BECKHOFF ET9300 - Manual (Page 44)

42 Application Note ET9300
_REC_OBJ_DEF RecObj;
7.3 Entry descriptions
A single entry description is defined in TSDOINFOENTRYDESC. All entry descriptions of an object
are referenced in one array. In case on the object code ARRAY only the first entry need to be
described.
Table 4: TSDOINFOENTRYDESC member variables
Member Data type Description
DataType unsigned 16 bit Index of the base data type defined in
[REF2].
BitLength unsigned 16 bit bit length of the object (entry)
ObjAccess unsigned 16 bit Bit 0: Read Access in Pre-Op
Bit 1: Read Access in Safe-Op
Bit 2: Read Access in Op
Bit 3: Write Access in Pre-Op
Bit 4: Write Access in Safe-Op
Bit 5: Write Access in Op
Bit 6: map able in RxPDO
Bit 7: map able in TxPDO
Bit 8: entry will be included in backup
Bit 9: entry will be included in settings
Bit 10: safe inputs
Bit11: safe outputs
Bit12: safe parameter
Example: Object description (Object Code VARIABLE)
TSDOINFOENTRYDESC VarObjectEntryDesc =
{DEFTYPE_UNSIGNED32,0x20,(ACCESS_READ|OBJACCESS_TXPDOMAPPING)};
Example: Object description (Object Code ARRAY)
TSDOINFOENTRYDESC ArrObjEntryDesc[] = {
{DEFTYPE_UNSIGNED8, 0x08, ACCESS_READ},
{DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ}};
Note: The object entry only describes the Subindex0 and one entry because all entries are equal.
Example: Object description (Object Code RECORD)
TSDOINFOENTRYDESC RecObjEntryDesc[] = {
{DEFTYPE_UNSIGNED8, 0x08, ACCESS_READ},
{DEFTYPE_UNSIGNED8, 0x08, ACCESS_WRITE_PREOP},
{DEFTYPE_UNSIGNED32, 0x20, (ACCESS_WRITE|OBJACCESS_RXPDOMAPPING)},
{DEFTYPE_INTEGER16, 0x10, ACCESS_WRITE}};
7.4 Object name
The Object Name is an ASCII coded name. The Object Codes VARIABLE and ARRAY are described
only by one name including the escape sequence "\0".
If the Object Code is RECORD each Entry (except Subindex0) is described. Between two names the
sequence "\000" is added. The escape sequence string "\000\377" is added.
Example: Object name (Object Code VARIABLE)
UCHAR VarObjName[] = "Test var obj";