Omron C200HW-CORT21-V1, Operation Manual

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Device description
Section 1-2
4
1-2-2 Device model
The following figure shows the general model of a CANopen device.
A CANopen device can be divided in three parts:
•
Communication interface
•
Object dictionary
•
Application interface
These three parts are discussed in the following sections, starting with the
core of a device, the object dictionary.
1-2-2-1 Object dictionary
The core of every CANopen device is its object dictionary. The structure of
this dictionary is as follows:
Index (hex) Objects
0000 Reserved for future use
0001 ~ 009F Data type definitions
00A0 ~ 0FFF Reserved for future use
1000 ~ 1FFF Communication Profile Area
2000 ~ 5FFF Manufacturer Specific Profile Area
6000 ~ 9FFF Standardised Device Profile Area
A000 ~ FFFF Reserved for future use
Object oriented
Index
Sub-index
A CANopen device is organised in an object-oriented manner. All objects are
accessed via an index number, which is a 16-bit value ranging from 0000h to
FFFFh.
'Simple variable' objects are accessed directly by their index.
Elements of 'complex variable' objects, like records or arrays, are accessed
by the index number and an 8-bit sub-index. This principle is shown in the
following example.