1. Object Dictionary (OD)
1.1. Communication Area (1000h-1F80h)
1.1.1. Default Mapping (1400h-1A00h)
1.2. Application Profile Area (6000h-6444h)
1.2.1. Digital IO
1.2.2. Analog IO
1.3. Manufacturer Specific Area (3000h-3FFFh)
1.3.1. Simple Profile (2000h)
1.3.2. POWERLINK Profile (3000h)
1.3.3. Representation of IO modules in the OD (31xxh-39xxh)
1.3.4. MOD_Config_xxh_REC (Object 31xxh) - Configuration of IO modules

1. Object Dictionary (OD)

The OD is divided into the following areas:

Object 1000h-1FFFh ... Communication Area
Object 6000h-67FFh ... Application Profile Area
Object 2000h-3FFFh ... Manufacturer Specific Area

Objects in the range of 1000h to 1FFFh and 6000h to 6FFFh according to CANopen specifications CiA DS301 and DS401.

Color markings used:

Color	Definition
yellow	Hidden manufacturer specific objects (unhide with 0x3000sub10h)
red	Pay attention to these objects

The following symbols are used to describe the access type of the objects:

ro ... read only
wo ... write only
rw ... read write
rww .. read write, can be mapped into RPDO, not into TPDO
rwr ... read write, can be mapped into TPDO, not into RPDO
/m ... object can be mapped in PDO
/s ... object will be stored to non volatile memory on command

1.1. Communication Area (1000h-1FFFh)

The following objects will be implemented:

Index	SubIndex	Name	Value	Access	Comment
1000h	-	Device Type	000F0191h	const	0x000F = DI,DO,AI,AO 0x0191 = Device Profile 401
1001h	-	Error Register	0	ro
1003h	0	Pre-defined Error Field		rw
	1..32	Standard Error Field x		ro
1005h	-	COB-ID Sync		rw/s
1008h	-	Manufacturer Device Name	e.g. "X20BC0043-10"	ro
1009h	-	Manufacturer Hardware Version	"VXXXX.YYYY"	ro	e.g. "V0001.0000"
100Ah	-	Manufacturer Software Version	"Vxxxx.yyyy"	ro	e.g. "V0001.0101"
100Ch	-	Guard Time
100Dh	-	Life Time Factor
1010h	0	Store Parameter Field	4	ro
	1	Save all Parameter	00000001h	rw	All objects which can be saved (on command) (Write 0x65766173 to store)
	2	Save Communication Parameter	00000001h	rw	Objects 1000h-1FFFh: on command
	3	Save Application Parameter	00000001h	rw	Objects 6000h-9FFFh: on command
	4	Save Manufacturer Parameter	00000001h	rw	Objects 2000h-5FFFh: on command
1011h	0	Restore Default Parameters	4	ro
	1	Restore all Default Parameters	00000001h	rw	All objects which can be restored to default (Write 0x64616F6C to restore)
	2	Restore Communication Default Parameters	00000001h	rw	Objects 1000h-1FFFh
	3	Restore Application Default Parameters	00000001h	rw	Objects 6000h-9FFFh
	4	Restore Manufacturer Default Parameters	00000001h	rw	Objects 2000h-5FFFh
1014h	-	COB-ID EMCY	80h + NodeId	rw/s
1015h	-	Inhibit Time Emergency		rw/s
1016h	0	Consumer Heartbeat Time	1	ro
	1	Consumer Heartbeat Time		rw/s
1017h	-	Producer Heartbeat Time		rw/s
1018h	0	Identity Object	4	ro
	1	Vendor Id	0000006Ch	ro	CANopen Vendor ID (B&R)
	2	Product Code	A8B8h	ro	Hardware ID of bus controller
	3	Revision No	00010101h	ro	Shows the hardware revision of the device (High word = Mayor version, changed when function changes, Low word = Minor version, different minor versions are compatible - v3 to v6)
	4	Serial No	UNSIGNED32	ro	Serial Number
1020h	0	Verify Configuration	2	ro	The user/MN can set date/time of the stored configuration to be able to verify the stored values at the next startup.
	1	Configuration Date	0	rw/s	Configuration data
	2	Configuration Time	0	rw/s	Configuration time
1029h	0	Error behavior	2	ro
	1	Communication Error		rw/s
	128 (0x80)	Advanced mapping	81h	rw	Writing 80h will suppress SDO abort codes when mapping non-existing 6xxxh objects NOTE: this should be used if I/O modules are to be configured manually (using POWERLINK profile) and PDO mapping is done before IO configuration gets active
1200h	0	Server SDO Parameter	2	ro
	1	COB-ID Client -> Server		rw/s
	2	COB-ID Server -> Client		rw/s
1201h	0	Server SDO Parameter	3	ro
	1	COB-ID Client -> Server		rw/s
	2	COB-ID Server -> Client		rw/s
	3	Node ID of the SDO Client		rw/s

