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16 Fieldbus interface
3 Basics IL•1F CANopen DS301
0198441113586, V2.01, 11.2008
3.1.3 Objects
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-
vice-specific objects), the device functions can be used and changed via
these objects.
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.
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 four-digit hexadecimal number. The objects are arranged in
groups in the object dictionary.
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
CAN-Bus
CANopen
Motor
1000
h
3000
h
6000
h
FFFF
h
Process data
objects (PDO)
SYNC, EMCY
Power
amplifier
Communication
Application
Object
directory
Device profile
Device
functions
Specific functions
Service data
objects (SDO)
Network
management NMT
Index (hex) Object groups Supported
by the drive
0000
h
Reserved No
0001
h
-009F
h
Static and complex data types No
00A0
h
-0FFF
h
Reserved No
1000
h
-1FFF
h
Communication profile, standardized in DS 301 Yes
2000
h
-5FFF
h
Manufacturer-specific device profiles Yes
6000
h
-9FFF
h
Standardized device profiles, e.g. in DSP 402 No
A000
h
-FFFF
h
Reserved No