 | M&M FDT 1.2.1 Online Specification |
Interfaces and Methods - Schemas - FDT Specification - Quicklinks - Abbreviations
FDTCANopenParameterSchema
Available since CANOPEN Annex for FDT 1.2.1
Download CANopen Annex from FDT Group Homepage.
 | Available since FDT 1.2 |
 | Available since FDT 1.2.1 |
| Available since FDT 1.2 and modified or extended in FDT 1.2.1 |
 | Specification description (mouse over) |
| dtmINSPECTOR related hint (mouse over) |
| Comment by M&M (mouse over) |
 | Link to definition |
xmlns="urn:schemas-microsoft-com:xml-data" xmlns:dt="urn:schemas-microsoft-com:datatypes" xmlns:fdt="x-schema:FDTDataTypesSchema.xml" ><!-- Definition of Attributes -->
<AttributeType name="schemaVersion" dt:type="number" default="0.90" />
<AttributeType name="index" dt:type="ui2" />
<AttributeType name="subIndex" dt:type="ui1" />
<AttributeType name="baudRateValue" dt:type="enumeration" dt:values="10Kbps 20Kbps 50Kbps 100Kbps 125Kbps 250Kbps 500Kbps 800Kbps 1000Kbps autobaudRate" />
<AttributeType name="canNodeID" dt:type="ui1" />
<AttributeType name="applicationObject" dt:type="ui4" />
<AttributeType name="scanObject" dt:type="ui4" />
<AttributeType name="dispatchObject" dt:type="ui8" />
<AttributeType name="minValue" dt:type="ui4" />
<AttributeType name="maxValue" dt:type="ui4" />
<AttributeType name="value" dt:type="ui4" />
<AttributeType name="default" dt:type="ui4" />
<AttributeType name="lssSupported" dt:type="boolean" />
<AttributeType name="guardTime" dt:type="ui2" />
<AttributeType name="lifeTimeFactor" dt:type="ui1" />
<AttributeType name="inhibitTimeEMCY" dt:type="ui2" />
<AttributeType name="synchronousCounterOverflowValue" dt:type="ui1" />
<AttributeType name="consumerHeartbeatTime" dt:type="ui4" />
<AttributeType name="producerHeartbeatTime" dt:type="ui2" />
<AttributeType name="communicationError" dt:type="ui1" />
<AttributeType name="specificError" dt:type="ui1" />
<AttributeType name="groupMessaging" dt:type="boolean" />
<AttributeType name="dynamicChannels" dt:type="ui1" />
<AttributeType name="selfStartingDevice" dt:type="boolean" />
<AttributeType name="bootUpSlave" dt:type="boolean" />
<AttributeType name="sdoRequestingDevice" dt:type="boolean" />
<AttributeType name="pdoMappingValueSubIndex0" dt:type="ui1" />
<AttributeType name="deviceParamValue" dt:type="bin.hex" />
<AttributeType name="name" dt:type="string" />
<AttributeType name="dependsOnNodeId" dt:type="boolean" default="0" />
<AttributeType name="offset" dt:type="ui4" />
<!-- Definition of Elements -->
<!-- Element DataObject -->
<ElementType name="DataObject" content="empty" model="closed" >
<attribute type="minValue"
required="yes" /><attribute type="maxValue"
required="yes" /><attribute type="value"
required="yes" /><attribute type="default"
required="no" /><attribute type="fdt:writeAccess"
required="no" /></ElementType>
<!-- Element COBId -->
<ElementType name="COBId" content="eltOnly" model="closed" >
<attribute type="dependsOnNodeId"
required="no" /><attribute type="offset"
required="no" /><element type="DataObject"
minOccurs="1" maxOccurs="1" /></ElementType>
<!-- Element COBIdRx -->
<ElementType name="COBIdRx" content="eltOnly" model="closed" >
<element type="COBId"
minOccurs="1" maxOccurs="1" /></ElementType>
<!-- Element COBIdTx -->
<ElementType name="COBIdTx" content="eltOnly" model="closed" >
<element type="COBId"
minOccurs="1" maxOccurs="1" /></ElementType>
<!-- Element SDOParameter -->
<ElementType name="SDOParameter" content="eltOnly" model="closed" >
<attribute type="index"
required="yes" /><!-- Node-ID of the SDO client -->
<attribute type="canNodeID"
required="no" /><!-- COB-ID Client -> Server (rx) Sub-index 1 -->
<element type="COBIdRx"
minOccurs="1" maxOccurs="1" /><!-- COB-ID Server -> Client (tx) Sub-index 1 -->
<element type="COBIdTx"
minOccurs="1" maxOccurs="1" /></ElementType>