1400h - 141Fh	0-5	Receive PDO Communication Parameter		rw/s	RPDO Communication Parameter, see Default Mapping

1600h - 161Fh	0-64	Receive PDO Mapping Parameter		rw/s	RPDO Mapping Parameter, see Default Mapping

1800h - 181Fh	0-5	Transmit PDO Communication Parameter		rw/s	TPDO Communication Parameter, see Default Mapping

1A00h - 1A1Fh	0-64	Transmit PDO Mapping Parameter		rw/s	TPDO Mapping Parameter, see Default Mapping

1F50h	0	Download Program Data	2	ro
	1	Firmware Area for BC		wo	Writing to this object will always store the new version in the upgrade area
	2	Configuration		wo	Writing to this object will store the data into the configuration block
1F51h	0	Program control	2	ro
	1	Control BC Firmware		rw	Writing the value 2 to this object will reset the BC -> BC starts with a new firmware
	2	Control Configuration		rw	Writing the value 2 to this object will reset the BC -> BC starts with a new configuration
1F52h	0	Verify Application Software	2	ro
	1	Application software date		ro	Firmware build date
	2	Application software time		ro	Firmware build time
1F56h	0	Application Software Identification	1	ro
	1	Firmware of X20BC0043-10	Firmware revision	ro	Reading this object will return the firmware revision of the upgrade header
1F57h	0	Flash Status Indication	1	ro
	1	Firmware Flash Status Indication		ro
1F80h	0	NMTStartup		rw

1.1.1. Default Mapping (1400h-1A1Fh)

The default mapping of the bus controller corresponds to CANopen profile DS401.

Communication Parameter RPDO:

COB-ID                   11Bit CanID supported
Transmission Type    0-240,255
Inhibit Time             no effect
Event Time             no effect

Communication Parameter TPDO:

COB-ID                   11Bit CanID supported, RTR supported
Transmission Type    0-240, 252, 253, 255
Inhibit Time             supported
Event Time             supported

1.2. Application Profile Area (6000h-6444h)

1.2.1. Digital IO

All 1-Byte registers of the IO modules are accessible in the following byte arrays:

Index	SubIndex	Name	Value	Access	Comment
6000h	0	Read Input 8-Bit	0-254	ro
	1-254	DigInput8[n]		ro/m
6005h	0	Global Interrupt Enable Digital 8-Bit		rw/s	Writing will deactivate and reactivate all active TPDOs -> may lead to gaps in sending PDOs
6006h	0	Interrupt Mask Any Change 8-Bit	0-254	ro
	1-254	InterruptAnyChange[n]		rw/s	Writing will deactivate and reactivate all active TPDOs -> may lead to gaps in sending PDOs
6007h	0	Interrupt Mask Low to High 8-Bit	0-254	ro
	1-254	InterruptLowToHigh8[n]		rw/s	Writing will deactivate and reactivate all active TPDOs -> may lead to gaps in sending PDOs
6008h	0	Interrupt Mask High to Low 8-Bit	0-254	ro
	1-254	InterruptHighToLow8		rw/s	Writing will deactivate and reactivate all active TPDOs -> may lead to gaps in sending PDOs
6020h - 6027h	0	Read Input 1-Bit	0-128	ro
	1-128	Digital Input[n]		ro/m
6200h	0	Write Digital Output 8 Bit	0-254	ro
	1-254	DigOutU8[n]		rww/m	(SDO access to this modules will read/write force values)
6206h	0	Error Mode Output 8-Bit		ro
	1-254	ErrorMode8[n]		rw/s
6207h	0	Error Value Output 8-Bit		ro
	1-254	ErrorValue8[n]		rw/s
6220h - 6227h	0	Write Output 1-Bit	0-128	ro
	1-128	Digital Output[n]		rww/m

