; EHR_CANIO_305.eds
; CiA 306 Electronic Data Sheet for the EHR / MRS CAN I/O PLC 1.033.305.0001
; Hand-authored from src/app/user_sources/canopen_od.c, canopen.h and
; src/ds/user/user_code.c (prg_default_parameters / fun_validate_parameters)
; of the firmware that ships this EDS's FileVersion.FileRevision.
; DO NOT hand-edit the Object Dictionary here without also updating
; canopen_od.c (firmware) and pc_tool/co_defs.py (PC tool) -- see the
; [Comments] section and the project README for the three-way sync note.

[FileInfo]
FileName=EHR_CANIO_305.eds
FileVersion=1
FileRevision=0
EDSVersion=4.0
Description=EHR CAN I/O PLC 1.033.305.0001 -- CANopen slave (MSC113-derived, fixed PDO layout)
CreationTime=12:00AM
CreationDate=09-02-2026
CreatedBy=EHR / ElectroForce
ModificationTime=12:00AM
ModificationDate=09-02-2026
ModifiedBy=EHR / ElectroForce

[DeviceInfo]
VendorName=EHR / ElectroForce
VendorNumber=0x00000000
ProductName=CAN I/O PLC 1.033.305.0001
ProductNumber=0x00000000
ProductVersion=1
ProductRevision=1
OrderCode=1.033.305.0001
BaudRate_10=1
BaudRate_20=1
BaudRate_50=1
BaudRate_125=1
BaudRate_250=1
BaudRate_500=1
BaudRate_800=0
BaudRate_1000=1
SimpleBootUpMaster=0
SimpleBootUpSlave=1
Granularity=8
DynamicChannelsSupported=0
GroupMessaging=0
NrOfRXPDO=3
NrOfTXPDO=3
LSS_Supported=0

[DeviceComissioning]
NodeID=0x0C
NodeName=CAN I/O PLC 305
Baudrate=250
NetNumber=0
NetworkName=
CANopenManager=0
LSS_SerialNumber=0

[Comments]
Lines=9
Line1=This EDS documents the module's actual expedited-SDO Object Dictionary
Line2=and identity. It does NOT declare CiA-301 PDO Communication/Mapping
Line3=objects (1400-1403 / 1600-1603 / 1801-1803 / 1A00-1A03): this firmware
Line4=does not implement them. TPDO1-3/RPDO1-3 COB-IDs and byte layout are
Line5=fixed at compile time, not SDO-configurable -- see the printed manual
Line6=(EHR_CANIO_305_CANopen_Manual_EN.pdf) for the exact byte tables. A
Line7=generic CANopen master that relies on 1600/1A00 for auto PDO wiring
Line8=will NOT auto-configure this device from this file alone.
Line9=RPDO1 COB-ID base is 0x100 (not the DS-301 default 0x200) -- MSC113-derived.

[MandatoryObjects]
SupportedObjects=2
1=0x1001
2=0x1018
; NOTE: object 0x1000 (Device Type), CiA-301's third mandatory object, is
; NOT implemented by this firmware -- documented gap, not an omission here.

[1001]
ParameterName=Error register
ObjectType=0x7
DataType=0x0005
AccessType=ro
PDOMapping=0

[1018]
ParameterName=Vendor ID
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
; NOTE: CiA-301 defines 0x1018 as an Identity RECORD (sub1 VendorID / sub2
; ProductCode / sub3 RevisionNumber / sub4 SerialNumber). This firmware
; exposes a single VAR at sub-index 0 instead -- Product Code / Revision /
; Serial Number are not readable over SDO in this firmware revision.
; VendorNumber/VendorID are placeholders (0x0) pending a CiA-assigned
; Vendor-ID for EHR / ElectroForce.

[OptionalObjects]
SupportedObjects=17
1=0x1009
2=0x100A
3=0x1010
4=0x1011
5=0x1017
6=0x1800
7=0x6000
8=0x6001
9=0x6002
10=0x6003
11=0x6004
12=0x6010
13=0x2100
14=0x2101
15=0x1001
16=0x1018
17=0x1000

[1009]
ParameterName=Hardware version
ObjectType=0x7
DataType=0x0007
AccessType=ro
PDOMapping=0

[100A]
ParameterName=Software version
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0x00000100
PDOMapping=0
; 0x0100 = v1.00 (CO_SW_VERSION), zero-extended to U32.

