Object dictionary

Object Dictionary

Due to the differences in the hardware and software of the CANlink® wireless 4000 compared to the CANlink® wireless 3000, the CANopen Object Dictionary (OD) has been modified as appropriate to work with the new device.

This has led to objects moving or changing values between the two ODs.
We have reduced the changes as much as possible, and summarize them here.

In order to reduce the amount of changes required for legacy applications using the CANlink® wireless 3000, we have implemented a software switch that reduces the footprint of the changes.
We call this 'Legacy Mode'.

Legacy Mode

This is an object in the OD that selectively enables and disables various features so that they more closely follow the schema employed in the CANlink® wireless 3000.

The Object Dictionary object 0x4000:0x30 [CLW3000 Legacy Mode BitField] is a 32bit bitfield.
Each bit represents one OD entry, and when set, configures that entry to more closely behave as it did in the CANlink® wireless 3000.

By default, these bits are all reset (disabled).

Tip

If changes to access objects in the CANlink® wireless 4000 Object Dictionary is prohibited, you can request additional fields to this object.
For more information, please fill out the support form at Support.

Entries

Bit0 - 0x0001

This enables legacy mode for object 0x3001:0x0B [Wireless connection state].

Bit	Object affected	Behaviour Reset 0	Behaviour Set 1
0x0001	0x3001:0x0B	0: Connection not established 1: Connection active	1: Initialization 2: Status Ready 4: Connected 255: Error

Example: Wireless Connection State

Using bit0 of the 0x4000:0x30 [CLW3000 Legacy Mode BitField] object:

When that object is set to 0x0001, when a wireless connection has been made, the value available at 0x3001:0x0B [Wireless connection state] will be 4, instead of 1 if that bit was not set.
This is the same value that was read after a successful connection in the CANlink® wireless 3000.