1.2.2. Analog IO

All 2/4-Byte registers of the IO modules are accessible in the following byte arrays:

Index	SubIndex	Name	Value	Access	Comment
6400h	0	Read Analog Input 8 Bit	0-254	ro
	1-254	Channel 1-254		ro/m	For channels with more than 8 bit these entries represent the high bits.
6401h	0	Read Analog Input 16 Bit	0-254	ro
	1-254	Channel 1-254		ro/m	For channels with more than 16 bit these entries represent the high bits.
6402h	0	Read Analog Input 32 Bit	0-254	ro
	1-254	Channel 1-254		ro/m

6410h	0	Write Analog Output 8 Bit	0-254	ro
	1-254	Channel 1-254		rww/m	For channels with more than 8 bit these entries represent the high bits. (SDO access to this modules will read/write force values)
6411h	0	Write Analog Output 16 Bit	0-254	ro
	1-254	Channel 1-254		rww/m	For channels with more than 16 bit these entries represent the high bits. (SDO access to this modules will read/write force values)
6412h	0	Write Analog Output 32 Bit	0-254	ro
	1-254	Channel 1-254		rww/m	(SDO access to this modules will read/write force values)
6421h	0	Analogue Input Interrupt Trigger Selection	0-254	ro	Number of Analogue Inputs
	1-254	InterruptTriggerSelection		rw/s	Bit mask for analogue channel 1-254, default value = 7h
6423h	-	Analog Input IRQ Enable	FALSE	rw/s	Set to TRUE to enable triggering of Analog Input channels. NOTE: writing this object during OPERATIONAL phase will deactivate and reactivate all active TPDOs -> may lead to gaps in sending TPDOs
6424h	0	Analog Input Interrupt Upper Limit Integer	0-254	ro	Number of Analog Inputs
	1-254	InterruptUpperLimInt, Channel 1-254		rw/s	16bit upper limit for analog channel 1-254
6425h	0	Analog Input Interrupt Lower Limit Integer	0-254	ro	Number of Analog Inputs
	1-254	InterruptLowerLimInt, Channel 1-254		rw/s	16bit lower limit for analog channel 1-254
6426h	0	Analog Input Interrupt Delta Unsigned	0-254	ro	Number of Analog Inputs
	1-254	InterruptDeltaUInt, Channel 1-254		rw/s	Channel 1-254 rising or falling above or below the last communicated value plus/minus delta
6443h	0	Analog Output Error Mode	0-254	ro	Number of Analog Outputs
	1-254	ErrorMode		rw/s	0h = actual value rest, 1h = reverts to error value integer (6444h)
6444h	0	Analog Output Error Value Integer	0-254	ro	Number of Analog Outputs
	1-254	ErrorValueInt		rw/s	16bit pre-defined error value

1.3. Manufacturer Specific Area (2000h-3FFFh)

1.3.1. Simple Profile (2000h)

Index	SubIndex	Name	Value	Access	Comment
2010h	0	Control Object	1	ro
	1	Simple_Profile_BOOL	0	rw	If set TRUE, values in 21xx and 22xx will be written to I/O module register

2041h	0	Bus Controller Settings	4	ro
	1	reserved
	2	reserved
	3	reserved
	4	Handle_Bus_Error_BOOL	1	rw	If set to TRUE (this is the default value), the Bus Controller will recover from Bus-Off state automatically

2100h	0	IO Mask for DMxxxx Modules	0-254	ro	Allows to configure channels on DMxxxx modules as outputs
	1-254	Mask_Register_U8	0	rw	If bit is set to TRUE, the according channel will be configured as output (one sub combines 8 channels)

2200h	0	Digital Input Filter	0-254	ro	Allows to set a filter value for each digital input channel (channel 1 to 254)
	1-254	Input_Filter_U8	0	rw	Every sub allows to configure the filter value (type USINT) for one digital input module; two subs are used for input modules with more than 8 channels (both work on same register, last one wins)

