CAN
CX8050, CX8051 - Embedded-PCs for
CANopen and CAN
84
Version: 1.4
3. standardized device profile region (0x6000 – 0x9FFF).
Contains the objects for a device profile according to DS-401.
Every entry in the object directory is identified by a 16 bit index. If an object consists of several components
(e.g. object type array or record), the components are identified by an 8-bit sub-index. The object name
describes the function of an object, while the data type attribute specifies the data type of the entry. The
access attribute specifies whether an entry may only be read, only written, or may be both read and written.
Communication-specific region
All the parameters and objects necessary for the CANopen Bus Coupler’s communication are in this region
of the object directory. The region from 0x1000 to 0x1018 contains various general communication-specific
parameters (e.g. the device name).
The communication parameters (e.g. identifiers) for the receive PDOs are located in the region from 0x1400
to 0x140F (plus sub-index). The mapping parameters of the receive PDOs are in the region from 0x1600 to
0x160F (plus sub-index). The mapping parameters contain the cross-references to the application objects
that are mapped into the PDOs and the data width of the corresponding object (see also the section dealing
with PDO Mapping).
The communication and mapping parameters for the transmit PDOs are located in the regions from 0x1800
to 0x180F and from 0x1A00 to 0x1A0F.
Manufacturer-specific region
This region contains entries that are specific to BECKHOFF, e.g.:
• data objects for special terminals
• objects for register communication providing access to all the Bus Couplers’ and Bus Terminals’
internal registers
• objects for simplified configuration of the PDOs
Standardized device profile region
The standardized device profile region supports the device profile of CANopen DS-401, Version 1. Functions
are available for analog inputs that can adapt communication in the event-driven operating mode to the
requirements of the application and to minimize the loading of the bus:
• limit value monitoring
• Delta function
• activation/deactivation of event-driven mode
9.3.2
Object List
Note
[Gefahrinformation hier einfügen!]
NoteThe objects in the object directory can be reached by SDO access, but not generally
through the KS2000removed link:
configuration software. On the other hand, all the
registers that can be configured with KS2000 can also be reached using SDO access to the
object directory (objects 0x4500 and 0x4501) - even though this does not offer the same
convenience as the KS2000 software.
Содержание CX8050
Страница 2: ......