[1010]
ParameterName=Store parameters
ObjectType=0x9
SubNumber=2

[1010sub0]
ParameterName=Number of entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=1
PDOMapping=0

[1010sub1]
ParameterName=Store all parameters
ObjectType=0x7
DataType=0x0007
AccessType=wo
LowLimit=0x65766173
HighLimit=0x65766173
PDOMapping=0
; Write ASCII "save" (0x65766173, little-endian) to commit P to EEPROM.
; Any other value is rejected with abort 0x08000020.

[1011]
ParameterName=Restore default parameters
ObjectType=0x9
SubNumber=2

[1011sub0]
ParameterName=Number of entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=1
PDOMapping=0

[1011sub1]
ParameterName=Restore all default parameters
ObjectType=0x7
DataType=0x0007
AccessType=wo
LowLimit=0x64616F6C
HighLimit=0x64616F6C
PDOMapping=0
; Write ASCII "load" (0x64616F6C, little-endian) to reload factory defaults
; into P (still RAM-only until a subsequent 0x1010.1 "save").

[1017]
ParameterName=Heartbeat producer time [ms]
ObjectType=0x7
DataType=0x0006
AccessType=rw
DefaultValue=1000
LowLimit=0
HighLimit=65535
PDOMapping=0
; 0 = heartbeat sent once at boot-up only, no periodic heartbeat.

[1800]
ParameterName=PDO parameters (vendor-specific record, MSC113-derived)
ObjectType=0x9
SubNumber=5
; NOTE: NOT the CiA-301 "TPDO Communication Parameter" record (COB-ID /
; Transmission type / Inhibit time / Event timer). Sub-indices 2, 3 and 4
; do not exist on this device; sub0 (number of entries) reports 7 to match
; the highest implemented sub-index (7), not the count of existing entries.

[1800sub0]
ParameterName=Number of entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=7
PDOMapping=0

[1800sub1]
ParameterName=Node-ID
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=12
LowLimit=1
HighLimit=127
PDOMapping=0

[1800sub5]
ParameterName=Time Send (TPDO period) [ms]
ObjectType=0x7
DataType=0x0006
AccessType=rw
DefaultValue=100
LowLimit=10
HighLimit=30000
PDOMapping=0

[1800sub6]
ParameterName=Boot mode (0=pre-operational,1=operational)
ObjectType=0x7
DataType=0x0006
AccessType=rw
DefaultValue=0
LowLimit=0
HighLimit=1
PDOMapping=0

[1800sub7]
ParameterName=PDO3 (digital inputs) Tx enable
ObjectType=0x7
DataType=0x0006
AccessType=rw
DefaultValue=0
LowLimit=0
HighLimit=1
PDOMapping=0

[6000]
ParameterName=Pin configuration
ObjectType=0x9
SubNumber=15
; Value legend (object CO_PM_* / manual "Pin Modes" table):
;   0=Disabled  1=Digital output  2=PWM output (IO2..IO7 only)
;   4=Digital input  6=Analog in 0..11.4V  7=Analog in 0..33.68V (AI5 only)
; The raw range accepted here is 0..12 (MSC113 numbering kept for headroom);
; the SDO server additionally enforces a narrower PER-PIN legal set for
; assembly 1.033.305.0001 (voltage-only analog front end) and rejects
; anything else with abort 0x06090030 -- see the manual for the exact
; per-pin table (mirrored in pc_tool/co_defs.py IO_MODES / AI_MODES).

