Elmomc CANopen DS 301 Implementation Guide Manuel d'utilisateur télécharger pdf (Page 17)

Chapter 3: The Object Dictionary

The object dictionary is essentially a grouping of objects that are accessible via receive

and transmit SDOs. Part of the object can be mapped to transmit and receive PDOs

(TPDO and RPDO, respectively) in a predefined manner.

The following layout is used with the objects in the object dictionary:

Index (Hex) Object

0 Not used

0001 - 001F Static data type

0020 - 003F Complex data type

0040 - 005F Manufacturer-specific data type

0060 - 0FFF Reserved

1000 - 1FFF Communication profile area

2000 - 2FFF Manufacturer-specific profile area

6000 - 6FFF Standardized device profile area

A000 - FFF Reserved

The table that follows lists the objects supported by SimplIQ digital servo drives. Each

object is addressed by a 16-bit index. Some of the objects may include 8-bit sub-indices,

which are described in the object description. The object Name is that given by CiA or

Elmo according to object type. Access can be R (read only), W (write only) or R/W

(read/write). In the Can be Mapped column, N indicates that the object cannot be

mapped to a PDO, while Y indicates that the object can be mapped to a PDO or that it is

permanently mapped to a predefined PDO.

Name Index Description Access Mapped

CAN controller

type

0x1000

Device type and functionality. Constant

value = 0x12D.

R N

Error register 0x1001 Contains error information. R N

Manufacturer

status register

0x1002 Returns status similar to SR command. R Y

Pre-defined error

field

0x1003 Returns previous emergency history.

Setting object 0x1003 sub-index 0 to 0

deletes error history.

R N

COB-ID for

SYNC message

0x1005 32-bit Dword, pre-defined. R N

Communication

cycle period

0x1006 Spacing, in μsec, between consecutive

SYNC signals. This parameter is included

for compatibility with the standard OD, but

it is ignored.

R/W N

CANopen DS 301 Implementation Guide The Object Dictionary

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