1.3.2. POWERLINK Profile (3000h)

Index	SubIndex decimal	SubIndex hex	Name	Value	Access	Comment
3000h	0	0	X2X_Config_REC	16	ro	Configuration of the X2X cycle
	1	1	X2X_CycleMode_U8	0	rw/s	0: Sub 2 defines the cycle setting
	2	2	X2X_CycleSet_U8	6	rw/s	1ms X2X cycle time
	10	A	X2X_StartupDelayUs_U32	1'500'000	rw/s	Delay time for detection that startup is completed (if no new module is detected during this time, the X2X bus is considered to be completely started and the controller will be enabled to change to operational state)
	11	B	X2X_CfgModeUploadDisable_BOOL	0	rw/s	0 : Default behaviour ... modules with MOD_CfgMode_U8=0 will be started automatically 1 : Modules with MOD_CfgMode_U8=0 will be not activated !
	12	C	X2X_ResponseMinUs_U16	0	rw	Minimum response time on X2X network (write access will reset the value to 0xFFFF) (for diagnose purpose)
	13	D	X2X_ResponseMaxUs_U16	0	rw	Maximum response time on X2X network (write access will reset the value to 0) (for diagnose purpose)
	14	E	X2X_ResponseAverageUs_U16	0	rw	Average response time on the X2X network (over 8 cycles) (write access will reset SubIndex 12 and 13) (for diagnose purpose)
	15	F	X2X_MapEPLProfileOnly_BOOL	0	rw/s	Bus Controller will ignore empty slots when TRUE (I/O modules behind empty slots will be part of EPL profile 3xxx)
	16	10	Unhide_Manufacturer_Objects_BOOL	0	rw	Unhides objects 32xx-39xx plus 31xxsub100 to 31xxsub254
	17	11	Autostore_Current_Config_BOOL	0	rw	If set TRUE, current configuration (auto-config) will be saved in EPL objects
	18	12	Enable_Global_Modulespecific_EMCY_Bool	0	rw	If set TRUE, module-specific emergency telegrams globally enables for all modules that have the configuration mode set to 1 in object 0x31xx, subindex 0x4

3001h	0	0	X2X_OutputConfig_REC	9	ro	Configuration of output behavior
	3	3	X2X_OutputForceTimeUs_U32	0	rw	The object will be decremented by the bus controller until it is 0. While this counter has a value >0 the RPDOs will not be copied to the output values. The output values may be changed by SDO access (forcing output values for IO test etc.)
	4	4	X2X_ModuleErrorReaction_U8	0	rw/s	Bit 0: Do not enter the state OPERATIONAL if any configured IO module is missing Bit 1: Do not enter the state OPERATIONAL if any configured IO module is not the requested one Bit 2: Leave the OPERATIONAL state if any configured IO module fails
	10	A	X2X_ClearModuleError_U8	0	wo	Writing any value to this object will switch off "MS" LED error signalizing of module errors (e.g. configured module is missing). NOTE: after a reboot of the bus controller the error will be indicated again

3011h	0	0	DIA_StatisticCount_REC	32	ro	Statistic values representing actual errors for diagnostic purpose
	1	1	DIA_Total_U32	5	ro	Shows the sum of all following counters, a SDO client can reset all counters to 0 by writing 0 to this object (sub 16 will not be included when reading the value)
	2	2	DIA_CanArbitrationLost_U8	0	ro
	3	3	DIA_CanErrorCode_U8	0	ro
	4	4	DIA_CanErrorWarningLimit_U8	0	ro
	5	5	DIA_CanRxErr_U8	0	ro
	6	6	DIA_CanTxErr_U8	0	ro
	16	10	DIA_XlkCycleCount_U32	0	rw	Number of X2X Cycles
	17	11	DIA_XlkBreakCount_U32	0	rw	Number of X2X Cycles with Break-Flag
	18	12	DIA_XlkSyncErrorCount_U32	0	rw	Number of Sync Errors
	19	13	DIA_XlkSyncBusyErrorCount_U32	0	rw	Errors with bus timing (Sync Frame)
	20	14	DIA_XlkSyncNoRxErrorCount_U32	0	rw	Errors with frame timing (Sync Frame)
	21	15	DIA_XlkSyncFormatErrorCount_U32	0	rw	CRC Errors (Sync Frame)
	22	16	DIA_XlkSyncPendingErrorCount_U32	0	rw	Frame could not be sent because antoher frame is received
	23	17	DIA_XlkAsynErrorCount_U32	0	rw	Number of Async Errors
	24	18	DIA_XlkAsynBusyErrorCount_U32	0	rw	Errors with bus timing (Async Frame)
	25	19	DIA_XlkAsynNoRxErrorCount_U32	0	rw	Errors with frame timing (Async Frame)
	26	1A	DIA_XlkAsynFormatErrorCount_U32	0	rw	CRC Errors (Async Frame)
	27	1B	DIA_XlkAsynPendingErrorCount_U32	0	rw	Frame could not be sent because antoher frame is received
	28	1C	DIA_XlkModuleLostWhileOperational_U32	0	rw	Hardware configuration changed : module disconnected while operational
	29	1D	DIA_XlkModuleNewWhileOperational_U32	0	rw	Hardware configuration changed : new module detected while operational
	32	20	DIA_RamAccessViolation_U32	0	rw	Internal RAM Access Violations (Odd address or NULL pointer access)

