
3 Basics | IL•1F CANopen DS301 |
3.1.3Objects
All processes under CANopen are executed via objects. Objects carry out different tasks; they act as communication objects for data transport to the fieldbus, control the process of establishing a connection or mon- itor the network devices. If objects are directly linked to the device (de-
Object dictionary The object dictionary of each network device allows for communication between the devices. Other devices find all objects with which they can communicate in this dictionary.
| CANopen |
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| Communication | Object | Device |
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| Process data | directory | functions |
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| objects (PDO) |
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| Service data | 1000h | Application |
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| 3000h |
| Power | |
| objects (SDO) |
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| Device profile | amplifier |
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| 6000h |
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| SYNC, EMCY |
| Motor | |
| FFFFh |
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| Specific functions |
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Network |
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management NMT |
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CAN |
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Figure 3.2 Device model with object dictionary
Objects for describing the data types and executing the communication tasks and device functions under CANopen are included in the object dictionary.
Object index Every object is addressed by means of a 16 bit index, which is repre- sented as a
Index (hex) | Object groups | Supported |
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| by the drive |
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0000h | Reserved | No |
Static and complex data types | No | |
Reserved | No | |
Communication profile, standardized in DS 301 | Yes | |
Yes | ||
Standardized device profiles, e.g. in DSP 402 | No | |
Reserved | No |
Table 3.1 Object index
See page 79, 8.2 "Objects of the product" for a list of the CANopen ob- jects.
Object group data types Data types are used so that the messages that are transmitted via the network as bit streams have the same meaning for the transmitting and
0198441113586, V2.01, 11.2008
16 | Fieldbus interface |