Omron C200HW-CORT21-V1, Руководство по эксплуатации

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Device description
Section 1-2
5
Example
Complex variables
The object at index 1000h is a simple variable and can be accessed directly
via index 1000h.
The object at index 1800h is a complex variable. The first element (sub-index
00h) of a complex variable always indicates the number of elements that
follow. In this case there are two elements, COB-ID and Transmission Type.
The elements of the complex variable ‘Transmit PDO parameter’ are
accessed via index 1800h and the sub-indices 00h to 02h.
Index Sub-index Object
1000h -
Device Type
1800h -
Transmit PDO parameter
1800h 00h
Number of entries
1800h 01h
COB-ID
1800h 02h Transmission Type
Attribute
Each variable in the object dictionary has an attribute indicating whether it is
•
read-only (RO),
•
write-only (WO),
•
read-write (RW),
•
read-write on process input (RWR), or
•
read-write on process output (RWW).
Communication Profile
Device Profile
Manufacturer specific Profile
EDS file
A CANopen device is not required to contain all possible entries of an object
dictionary.
The Communication Profile Area is mandatory for all devices, but not all of
the objects in this area need to be implemented (depends on the type of
device).
For some types of device (e.g. I/O devices or drives) a so called device
profile has been defined. A device profile defines the application objects of
such a device. If implemented according to this profile, similar devices can
easily be exchanged because they have the same interface. The objects of a
device profile are located at the indices 6000h ~ 9FFFh.
A dedicated area in the object dictionary is reserved for manufacturer specific
objects. These are used when no applicable device profile exists for the
device or if the manufacturer requires extensions to an existing device
profile. This area also enables future extensions of the CANopen protocol.
The electronic data sheet (EDS-file) of a device lists the objects that are
implemented in the device. The contents of the EDS-file as supplied with
C200HW-CORT21-V1 can be found in appendix A.
CANopen specifications
CiA
Refer to the Communication Profile descriptions DS30x and/or the Device
Profile descriptions DS40x for more details about the objects in the object
dictionary.
These profiles can be purchased from CAN in Automation (CiA), the
international trade association promoting the use of CAN.
CiA can be contacted via the web-site www.can-cia.de