[6000sub0]
ParameterName=Number of entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=14
PDOMapping=0

[6000sub1]
ParameterName=Pin mode IO0
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0
LowLimit=0
HighLimit=12
PDOMapping=0

[6000sub2]
ParameterName=Pin mode IO1
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0
LowLimit=0
HighLimit=12
PDOMapping=0

[6000sub3]
ParameterName=Pin mode IO2
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0
LowLimit=0
HighLimit=12
PDOMapping=0

[6000sub4]
ParameterName=Pin mode IO3
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0
LowLimit=0
HighLimit=12
PDOMapping=0

[6000sub5]
ParameterName=Pin mode IO4
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0
LowLimit=0
HighLimit=12
PDOMapping=0

[6000sub6]
ParameterName=Pin mode IO5
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0
LowLimit=0
HighLimit=12
PDOMapping=0

[6000sub7]
ParameterName=Pin mode IO6
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0
LowLimit=0
HighLimit=12
PDOMapping=0

[6000sub8]
ParameterName=Pin mode IO7
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0
LowLimit=0
HighLimit=12
PDOMapping=0

[6000sub9]
ParameterName=Pin mode AI0
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0
LowLimit=0
HighLimit=12
PDOMapping=0

[6000subA]
ParameterName=Pin mode AI1
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0
LowLimit=0
HighLimit=12
PDOMapping=0

[6000subB]
ParameterName=Pin mode AI2
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0
LowLimit=0
HighLimit=12
PDOMapping=0

[6000subC]
ParameterName=Pin mode AI3
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0
LowLimit=0
HighLimit=12
PDOMapping=0

[6000subD]
ParameterName=Pin mode AI4
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0
LowLimit=0
HighLimit=12
PDOMapping=0

[6000subE]
ParameterName=Pin mode AI5 (0..33.68V capable)
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0
LowLimit=0
HighLimit=12
PDOMapping=0

[6001]
ParameterName=PWM configuration
ObjectType=0x9
SubNumber=3

[6001sub0]
ParameterName=Number of entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=2
PDOMapping=0

[6001sub1]
ParameterName=PWM frequency IO2..IO4 [Hz]
ObjectType=0x7
DataType=0x0006
AccessType=rw
DefaultValue=100
LowLimit=3
HighLimit=500
PDOMapping=0

[6001sub2]
ParameterName=PWM frequency IO5..IO7 [Hz]
ObjectType=0x7
DataType=0x0006
AccessType=rw
DefaultValue=100
LowLimit=3
HighLimit=500
PDOMapping=0

[6002]
ParameterName=Fault configuration
ObjectType=0x9
SubNumber=5

[6002sub0]
ParameterName=Number of entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=4
PDOMapping=0

[6002sub1]
ParameterName=Fault mode (0=persist/latched,1=auto-reset)
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0
LowLimit=0
HighLimit=1
PDOMapping=0

[6002sub2]
ParameterName=Timeout RX [ms]
ObjectType=0x7
DataType=0x0006
AccessType=rw
DefaultValue=2000
LowLimit=10
HighLimit=30000
PDOMapping=0

[6002sub3]
ParameterName=Startup time (alarm-check delay) [ms]
ObjectType=0x7
DataType=0x0006
AccessType=rw
DefaultValue=2000
LowLimit=0
HighLimit=30000
PDOMapping=0

[6002sub4]
ParameterName=Timeout RX counter not changed [ms]
ObjectType=0x7
DataType=0x0006
AccessType=rw
DefaultValue=400
LowLimit=100
HighLimit=30000
PDOMapping=0

[6003]
ParameterName=Output current feedback (raw ADC, 2.26 mA/digit)
ObjectType=0x9
SubNumber=9

[6003sub0]
ParameterName=Number of entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=8
PDOMapping=0

[6003sub1]
ParameterName=Output current feedback IO0
ObjectType=0x7
DataType=0x0006
AccessType=ro
PDOMapping=0

[6003sub2]
ParameterName=Output current feedback IO1
ObjectType=0x7
DataType=0x0006
AccessType=ro
PDOMapping=0

[6003sub3]
ParameterName=Output current feedback IO2
ObjectType=0x7
DataType=0x0006
AccessType=ro
PDOMapping=0

[6003sub4]
ParameterName=Output current feedback IO3
ObjectType=0x7
DataType=0x0006
AccessType=ro
PDOMapping=0

[6003sub5]
ParameterName=Output current feedback IO4
ObjectType=0x7
DataType=0x0006
AccessType=ro
PDOMapping=0

[6003sub6]
ParameterName=Output current feedback IO5
ObjectType=0x7
DataType=0x0006
AccessType=ro
PDOMapping=0

[6003sub7]
ParameterName=Output current feedback IO6
ObjectType=0x7
DataType=0x0006
AccessType=ro
PDOMapping=0

[6003sub8]
ParameterName=Output current feedback IO7
ObjectType=0x7
DataType=0x0006
AccessType=ro
PDOMapping=0

[6004]
ParameterName=Applied output duty [permille]
ObjectType=0x9
SubNumber=9
; Value actually driven at the pin AFTER NMT / PWM-enable / RPDO-timeout
; gating -- i.e. what the pin is really doing, not the raw RPDO command.

