Civil Engineering Reference
In-Depth Information
Table 4.4
Structure of CANo
pen object dictionary
Index range
Object
0000
h
Not used
0001
h
-001F
h
Static data types
0020
h
-003F
h
Complex data types
0040
h
-005F
h
Manufacturer-specific complex data types
0060
h
-025F
h
Device profile-specific data types
0260
h
-03FF
h
Reserved
0400
h
-0FFF
h
Reserved
1000
h
-1FFF
h
Communication profile area
2000
h
-5FFF
h
Manufacturer-specific profile area
6000
h
-67FF
h
Standardized profile area 1st logical device
6800
h
-6FFF
h
Standardized profile area 2nd logical device
7000
h
-77FF
h
Standardized profile area 3rd logical device
7800
h
-7FFF
h
Standardized profile area 4th logical device
8000
h
-87FF
h
Standardized profile area 5th logical device
8800
h
-8FFF
h
Standardized profile area 6th logical device
9000
h
-97FF
h
Standardized profile area 7th logical device
9800
h
-9FFF
h
Standardized profile area 8th logical device
A000
h
-AFFF
h
Standardized network variable area
B000
h
-BFFF
h
Standardized system variable area
C000
h
-FFFF
h
Reserved
Table 4.5
Structure of the co
mmunication parameters
Index range
Object
1000
h
-1029
h
General communication parameters
1200
h
-12FF
h
SDO parameters
1300
h
-13FF
h
CANopen safety parameters
1400
h
-1BFF
h
PDO parameters
1F00
h
-1F11
h
SDO manager objects
1F20
h
-1F27
h
Configuration manager parameters
1F50
h
-1F58
h
Parameters for program control
1F80
h
-1F91
h
NMT parameters
Table
4.4
shows the structure of this parameter list. Table
4.5
shows the structure of
the communication profile parameters. The single parameters of the object diction-
ary are addressable through a 16-bit index and an 8-bit sub-index.
If a field device implements several CANopen devices, it contains several object
dictionaries as well. Additionally, it can provide bridge or gateway functionality.
For example, the specification CiA 302-7 describes a CANopen-to-CANopen gate-
way with up to 32 CANopen devices, each having its own interface.
Three of the general communication parameters are mandatory:
• Device type (Object 1000
h
)
• Error register (Object 1001
h
)
• Identity object (Object 1018
h
)
