Data Representation on CANopen
21
Doc.Id. SCM-1200-121
Anybus Communicator CAN to CANopen
Doc.Rev. 1.00
The picture shows the Input Data Area. The Output Data Area has the same structure, but with indices
for byte objects starting at 2100h. The first two bytes are occupied by the control/status word, and are
used internally by the Communicator. These bytes can not be used for data exchange.
Input data area
Byte 0 - 1
Byte 2 - 9
Byte 10 - 17
Byte 18 - 25
Byte 26 - 33
Byte 34 - 41
Byte 488 - 495
Byte 496 - 503
Byte 504 - 511
Byte 464 - 471
Byte 472 - 479
Byte 480 - 487
Byte 3
Byte 4
Byte 5
Byte 33
Byte 32
Byte 31
Byte 30
Byte 2
Byte 511
Byte 510
Byte 509
Byte 507
Byte 475
Byte 474
Byte 473
Byte 472
Byte object
Index, sub-index
Long object
Index, sub-index
Word object
Index, sub-index
2000h, 1
}
2000h, 2
2000h, 3
2000h, 4
2000h, 29
2000h, 30
2000h, 31
2000h, 32
}
}
}
2020h, 1
2020h, 2
2020h, 15
2020h, 16
}
}
2040h, 1
2040h, 8
2003h, 125
2003h, 126
}
2021h, 127
2003h, 83
}
2003h, 84
2003h, 85
2003h, 86
2003h, 123
2003h, 124
2003h, 125
2003h, 126
}
}
}
2021h, 111
2021h, 112
2021h, 126
}
}
2040h, 119
2040h, 126
Control
Byte 508
Byte 506
2003h, 121
2003h, 122
}
2021h, 125
}
2040h, 127*
*The last two bytes are filled up with zeroes
Byte 7
Byte 8
Byte 9
Byte 6
Byte 11
Byte 12
Byte 13
Byte 10
Byte 15
Byte 16
Byte 17
Byte 14
Byte 19
Byte 20
Byte 21
Byte 18
Byte 23
Byte 24
Byte 25
Byte 22
Byte 27
Byte 28
Byte 29
Byte 26
2000h, 25
2000h, 26
2000h, 27
2000h, 28
}
}
2020h, 13
2020h, 14
}
2040h, 7
2000h, 21
2000h, 22
2000h, 23
2000h, 24
}
}
2020h, 11
2020h, 12
}
2040h, 6
2000h, 17
2000h, 18
2000h, 19
2000h, 20
}
}
2020h, 9
2020h, 10
}
2040h, 5
2000h, 13
2000h, 14
2000h, 15
2000h, 16
}
}
2020h, 7
2020h, 8
}
2040h, 4
2000h, 9
2000h, 10
2000h, 11
2000h, 12
}
}
2020h, 5
2020h, 6
}
2040h, 3
2000h, 5
2000h, 6
2000h, 7
2000h, 8
}
}
2020h, 3
2020h, 4
}
2040h, 2
