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".
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".
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".