3012h	0	0	DIA_StatisticCount_ADOM	4	ro	Domains with satistic counters (collections from 2011h)
	1	1	DIA_Counters_DOM	136	ro	Counters from (0x2011h/Sub 2-35)
	2	2	DIA_Can_DOM	56	ro	Ethernet Statistic Counters (0x2011h/Sub 2-15)
	3	3	DIA_Xlk_DOM	64	ro	X2X Statistic Counters (0x2011h/Sub 16-31)
	4	4	DIA_Misc_DOM	16	ro	Miscellaneous Statistic Counters (0x2011h/Sub 32-35)


30A1h	-	-	MOD_SlotCount_U8		ro	Number of found physical slots (also empty X20 slots will be counted)
30A2h	-	-	MOD_ActCount_U8		ro	Number of active modules (IO modules in state operational)

3FFDh	-	-	Save_and_Reboot_Manufacturer		rw	0x65766173 "save" stores the changes of manufacturer specific parameters (and sets back to default unwritten parameters) NOTE: all manufacturer specific objects (3xxxh) which have not been written since current boot-up (start of bus controller) will be set back to factory default values!!!
3FFEh	-	-	Save_and_Reboot_Manufacturer_Communication		rw	0x65766173 "save" stores the changes of manufacturer (and sets back to default unwritten parameters) and communication parameters NOTE: only manufacturer specific objects which have not been written since current boot-up (start of bus controller) will be set back to factory default values, communication parameters will keep present values!!!
3FFFh	-	-	Save_and_Reboot_All		rw	0x65766173 "save" stores the changes of all parameters (and sets back to default unwritten manufacturer specific objects) NOTE: only manufacturer specific objects which have not been written since current boot-up (start of bus controller) will be set back to factory default values, communication parameters (1xxxh) and application profile objects (6xxxh) will keep present values!!!

1.3.3. Representation of IO modules in the OD (31xx-39xxh)

Objects 3100h-31FCh can be used for IO module configuration. Optionally master systems not supporting 64bit SDO access can use objects 38xxh (lower 32 bits) and 39xxh (upper 32 bits) as a supplement for objects 31xxsub100-254.

Objects 3200h-37FCh contain the IO data per I/O module and might be used for PDO mapping instead of Application Profile Area (6000h)

