORD
0
Number of entries
Unsigned8
1
Current byte length
Unsigned16
Read only access
Updated by the Master Manager
Additional Master Information
The table below presents the Object Entry 4205 (Additional Master Information).
Index (Hex)
Sub-index
Description
Object type
Data type
Comments
4205
Additional Master Information
RECORD
0
Number of entries
Unsigned8
ro
1
Coupler (CPU) type
Unsigned8
rw
2
CAN baudrate table index
Unsigned8
ro
3
Highest used Node-ID
Unsigned8
ro
4
Number of used RxPDOs
Unsigned16
ro
5
Number of used TxPDOs
Unsigned16
ro
6
Number of mapped objects PI input
Unsigned16
ro
7
Number of mapped objects PI output
Unsigned16
ro
8
Covered bytes by the concise DCF
Unsigned8
ro
9
Byte size of the concise DCF buffer
Unsigned16
ro
10
Configuration signature
Unsigned16
rw
11
Control
Unsigned16
rw
Access type : ro (read only), rw (read / write)
Additional Slave Assignment
The table below presents the Object Entry 4250 (Additional Slave Assignment).
Index (Hex)
Sub-index
Description
Object type
Data type
Comments
4250
Additional Slave Assignment
ARRAY
0
Number of entries
Unsigned8
1
Boot behaviour for Node-ID 1
Unsigned8
...
127
Boot behaviour for Node-ID 127
Unsigned8
Bit 0 = 0 : Bootup according DS-302
Bit 1 = 1 : Bootup do not overwrite config parameter