Chapter 2 Decentral block periphery CAN-Bus CANopen
Manual VIPA System 100V
2-26
HB100E - SM-CAN - Rev. 15/02
Object directory
In the CANopen object directory all CANopen objects relevant for the bus
coupler are listed.
Every entry in the object directory is marked by a 16-Bit-Index.
If an object exists of several components (e.g. object type Array or Record),
the components are marked by a 8-Bit-Subindex.
The object name describes the functionality of the object.
The data type attribute specifies the data type of the entry.
Via the access attribute it is specified, if an entry may only be read, only be
written or read and written.
The object directory is divided into the following 3 areas:
This area contains the description of all specific parameters for the
communication.
0x1000 – 0x1011
General communication specific parameters
(e.g. the device name).
0x1400 – 0x140F
Communication parameters of the Receive-PDOs
(e.g. identifier)
0x1600 – 0x160F
The mapping parameters of the Receive-PDOs.
The mapping parameters contain the cross-
references to the application objects, that are
mapped into the PDOs, and the data width of the
according object.
0x1800 – 0x180F
0x1A00 – 0x1A0F
Communication and mapping parameters of the
Transmit-PDOs
Here you find the manufacturer specific entries like e.g. PDO Control, CAN
baudrate (Baudrate after RESET) etc.
This range contains the objects for the device profile according to DS-401.
Note!
For the CiA Norms are only available in English, the table entries of the
objects are in English too, to avoid misunderstandings.
A more detailed description of the table entries is to find below each table.
Structure
Communication
specific profile range
(0x1000 – 0x1FFF)
Manufacturer specific
profile range
(0x2000 – 0x5FFF)
Standardized device
profile range
(0x6000 – 0x9FFF)