Index	SubIndex	Name	Value	Access	Comment
31xxh	0-254	MOD_Config_xxh_REC	254	ro	Maximum 253 modules can be configured (xx = 00 to FD) First IO slot (X20PS9400) = 0x3100 Next IO slot = 0x3101 ...
32xxh	0	MOD_DataIn_xxh_AU8[0]	254	ro
	1-254	MOD_DataIn_xxh_AU8[1..254]		ro/m	byte access to all input registers of module xx
33xxh	0	MOD_DataIn_xxh_AU16[0]	254	ro
	1-254	MOD_DataIn_xxh_AU16[1..254]		ro/m	word access to all input registers of module xx
34xxh	0	MOD_DataIn_xxh_AU32[0]	254	ro
	1-254	MOD_DataIn_xxh_AU32[1..254]		ro/m	long access to all input registers of module xx
35xxh	0	MOD_DataOut_xxh_AU8[0]	254	ro
	1-254	MOD_DataOut_xxh_AU8[1..254]		rw/m	byte access to all output registers of module xx
36xxh	0	MOD_DataOut_xxh_AU16[0]	254	ro
	1-254	MOD_DataOut_xxh_AU16[1..254]		rw/m	word access to all output registers of module xx
37xxh	0	MOD_DataOut_xxh_AU32[0]	254	ro
	1-254	MOD_DataOut_xxh_AU32[1..254]		rw/m	long access to all output registers of module xx
38xxh	0	Number of configuration entries		ro	see 31xxhsub91
	1-254	Configuration entry (Register / Type)		rw	see bit 0 to 31 of 31xxhsub100
39xxh	0	Number of configuration entries		ro	see 31xxhsub91
	1-254	Configuration entry register value		rw	see bit 32 to 63 of 31xxhsub100

Example:
3205h/Sub 3 : Read low byte of 3rd input register of 6th module (3200h=1st module)
3305h/Sub 3 : Read low word of 3rd input register of 6th module
3501h/Sub 1 : Write force output image of 1st output register of the 2nd module (if the register itself has more than 1 bytes, the other bytes will be filled with 0)

1.3.4. MOD_Config_xxh_REC (Object 31xxh) - Configuration of IO modules

This data type contains all objects to control and observe the IO modules.

SubIndex

decimal

SubIndex

hex

Name

Value

Access

Comment

MOD_Config_xxh_REC

254

MOD_CfgMode_U8

rw/s

0: Upload register information from IO Modules and configure all available cyclic registers
(except X2X_CfgModeUploadDisable_BOOL > 0)
1: The register configuration is done by the master (sub index 90-254 of this record)
2: IO module deactivated (the IO module will only be booted)
3: Combination of 0) and 1) : Upload register information from IO Module and add entries from sub 90-254

MOD_RequestedHardwareId_U16

rw/s

Requested Hardware ID for this module.
If IO module does not have this HardwareId, the module will not be activated.

0 : ID check not activated (default)
1..FFFEh : Requested hardware ID
FFFFh : Dummy module

MOD_RequestedVendorId_U16

rw/s

Requested Vendor ID for this module
If IO module does not have this VendorId, the module will not be activated.

0 : ID check not activated (default)
1..FFFFh : Requested vendor ID

MOD_HardwareId_U16

Hardware ID of the IO module (0 if no module detected on this slot)

MOD_VendorId_U16

Vendor ID of the IO module (0 if no module detected on this slot)

MOD_InterfaceFlags_U8

Information about the communication interface of the IO module

Bit	Description
7	0=FPGA / 1=ASIC
4-6	FPGA Version (0-7) / ASIC Version (1-3)
2-3	reserve
1	1 = IO Processor with Sequence-Channel protocol
0	1 = Active (Bit 1-7 valid)

MOD_Status_U16

Current state of the IO module (not mappable)

0 : Module not connected
0x4E ('N') : Slot found, but boot procedure can not be started because IO-Power is missing or IO module not plugged.

Boot Procedure:
0x42 ('B') : BS-Loader-Test
0x55 ('U') : Uploading IDs
0x50 ('P'/'p') : PreOperational
0x43 ('C') : Configuration
0x53 ('S') : Synchronization
0x52 ('R') : Run .. Module is active and working
0x44 ('D') : Firmware Download Active

0xE0 : FW update required (module has no valid FW)
0xE1 : FW update required (invalid model file)
0xE2 : GO command failed, wrong function mode configured
0xE3 : Register configuration error, configured registers not exiting
0xE4 : Error when reading config flash from ASIC-Only modules
0xE5 : X2X frame to small
0xE6 : Module with wrong ID (MOD_HardwareId_U16 != MOD_RequestedHardwareId_U16)

Write access:

0x44 ('D') : Force module state to firmware download state (for manual firmware download by streaming channel)
0x63 ('c') : Close Firmware-Download channel
0x72 ('r') : Reset the IO module

the BC may reject the command with the abort code (TBD) if it is not allowed at the current module state

