VIPA System 200V IM Series, Manual

Page: 214 / 348

Chapter 5 CANopen
Manual VIPA System 200V
5-60 HB97E - IM - Rev. 06/29
IM 253CAN - CANopen slave - Object directory
The CANopen object directory contains all relevant CANopen objects for
the bus coupler. Every entry in the object directory is marked by a 16Bit
index.
If an object exists of several components (e.g. object type Array or
Record), the components are marked via an 8Bit sub-index.
The object name describes its function. The data type attribute specifies
the data type of the entry.
The access attribute defines, if the entry may only be read, only be written
or read and written.
The object directory is divided into the following 3 parts:
This area contains the description of all relevant parameters for the
communication.
0x1000 – 0x1018
General communication specific parameters
(e.g. device name)
0x1400 – 0x140F Communication parameters (e.g. identifier) of the
receive PDOs
0x1600 – 0x160F 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
depending object.
0x1800 – 0x180F
0x1A00 – 0x1A0F Communication and mapping parameters of the
transmit PDOs
Here you may find the manufacturer specific entries like e.g. PDO Control,
CAN baudrate (baudrate after RESET) etc.
This area contains the objects for the device profile acc. DS-401.
Note!
For the CiA norms are exclusively available in English, we adapted the
object tables. Some entries are described below the according tables.
Structure
Communication
specific profile area
(0x1000 – 0x1FFF)
Manufacturer specific
profile area
(0x2000 – 0x5FFF)
Standardized device
profile area
(0x6000 – 0x9FFF)