<!-- Element SDOParameterList Object 1200/1280h -->
<ElementType name="SDOParameterList" content="eltOnly" model="closed" >
<element type="SDOParameter"
minOccurs="1" maxOccurs="*" /></ElementType>
<!-- Object 0x1005 COB-ID SYNC message -->
<ElementType name="CobIdSyncMessage" content="eltOnly" model="closed" >
<element type="COBId"
minOccurs="1" maxOccurs="1" /></ElementType>
<!-- Object 0x1012 COB-ID TimeStampObject -->
<ElementType name="CobIdTimeStampObject" content="eltOnly" model="closed" >
<element type="COBId"
minOccurs="1" maxOccurs="1" /></ElementType>
<!-- Object 0x1014 COB-ID EMCY -->
<ElementType name="CobIdEMCY" content="eltOnly" model="closed" >
<element type="COBId"
minOccurs="1" maxOccurs="1" /></ElementType>
<!-- ScanObjectEntry -->
<ElementType name="ScanObjectEntry" content="empty" model="closed" >
<attribute type="scanObject"
required="yes" /><attribute type="fdt:writeAccess"
required="no" /></ElementType>
<!-- Element ObjectScannerList Object 1FA0..1FCFh -->
<ElementType name="ObjectScannerList" content="eltOnly" model="closed" >
<attribute type="index"
required="yes" /><!-- complete object not writeable by master, but needed for understanding of IO configuration -->
<attribute type="fdt:writeAccess"
required="no" /><!-- all subIndex entries in increasing order 1,2,3.. -->
<element type="ScanObjectEntry"
minOccurs="1" maxOccurs="*" /></ElementType>
<!-- DispatchObjectEntry -->
<ElementType name="DispatchObjectEntry" content="empty" model="closed" >
<attribute type="dispatchObject"
required="yes" /><attribute type="fdt:writeAccess"
required="no" /></ElementType>
<!-- Element ObjectDispatchingList Object 1FD0..1FFFh -->
<ElementType name="ObjectDispatchingList" content="eltOnly" model="closed" >
<attribute type="index"
required="yes" /><!-- complete object not writeable by master, but needed for understanding of IO configuration -->
<attribute type="fdt:writeAccess"
required="no" /><!-- all subIndex entries in increasing order 1,2,3.. -->
<element type="DispatchObjectEntry"
minOccurs="1" maxOccurs="*" /></ElementType>
<!-- Element DeviceParam -->
<ElementType name="DeviceParam" content="empty" model="closed" >
<attribute type="index"
required="yes" /><attribute type="subIndex"
required="no" /><attribute type="deviceParamValue"
required="yes" /></ElementType>
<!-- Element DeviceParamList -->
<ElementType name="DeviceParamList" content="eltOnly" model="closed" >
<element type="DeviceParam"
minOccurs="1" maxOccurs="*" /></ElementType>
<!-- Element BaudRate -->
<ElementType name="BaudRate" content="empty" model="closed" >
<attribute type="baudRateValue"
required="yes" /></ElementType>
<!-- Element SupportedBaudRates -->
<ElementType name="SupportedBaudRates" content="eltOnly" model="closed" >
<element type="BaudRate"
minOccurs="1" maxOccurs="*" /></ElementType>
<!-- Element SynchronousWindowLength Object 1007h -->
<ElementType name="SynchronousWindowLength" content="eltOnly" model="closed" >
<element type="DataObject"
minOccurs="1" maxOccurs="1" /></ElementType>
<!-- Element InhibitTime -->
<ElementType name="InhibitTime" content="eltOnly" model="closed" >
<element type="DataObject"
minOccurs="1" maxOccurs="1" /></ElementType>
<!-- Element TransmissionType -->
<ElementType name="TransmissionType" content="eltOnly" model="closed" >
<element type="DataObject"
minOccurs="1" maxOccurs="1" /></ElementType>
<!-- Element CompatibilityEntry -->
<ElementType name="CompatibilityEntry" content="eltOnly" model="closed" >
<element type="DataObject"
minOccurs="1" maxOccurs="1" /></ElementType>
<!-- Element EventTimer -->
<ElementType name="EventTimer" content="eltOnly" model="closed" >
<element type="DataObject"
minOccurs="1" maxOccurs="1" /></ElementType>
<!-- Element SyncStartValue -->
<ElementType name="SyncStartValue" content="eltOnly" model="closed" >
