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: CANopen |
| 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". Firmware version FIR-v1748-B531667: "Savable" entry changed from "yes, category: communication" to "yes, category: CANopen". Firmware version FIR-v2039-B807052: "Name" entry changed from "Highest Sub-index Supported" to "Number Of Entries". |
Value description
| Subindex | 00h |
| Name | Number Of Entries |
| 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.
- 02: 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".