Object Dictionary

About this reference

This reference follows the drive EDS file tl-7230.eds and covers every standard and manufacturer object of WD-DRIVE_TL7230_V1 (vendor WEI DONG DRIVE, EDS version 4.0). Parameter names, data types and default values match the EDS so they can be checked item by item against the host tool (wddrive-studio) and the master configuration.

The EDS describes design values; a given firmware revision may differ slightly. Always trust the value read back from the device.

Object ranges

Following the CANopen convention, the object dictionary is split into the following pages:

Page	Index range	Description
Communication objects	0x1000–0x1FFF	CiA 301 communication objects: device info, error register, heartbeat, SDO, RPDO/TPDO and NMT startup.
CiA402 objects	0x6000–0x6FFF	Drive and motion control profile objects: status/control word, modes of operation, position/velocity/torque and homing.
Manufacturer objects (0x2000)	0x2000–0x2FFF	Real-time status monitoring, protection, control-loop tuning, filtering and homing on block.
Manufacturer objects (0x3000)	0x3000–0x3FFF	Motor parameter identification and calibration (resistance/inductance/encoder direction/phase/cogging).

Legend

Index:sub-index: objects are addressed by a 16-bit hexadecimal index such as 0x6041; an object with sub-indexes is written index:sub-index, where the sub-index is 8-bit hexadecimal. Here each object is titled 0xXXXX and its sub-indexes are listed in the “Sub” column of the table (VAR objects only have 00).
Object type: VAR is a single-value object; ARRAY is an array of one data type; RECORD is a record that may mix data types.

Data types are:

Code	Meaning
0x0001	BOOLEAN
0x0002	INTEGER8
0x0003	INTEGER16
0x0004	INTEGER32
0x0005	UNSIGNED8
0x0006	UNSIGNED16
0x0007	UNSIGNED32
0x0008	REAL32
0x0009	VISIBLE_STRING
0x000A	OCTET_STRING
0x000B	UNICODE_STRING
0x000F	DOMAIN

Access: RO read-only; WO write-only; RW read/write; RW (RPDO) / RW (TPDO) means the object can be mapped into the corresponding PDO; CONST constant. Read-only objects can only be read over SDO.
PDO column: ✓ means the object (or sub-index) can be mapped into a PDO, — means it is not mappable and is only reachable over SDO.
Notes: Range a–b is the lower/upper value limit declared in the EDS; P (PERSIST_COMM) means the value is stored in non-volatile memory and survives power-off, whereas other objects revert to their default value.

Download the EDS

tl-7230.eds — the source of this reference; import it into wddrive-studio or any CANopen master configuration tool.