Object Dictionary (CANopen over EtherCAT)
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4.2
Manufacturer and Profile Specific Objects
4.2.1
General
Each object entry in the manufacturer specific range (2001h...FFFFh) corresponds to an in-
stance (a.k.a. ADI) within the Application Data Object (FEh), i.e. network accesses to these ob-
jects result in object requests towards the host application. In case of an error, the error code
returned in the response from the host application will be translated into the corresponding
CANopen abort code.
Since any access to these object entries will result in an object access towards the host applica-
tion, the time spent communicating on the host interface must be taken into account when calcu-
lating the SDO timeout value.
4.2.2
Network Data Format
Data is translated between the native network format and the Anybus data format as follows:
Anybus Data Type
Network Data Type
BOOL
UNSIGNED8
SINT8
INTEGER8
SINT16
INTEGER16
SINT32
INTEGER32
UINT8
UNSIGNED8
UINT16
UNSIGNED16
UINT32
UNSIGNED32
CHAR
VISIBLE_STRING
ENUM
UNSIGNED8 or ENUM
BITS8
BITARR8
BITS16
BITARR16
BITS32
BITARR32
OCTET
OCTET_STRING
SINT64
INTEGER64
UINT64
UNSIGNED64
FLOAT
REAL32
PAD0-16
NULL
BIT1 - BIT7
BIT1 - BIT7
ADIs with multiple elements are represented either as arrays (all elements share the same data
type) or as records (the elements may have different data types). Exceptions to this are CHAR
which will always be represented as VISIBLE_STRING, and OCTET which will always be repre-
sented as OCTET_STRING.
Single element ADIs are represented as a simple variable, with the exception of CHAR which
will always be represented as VISIBLE_STRING, and OCTET which will always be represented
as OCTET_STRING.
Anybus
®
CompactCom
™
40 EtherCAT
®
Network Guide
SCM-1202-034 1.1