CANopen Programmer's Manual - Maccon.de

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1: Introduction CANopen Programmer’s Manual Defining a Device: CANopen Objects and Object Dictionaries Objects and Dictionaries The primary means of controlling a device on a CANopen network is by writing to device parameters, and reading device status information. For this purpose, each device defines a group of parameters that can be written, and status values that can be read. These parameters and status values are collectively referred to as the device's objects. These objects define and control every aspect of a device’s identity and operation. For instance, some objects define basic information such as device type, model, and serial number. Others are used to check device status and deliver motion commands. The entire set of objects defined by a device is called the device’s object dictionary. Every device on a CANopen network must define an object dictionary, and nearly every CANopen network message involves reading values from or writing values to the object dictionaries of devices on the network. Object Dictionary as Interface The object dictionary is an interface between a device and other entities on the network. CAN Network Object Dictionary AccelNet Amplifier Sensor Motor 18 Copley Controls I/O Feedback Local Control CANopen Profiles and the Object Dictionary The CANopen profiles specify the mandatory and optional objects that comprise most of an object dictionary. The Communication Profile specifies how all devices must communicate with the CAN network. For instance, the Communication Profile specifies dictionary objects that set up a device’s ability to send and receive messages. The device profiles specify how to access particular functions of a device. For instance, the CANopen Profile for Drives and Motion Control (DSP 402) specifies objects used to control device homing and position control. In addition to the objects specified in the Application Layer and Communication Profile and device profiles, CANopen allows manufacturers to add device-specific objects to a dictionary.
CANopen Programmer’s Manual 1: Introduction Object Dictionary Structure An object dictionary is a lookup table. Each object is identified by a 16-bit index with an eight-bit sub-index. Most objects represent simple data types, such as 16-bit integers, 32-bit integers, and strings. These can be accessed directly by the 16-bit index. Other objects use the sub-index to represent groups of related parameters. For instance, the Motor Data object (index 0x2383, p. 91) has 24 sub-index objects defining basic motor characteristics such as motor type, motor wiring configuration, and Hall sensor type. (The subindex provides up to 255 subentries for each index.) The organization of the dictionary is specified in the profiles, as shown below. Index Range Objects 0000 not used 0001-001F Static Data Types 0020-003F Complex Data Types 0040-005F Manufacturer Specific Complex Data Types 0060-007F Device Profile Specific Static Data Types (including those specific to motion control) 0080-009F Device Profile Specific Complex Data Types (including those specific to motion control) 00A0-0FFF Reserved for future use 1000-1FFF Communication Profile Area (DS 301) 2000-5FFF Manufacturer Specific Profile Area 6000-9FFF Standardized Device Profile Area (including Profile for Motion Control) A000-FFFF Reserved for further use Copley Controls 19
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CANopen Programmer's Manual - Maccon.de

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