CAN Interface (HG 73350)
English, Revision 03, Date: 20.11.2015
25
6.5
Object directory
In the CANopen@ object directory all objects being important for the device are en-
tered. Each entry is marked by a 16 bit index. Sub components are marked by a 8 bit
subindex. Read only entries are marked by RO.
NOTE!
Communication parameters are marked by
C
in the overview
table, manufacture parameters by
M
.
The object directory is divided in the following parts:
6.5.1
Communication specific entries
Name
Number
Meaning
SDO_ABORT_UNSUPPORTED
0x06010000
non-supported access to an object
SDO_ABORT_READONLY
0x06010001
write access to read only object
SDO_ABORT_NOT_EXISTS
0x06020000
object is not implemented
SDO_ABORT_TRANSFER
0x08000020
During saving/loading of parameters the signature
“load“ or “save“ has not been used. When calling
calibration. signature “cali“ has not been used.
SDO_ABORT_PARA_VALUE
0x06090030
parameter value range exceeded
SDO_ABORT_PARA_TO_HIGH
0x06090031
parameter value too high
Table 18
CAN: SDO error codes
Communication specific entries located from 0x1000 to 0x1FFF
Index
Subindex
Access
Content
EEProm
0x1000
0
RO
Device Type
0x1001
0
RO
Error Register
0x1005
0
RO
COB ID Sync Message
0x1008
0
RO
Number of Entries of Device Name
1
RO
Device Name 1
2
RO
Device Name 2
3
RO
Device Name 3
0x1009
0
RO
Hardware Version
0x100A
0
RO
Software Version
0x1010
0
RO
Number of entries of Save Parameter
1
RW
Save all
Table 19
CAN: overview of object directory, communication specific entries
between 0x1000 and 0x1FFF (part 1 of 3)
