CANopen-Firmware
Manual • Doc.-No.: C.3055.21 / Rev. 1.1
CAN-CBX-COM2
Page 48 of 125
8.2 NMT-Boot-up
The CAN-CBX module can be initialized with the ‘Minimum Capability Device’ boot-up as described
in [1]. (Needs firmware version 1.02 or higher).
Usually a telegram to switch from Pre-Operational status to Operational status after boot-up is
sufficient. For this the 2-byte telegram ‘01
h
’, ‘00
h
’, for example, has to be transmitted with CAN-
identifier ‘0000
h
’ (= Start Remote Node all Devices).
8.3 The CANopen-Object Directory
The object directory is basically a (sorted) group of objects which can be accessed via the CAN
network. Each object in this directory is addressed with a 16-bit index. The index in the object
directories is represented in hexadecimal format.
The index can be a 16-bit parameter in accordance with the CANopen specification [1] or a
manufacturer-specific code. By means of the MSBs of the index the object class of the parameter is
defined.
Part of the object directory are among others:
Index
Object
Example
0001
h
... 009F
h
definition of data types
-
1000
h
... 1FFF
h
Communication Profile Area
1001
h
= Error rRegister
2000
h
... 5FFF
h
Manufacturer Specific Profile Area
2800
h
, 14
d
= Tx-Cycle-Time
6000
h
... 9FFF
h
Standardized Device Profile Area
not used for CAN-CBX-COM2
A000
h
... FFFF
h
reserved
-
