DecodeHeartbeatConsumerSettings (FUN) ¶ FUNCTION DecodeHeartbeatConsumerSettings Helps to decode the content of a Heartbeat Consumer Object (Object 16#1016sub1-254). If uiHeartbeatTime > 0 AND byNodeID <> 0 ==> Heartbeat consuming enabled InOut: Scope Name Type Comment Input dwValue DWORD value of object 16#1016sub1-254 Output uiHeartbeatTime UINT Heartbeat Consumer Time byNodeID BYTE NodeID of the CANopen device which should be monitored

EncodeHeartbeatConsumerSettings (FUN) ¶ FUNCTION EncodeHeartbeatConsumerSettings Helps to encode the content of a Heartbeat Consumer Object (Object 16#1016sub1-254). If uiHeartbeatTime > 0 AND byNodeID <> 0 ==> Heartbeat consuming enabled InOut: Scope Name Type Comment Input uiHeartbeatTime UINT Heartbeat Consumer Time byNodeID BYTE NodeID of the CANopen device which should be monitored Output dwValue DWORD value of object 16#1016sub1-254

PDO ¶ DecodePDOCOBID (Function) DecodePDOMappingEntry (Function) EncodePDOCOBID (Function) EncodePDOMappingEntry (Function)

DecodePDOCOBID (FUN) ¶ FUNCTION DecodePDOCOBID Helps to decode the content of a PDO COBID Object (Object 16#1400-16#15FFsub1 or 16#1800-16#19FFsub1). InOut: Scope Name Type Comment Input dwValue DWORD value of PDO COBID object Output xEnabled BOOL true : PDO enabled; false : PDO disabled xExtendedID BOOL true : 29bit COBID, false : 11bit COBID xRTR BOOL true : RTR enabled; false : RTR disabled dwCOBID DWORD PDO COBID

DecodePDOMappingEntry (FUN) ¶ FUNCTION DecodePDOMappingEntry Helps to decode the content of a PDO Mapping Object (Object 16#1600-16#17FF or 16#1A00-16#1BFF). InOut: Scope Name Type Comment Input dwValue DWORD value of PDO Mapping object Output wIndex WORD Object index of mapped object bySubIndex BYTE SubIndex of mapped object byLength BYTE Bit length of mapped object

EncodePDOCOBID (FUN) ¶ FUNCTION EncodePDOCOBID Helps to encode the content of a PDO COBID Object (Object 16#1400-16#15FFsub1 or 16#1800-16#19FFsub1). InOut: Scope Name Type Comment Input xEnabled BOOL true : PDO enabled; false : PDO disabled xExtendedID BOOL true : 29bit COBID, false : 11bit COBID xRTR BOOL true : RTR enabled; false : RTR disabled dwCOBID DWORD PDO COBID Output dwValue DWORD value of PDO COBID object

EncodePDOMappingEntry (FUN) ¶ FUNCTION EncodePDOMappingEntry Helps to encode the content of a PDO Mapping Object (Object 16#1600-16#17FF or 16#1A00-16#1BFF). InOut: Scope Name Type Comment Input wIndex WORD Object index of mapped object bySubIndex BYTE SubIndex of mapped object byLength BYTE Bit length of mapped object Output dwValue DWORD value of PDO Mapping object

IODSubObject.Formula (PROP) ¶ PROPERTY Formula : BOOL TRUE if value is calculated via a formula $NODEID + value . Values of such objects change when changing the NodeID.

IODSubObject.RefuseSDOAccess (PROP) ¶ PROPERTY RefuseSDOAccess : BOOL If FALSE object cannot be read by SDO.

IODSubObject.Size (PROP) ¶ PROPERTY Size : CAA.SIZE Size of object value in bytes