<element type="DataObject"
minOccurs="1" maxOccurs="1" /></ElementType>
<!-- Element PDOParameter -->
<ElementType name="PDOParameter" content="eltOnly" model="closed" >
<attribute type="index"
required="yes" /><attribute type="name"
required="yes" /><element type="COBId"
minOccurs="1" maxOccurs="1" /><element type="TransmissionType"
minOccurs="1" maxOccurs="1" /><element type="InhibitTime"
minOccurs="0" maxOccurs="1" /><element type="CompatibilityEntry"
minOccurs="0" maxOccurs="1" /><element type="EventTimer"
minOccurs="0" maxOccurs="1" /><element type="SyncStartValue"
minOccurs="0" maxOccurs="1" /></ElementType>
<!-- PDOParameterList Object 1400/1800h -->
<ElementType name="PDOParameterList" content="eltOnly" model="closed" >
<element type="PDOParameter"
minOccurs="1" maxOccurs="*" /></ElementType>
<!-- MappingEntry -->
<ElementType name="MappingEntry" content="eltOnly" model="closed" >
<attribute type="applicationObject"
required="yes" /><attribute type="name"
required="yes" /><attribute type="fdt:writeAccess"
required="no" /><element type="fdt:ChannelReferences"
minOccurs="0" maxOccurs="1" /></ElementType>
<!-- Element PDOMapping -->
<ElementType name="PDOMapping" content="eltOnly" model="closed" >
<attribute type="index"
required="yes" /><!-- complete object not writeable by master, but needed for understanding of IO config -->
<attribute type="fdt:writeAccess"
required="no" /><attribute type="pdoMappingValueSubIndex0"
required="yes" /><!-- all subIndex entries in increasing order 1,2,3.. -->
<element type="MappingEntry"
minOccurs="1" maxOccurs="*" /></ElementType>
<!-- Element PDOMappingList Object 1600/1A00h -->
<ElementType name="PDOMappingList" content="eltOnly" model="closed" >
<element type="PDOMapping"
minOccurs="1" maxOccurs="*" /></ElementType>
<!-- Element Guard time Object 100Ch -->
<ElementType name="GuardTime" content="empty" model="closed" >
<attribute type="guardTime"
required="yes" /><attribute type="fdt:writeAccess"
required="no" /></ElementType>
<!-- Element Life time factor Object 100Dh -->
<ElementType name="LifeTimeFactor" content="empty" model="closed" >
<attribute type="lifeTimeFactor"
required="yes" /><attribute type="fdt:writeAccess"
required="no" /></ElementType>
<!-- Element Inhibit time EMCY Object 1015h -->
<ElementType name="InhibitTimeEMCY" content="empty" model="closed" >
<attribute type="inhibitTimeEMCY"
required="yes" /><attribute type="fdt:writeAccess"
required="no" /></ElementType>
<!-- Element Emergency consumer object Object 1028h -->
<ElementType name="EmergencyConsumerObject" content="eltOnly" model="closed" >
<!-- all subIndex entries in increasing order 0,1,2,3.. -->
<element type="COBId"
minOccurs="1" maxOccurs="*" /></ElementType>
<!-- Element Communication cycle period Object 1006h -->
<ElementType name="CommunicationCyclePeriod" content="eltOnly" model="closed" >
<element type="DataObject"
minOccurs="1" maxOccurs="1" /></ElementType>
<!-- Element Synchronous counter overflow value Object 1019h -->
<ElementType name="SynchronousCounterOverflowValue" content="empty" model="closed" >
<attribute type="synchronousCounterOverflowValue"
required="yes" /><attribute type="fdt:writeAccess"
required="no" /></ElementType>
<!-- Element Consumer heartbeat time Object 1016h -->
<ElementType name="ConsumerHeartbeatTime" content="empty" model="closed" >
<attribute type="consumerHeartbeatTime"
required="yes" /></ElementType>
<!-- Element Consumer heartbeat time list Object 1016h -->
<ElementType name="ConsumerHeartbeatTimeList" content="eltOnly" model="closed" >
<!-- all subIndex entries in increasing order 1,2,3.. -->
<element type="ConsumerHeartbeatTime"
minOccurs="1" maxOccurs="*" /></ElementType>
<!-- Element Producer heartbeat time Object 1017h -->
<ElementType name="ProducerHeartbeatTime" content="empty" model="closed" >