MOD_NetworkStatus_U8

ro/m

Network status byte (0xF5 .. IO module Ok, <>0xF5 .. IO module not Ok)
Format:
Bit 0 = X2X Supply DC Ok (1=Ok)
Bit 1 = reserve
Bit 2 = X2X Network Ok (1=Ok)
Bit 3 = nDataValid (0=Ok, 1=Latched Data .... The IO data for this module was not refreshed (the module failed,was removed, has no IO power, ...)
Bit 4..7 = 1

MOD_BlockMask_U8

Diagnose information about the valid FW blocks on the IO module

MOD_BootCount_U8

Boot-Count of this module (incremented everytime the module was booted successfully, or the connection to the module was lost ... even number = module not active ... odd number = module active, hardware Id available)

MOD_LastError_U8

Shows an internal error code about the reason of the last restart of the IO module

MOD_FirmwareVersion_U16

Firmware version of IO module

MOD_HardwareVariant_U16

Hardware variant of IO module

MOD_SerialNo_U32

Serial number of IO module

MOD_PhysicalSlotNumber_U8

Physical slot number of the IO module (when X2X IO modules with node-switch are used, the physical slot number can be different to the logical slot number)

MOD_NodeSwitch_U8

Node switch setting of the module (0 if module does not have a node switch)

MOD_RequestedSerialNo_U32

rw/s

Requested Serial number of IO module
If IO module does not have this SerialNo, the module will not be activated.

0 : check not activated (default)

MOD_ModuleErrorReaction_U8

rw/s

Bit 0: Do not enter the state OPERATIONAL if this module is missing
Bit 1: Do not enter the state OPERATIONAL if this module is not the requested one
Bit 2: Leave OPERATIONAL when this module fails

MOD_AsyncRead_U64

Read register asynchronous (for format information see 31xxhsub100)
(Writing to this object will trigger a read access to the given register, the next read of the object will return the value)

MOD_AsyncWrite_U64

Write register asynchronous (for format information see 31xxhsub100)

MOD_Firmware_DOM

Firmware download to IO module

MOD_AsyncRead_Reg_U32

Acyclic read access to module register – register and bank (for format see bit 0 to 31 of 31xxhsub100)

MOD_AsyncRead_Val_U32

Acyclic read access to module register – value (for format see bit 32 to 63 of 31xxhsub100)

MOD_AsyncWrite_Reg_U32

Acyclic write access to module register – register and bank (for format see bit 0 to 31 of 31xxhsub100)

MOD_AsyncWrite_Val_U32

Acyclic write access to module register – value (for format see bit 32 to 63 of 31xxhsub100)

MOD_CfgFunctionMode_U8

rw/s

Function mode (function model) - see module's documentation

MOD_CfgEntryCount_U8

rw/s

Number of active config entries in the area 100..254 (or objects 38xx and 39xx)

NOTE: in total the bus controller can store 2024 config entries. If the maximum allowed number of 254 entries (by using 38xx and 39xx objects) is used for each module, only 7 modules can be used.
If an average number of 8 entries is used for each module, the maximum number of 253 modules can be used.

92-99

5C-63

Reserve (U8)

100
...
254

64
...
FE

MOD_CfgEntry_00_U64
...
MOD_CfgEntry_154_U64

rw/s

Format of configuration entries: 0xDDDDDDDDFTSSNNNN

Bit

63-32

0xDDDDDDDD

Value

Type=0: default value for input data until IO module gets activated the first time
Type=1: default value for output if no valid data is available
Type=2: default value for input data until IO module gets activated the first time
Type=3: default value for output if no valid data is available
Type=5: initialization value written before activating the module
Type=7: parameter value to be set before starting the IO module

31-24

0xT

Type

Bit	Description
0	0 … dynamic cyclic input register 1 … dynamic cyclic output register 2 … fixed cyclic input register 3 … fixed cyclic output register (4 … acyclic input register) 5 … acyclic output register 6 … reserved 7 … set parameter
1
2
3
4	reserved
5	hide register
6	define as analog data point
7	define as mask register (data point)

23-16

0xSS

Size

Size (in Bytes)
Size = 0 ... configuration entry not used

15-0

0xNNNN

Number