Basics
18
NHA80945 04/2017
Object Dictionary
Description
Each CANopen device manages an object dictionary which contains the objects for communication.
Index and Subindex
The objects are addressed in the object dictionary via a 16 bit index.
One or more 8 bit subindex entries for each object specify individual data fields in the object. Index and
subindex are shown in hexadecimal notation.
The following table provides the index and subindex entries using the example of the object ramps (203C
hex):
Description Object Dictionary
The description object dictionary is made of separate chapters:
Communication profile area
RPDO
TPDO
Manufacturer specific
Application profile (CiA402)
Index Subindex Name Meaning
203C hex 00 hex – Number of entries
203C hex 01 hex
ACC
Acceleration time
203C hex 02 hex
DEC
Deceleration time
Index (hex) Object
0000 Unused
0001...001F Static data types
0020...003F Complex data types
0040...005F Unused (Manufacturer-specific complex data types)
0060...007F Device profile-specific static data types
0080...009F Device profile-specific complex data types
00A0...0FFF Reserved for further use
1000...1FFF Communication profile area
2000...5FFF ATV9xx specific profile area
6000...9FFF Standardized device profile area
A000...FFFF Reserved for further use
NOTE: For more details on object dictionary, refer Appendix A
(see page 81)
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