<attribute type="producerHeartbeatTime"
required="yes" /><attribute type="fdt:writeAccess"
required="no" /></ElementType>
<!-- Element CanOpenCommunicationError -->
<ElementType name="CanOpenCommunicationError" content="empty" model="closed" >
<attribute type="communicationError"
required="yes" /><attribute type="fdt:writeAccess"
required="no" /></ElementType>
<!-- Element SpecificError -->
<ElementType name="SpecificError" content="empty" model="closed" >
<!-- profile or manufacturer specific error -->
<attribute type="specificError"
required="yes" /><attribute type="fdt:writeAccess"
required="no" /></ElementType>
<!-- Element ErrorBehaviorObject Object 1029h -->
<ElementType name="ErrorBehaviorObject" content="eltOnly" model="closed" >
<element type="CanOpenCommunicationError"
minOccurs="1" maxOccurs="1" /><!-- all subIndex entries in increasing order 2,3.. -->
<element type="SpecificError"
minOccurs="0" maxOccurs="*" /></ElementType>
<!-- Element Device -->
<ElementType name="Device" content="eltOnly" model="closed" >
<!-- Object 1005h -->
<element type="CobIdSyncMessage"
minOccurs="0" maxOccurs="1" /><!-- Object 1006h -->
<element type="CommunicationCyclePeriod"
minOccurs="0" maxOccurs="1" /><!-- Object 1007h -->
<element type="SynchronousWindowLength"
minOccurs="0" maxOccurs="1" /><!-- Object 100Ch -->
<element type="GuardTime"
minOccurs="0" maxOccurs="1" /><!-- Object 100Dh -->
<element type="LifeTimeFactor"
minOccurs="0" maxOccurs="1" /><!-- Object 1012h -->
<element type="CobIdTimeStampObject"
minOccurs="0" maxOccurs="1" /><!-- Object 1014h -->
<element type="CobIdEMCY"
minOccurs="0" maxOccurs="1" /><!-- Object 1015h -->
<element type="InhibitTimeEMCY"
minOccurs="0" maxOccurs="1" /><!-- Object 1016h -->
<element type="ConsumerHeartbeatTimeList"
minOccurs="0" maxOccurs="1" /><!-- Object 1017h -->
<element type="ProducerHeartbeatTime"
minOccurs="0" maxOccurs="1" /><!-- Object 1019h -->
<element type="SynchronousCounterOverflowValue"
minOccurs="0" maxOccurs="1" /><!-- Object 1028h -->
<element type="EmergencyConsumerObject"
minOccurs="0" maxOccurs="1" /><!-- Object 1029h -->
<element type="ErrorBehaviorObject"
minOccurs="0" maxOccurs="1" /><!-- Object 1200/1280h -->
<element type="SDOParameterList"
minOccurs="0" maxOccurs="1" /><!-- Object 1400/1800h -->
<element type="PDOParameterList"
minOccurs="0" maxOccurs="1" /><!-- Object 1600/1A00h -->
<element type="PDOMappingList"
minOccurs="0" maxOccurs="1" /><!-- Object 1FA0..1FCFh -->
<element type="ObjectScannerList"
minOccurs="0" maxOccurs="1" /><!-- Object 1FD0..1FFFh -->
<element type="ObjectDispatchingList"
minOccurs="0" maxOccurs="1" /><!-- device specific params, to be downloaded by the master -->
<element type="DeviceParamList"
minOccurs="0" maxOccurs="1" /></ElementType>
<!-- Element NetworkManagement -->
<ElementType name="NetworkManagement" content="eltOnly" model="closed" >
<attribute type="canNodeID"
required="yes" /><attribute type="lssSupported"
required="yes" /><attribute type="groupMessaging"
required="yes" /><attribute type="dynamicChannels"
required="yes" /><attribute type="selfStartingDevice"
required="yes" /><attribute type="bootUpSlave"
required="yes" /><attribute type="sdoRequestingDevice"
required="yes" /><element type="SupportedBaudRates"
minOccurs="1" maxOccurs="1" /></ElementType>
<!-- Element DeviceList -->
<ElementType name="DeviceList" content="eltOnly" model="closed" >
<element type="NetworkManagement"
minOccurs="1" maxOccurs="1" /><element type="Device"
minOccurs="1" maxOccurs="*" /></ElementType>
</Schema>
© by M&M Software GmbH, parts of this website taken from FDT Interface Specification Version 1.2.1, © by FDT Group, AISBL.
This website is published for support of M&M products as granted in license conditions, chapter 2.1.
Last updated 2015-02-05 15:17
Email: FDT Technical Support Line.