PD2-C CANopen Online Manual

2006h CANopen WheelConfig

Function

This object switches the counting method of the CANopen rotary switch.

Object description


Index 2006h
Object name CANopen WheelConfig
Object Code ARRAY
Data type UNSIGNED8
Savable yes, category: communication
Access read only
PDO mapping no
Allowed values  
Preset value  
Firmware version FIR-v1426
Change history

Firmware version FIR-v1540: "Object Name" entry changed from "CANopen WheelConf" to "CANopen WheelConfig".


Value description


Subindex 00h
Name Highest Sub-index Supported
Data type UNSIGNED8
Access read only
PDO mapping no
Allowed values  
Preset value 02h


Subindex 01h
Name Wheel Mode
Data type UNSIGNED8
Access read / write
PDO mapping no
Allowed values 0 or 1
Preset value 00h


Subindex 02h
Name NodeID Offset
Data type UNSIGNED8
Access read / write
PDO mapping no
Allowed values 0 … 112
Preset value 00h

Description

The subindices have the following functions:

  • 01h: Offset setting
    • Value "0": The value of the CANopen rotary switch is accepted unchanged.
    • Value "1": The value of the CANopen rotary switch is added to the offset in subindex 02h.
  • 02h: Node-ID Offset; the value may be between 0 and 112 and is added to the value of the CANopen rotary switch if subindex 01h is set to the value "1".
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