Using Object Dictionary (OD)

Icon

Short Description

Description

Add Index

Adds an index to the Object Dictionary

Add Sub-Index

Adds a sub-index to the selected index

Add Pre-Defined Index

Pre-defined indexes idea is to reduce the time that is needed for parameter definitions for often used functions and/or libraries. The pre-defined index is a set of parameters including descriptive variable names, preselected value ranges and default values. When a predefined index is added, the value range and default value configuration can be fine-tuned to fit the project.

MultiTool Creator includes predefined indexes containing all the needed sub-indexes for the following Epec libraries:

• SensorCalibrationAndDiagnostic

• JoysticCalibrationAndDiagnostic

• ProportionalValveControl

You can also create your own pre-defined indexes, see Creating PDIs

Delete Index

To delete an index or sub-index, select the row and select Delete Index.

Show Hidden

When the Show Hidden icon is selected, the device's automatically generated indexes (for example, manufacturer specific indexes and communication parameters) are shown in the list. These indexes are not editable. Automatically generated indexes depend on the device type.

For more information, see section Default OD Indexes.

Store/Restore Settings

The application specific store (1010h) and restore (1011h) sub-indexes can be defined by Store/Restore Settings.

To add sub-indexes to Store/Restore Settings, select icon. Then, define the index range to Start and End Index.

To delete a sub-index from Store/Restore Settings, select the sub-index and then the icon .

For more information, see section Using Non-Volatile Memory.

Import 

Imports an EDS/DCF/XDD/XDC/XML file that describes the communication behavior and object dictionary of a CANopen device.

For more information, see section Importing EDS / DCF / XDD / XDC / XML 

Export 

Exports an EDS/DCF/XDD/XDC/XML file.

For more information, see section Exporting EDS / DCF / XDD / XDC / XML

Property

Description

Name

The name of the index. In case the index type is ArrayOf or Record, this is also the variable's name. No duplicates allowed.

The index name can be changed from the Index Properties or directly from the index table.

Index

The index number in hexadecimal format. The index number can be changed from the index table. No duplicates allowed. Indexes between 5FFFh-5FB0h are reserved.

The sub-index number is in decimal format. Then sub-index number can be changed by drag-and-drop.

Variable types are represented by the following icons:

Variable Type

The possible variable types are:

- RAM: Variables exist only in the device’s RAM memory, on reboot the values return to default

- Parameter: A variable can be saved to the device’s non volatile memory

- Retain(*): Automatically written to the non-volatile memory, The value returns to default when a new application is downloaded. Supported for ArrayOf and Record index types.

- Retain Persistent(*): Automatically written to the non-volatile memory, the value is retained even if a new application is downloaded to the device. Supported for ArrayOf and Record index types.

- Safety Parameters(*): A variable can be saved to the device's non-volatile memory. Authentication is required to adjust safety parameters. Parameter validity is checked during every boot-up.

* The variable type possibilities depends on the hardware

Access Type

Defines the access type to variables through CAN bus: Read only (RO), Write only (WO), Read and write (RW). Read only variables can still be written in the application.

MultiTool Creator does not restrict the use of access types but CANopen standard does. According to the standard

- the OD variables that can be mapped to transmit PDO can have only access types RO, CONST and RWR

- receive PDO supports only types WO and RWW

- RWR and RWW are used for objects that can be read and written via SDO

Index Type

The index types are

- Var: The index has only the sub-index 0. The sub-index has it's own variable name.

- SingleVariables: All sub-indexes have their own variable name. The index type is the same for all sub-indexes.

- ArrayOf: The index name defines the name of the array, sub-indexes are array cells, for example <Name>[ArrayIndex]. The Data Type is the same for all sub-indexes.

- Record: The index name defines the variable name of a structure instance, sub-indexes are variables in the structure. Sub-indexes can be of different Data Types. The variables can be referenced in CODESYS using the following format <Name>.<Variable Name>

Data Type

Data Type can be changed from the index table or from the Index Properties, depending on the Index Type. The Data Type is one of CODESYS' variable types:

A STRING type variable are initialized as STRING(79), 79 characters long variables. STRING type variables cannot be mapped into PDO.

A BOOL type variable can have values TRUE or FALSE, 8 bits of memory space will be reserved. BOOL type variables cannot be mapped into PDO.

If a safety parameter is selected, BOOL or STRING data types cannot be used.

Checksum

Checksum is selectable only if the Variable Type is Parameter. Select the Checksum to calculate the checksum for the parameters. For more information, see section Checksum.

Bits

When Bits is selected, the bit variables are generated to CODESYS code according to selected Data Type. The variable names for the bits can be edited from the index table. Bit variable has the following editable properties: Name, Description and Default.

Bits is not selectable if the Data Type is BOOL.

Description

The Description is shown in CODESYS as a comment text associated with the variable name. The Description can be added/changed from the index table.

PDO Mapping

When PDO Mapping is selected from the index table, the variable can be mapped to transmit and receive PDO(s). PDO Mapping is selectable for RAM, Retain or RetainPersistent Variable Types. BOOL and STRING types cannot be mapped in to a PDO.

Minimum

Value range minimum for the variable that can be edited from the index table. This value does not affect to CODESYS, it is used in the parameter CSV file.

For more information, see section Editing CSV.

Default

The variable’s default value is used in the CODESYS as a variable’s initial value.

Maximum

Value range maximum for the variable that can be edited from the index table. This value does not affect to CODESYS, it is used in the parameter CSV file.

For more information, see section Editing CSV.

The checksum indexes are always linked to only one CANopen device.

It is not possible, for example, to read the checksum from CANopen device1 through CANopen device2. This kind of linking can be implemented in the application code manually, it is not automatically supported by MultiTool Creator.