[6004sub0]
ParameterName=Number of entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=8
PDOMapping=0

[6004sub1]
ParameterName=Applied output duty IO0 [permille]
ObjectType=0x7
DataType=0x0006
AccessType=ro
PDOMapping=0

[6004sub2]
ParameterName=Applied output duty IO1 [permille]
ObjectType=0x7
DataType=0x0006
AccessType=ro
PDOMapping=0

[6004sub3]
ParameterName=Applied output duty IO2 [permille]
ObjectType=0x7
DataType=0x0006
AccessType=ro
PDOMapping=0

[6004sub4]
ParameterName=Applied output duty IO3 [permille]
ObjectType=0x7
DataType=0x0006
AccessType=ro
PDOMapping=0

[6004sub5]
ParameterName=Applied output duty IO4 [permille]
ObjectType=0x7
DataType=0x0006
AccessType=ro
PDOMapping=0

[6004sub6]
ParameterName=Applied output duty IO5 [permille]
ObjectType=0x7
DataType=0x0006
AccessType=ro
PDOMapping=0

[6004sub7]
ParameterName=Applied output duty IO6 [permille]
ObjectType=0x7
DataType=0x0006
AccessType=ro
PDOMapping=0

[6004sub8]
ParameterName=Applied output duty IO7 [permille]
ObjectType=0x7
DataType=0x0006
AccessType=ro
PDOMapping=0

[6010]
ParameterName=Extended analog inputs [mV]
ObjectType=0x9
SubNumber=7
; ANA_IO0..5 in millivolts, read only while the matching IOx pin is in an
; analog-capable mode. SDO-only -- not carried in any TPDO.

[6010sub0]
ParameterName=Number of entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=6
PDOMapping=0

[6010sub1]
ParameterName=Extended AI IO0 [mV]
ObjectType=0x7
DataType=0x0006
AccessType=ro
PDOMapping=0

[6010sub2]
ParameterName=Extended AI IO1 [mV]
ObjectType=0x7
DataType=0x0006
AccessType=ro
PDOMapping=0

[6010sub3]
ParameterName=Extended AI IO2 [mV]
ObjectType=0x7
DataType=0x0006
AccessType=ro
PDOMapping=0

[6010sub4]
ParameterName=Extended AI IO3 [mV]
ObjectType=0x7
DataType=0x0006
AccessType=ro
PDOMapping=0

[6010sub5]
ParameterName=Extended AI IO4 [mV]
ObjectType=0x7
DataType=0x0006
AccessType=ro
PDOMapping=0

[6010sub6]
ParameterName=Extended AI IO5 [mV]
ObjectType=0x7
DataType=0x0006
AccessType=ro
PDOMapping=0

[ManufacturerObjects]
SupportedObjects=2
1=0x2100
2=0x2101

[2100]
ParameterName=Baud rate [kbit]
ObjectType=0x7
DataType=0x0006
AccessType=rw
DefaultValue=250
LowLimit=10
HighLimit=1000
PDOMapping=0
; Valid discrete values only: 10, 20, 50, 100, 125, 250, 500, 1000 kbit.
; 100 kbit is accepted by this firmware but is NOT one of the CiA-301
; standard bit rates (10/20/50/125/250/500/800/1000) -- no corresponding
; DeviceInfo BaudRate_xxx field exists for it; documented here instead.
; Takes effect only after object 0x1010.1 ("save") + a power cycle: the
; MRS bootloader re-applies the stored baud rate on the next boot. The
; running application keeps the compiled 250 kbit until then.

[2101]
ParameterName=Node-ID (alias of 0x1800sub1)
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=12
LowLimit=1
HighLimit=127
PDOMapping=0