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Download CANopen Implementation Guidelines
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,QGH[KH[ 6XE,QGH[ 2EMHFW 1DPH 7\SH $WWU VAR VAR VAR RECORD VAR VAR ARRAY VAR VAR VAR VAR VAR VAR VAR VAR VAR VAR device type error register manufacturer status register predefined error field error counter standard error field number of PDOs supported COB-ID SYNC-message communication cycle period synchronous window length manufacturer device name manufacturer hardware version manufacturer software version Node-ID guard time life time factor COB-ID guarding protocol Unsigned32 Unsigned8 Unsigned32 Unsigned32 Unsigned8 Unsigned32 Unsigned32 Unsigned32 Unsigned32 Unsigned32 Vis-String Vis-String Vis-String Unsigned32 Unsigned32 Unsigned32 Unsigned32 const ro ro ro ro ro rw rw rw const const const ro rw rw rw 0 1 2 3 4 RECORD VAR VAR VAR VAR VAR 1st receive PDO communication parameter number of entries COB-ID used by PDO transmission type inhibit time CMS priority group PDOComPar Unsigned8 Unsigned32 Unsigned8 Unsigned16 Unsigned8 ro rw rw rw rw 0 1 ... 8 ARRAY VAR VAR VAR VAR 1st receive PDO mapping parameter number of mapped objects in PDO 1st object to be mapped nth object to be mapped 8th object to be mapped PDOMapping Unsigned32 Unsigned32 Unsigned32 Unsigned32 ro rw rw rw 0 1 2 3 4 RECORD VAR VAR VAR VAR VAR 1st transmit PDO communication parameter number of entries COB-ID used by PDO transmission type inhibit time CMS priority group PDOComPar Unsigned8 Unsigned32 Unsigned8 Unsigned16 Unsigned8 ro rw rw rw rw 0 1 ... 8 ARRAY VAR VAR VAR VAR 1st transmit PDO mapping parameter number of mapped objects in PDO 1st object to be mapped nth object to be mapped 8th object to be mapped PDOMapping Unsigned32 Unsigned32 Unsigned32 Unsigned32 ro rw rw rw 1000 1001 1002 1003 0 1 1004 1005 1006 1007 1008 1009 100A 100B 100C 100D 100E :: 1400 :: 1600 :: 1800 :: 1A00 Figure 2: CANopen Object Dictionary The object dictionary is organized in a communication profile specific part which contains the communication entries, and in a device specific part which contains the device entries. The device specific part is specified in the device profile, the communication entries form the common subset of all devices, therefore they are specified in the communication profile. There is a range of mandatory entries in the dictionary which ensure that all CANopen devices of a particular type show the same basic behavior. The object dictionary concept caters for optional device features which means a manufacturer does not have to provide certain extended functionality on his device but if he wishes to do so he must do it in a pre-defined fashion. Additionally, there is sufficient address space for truly manufacturer specific functionality. This approach ensures that the CANopen device profiles are “future-proof”. 01.07.1997 7 Implguid_public.doc STA Reutlingen
