CANopen & CANlink Communication
‑45‑
● Sync mode
Object Dictionary
The object dictionary is an ordered set of parameters and variables. It is essentially a
grouping of objects accessible through the network in an ordered predefined fashion.
It includes all parameters of device profile and device network state.
Each object within the object dictionary is addressed using a 16‑bit index and a 8‑bit
sub‑index. A master node or configuration tool can access all values in the object
dictionary of a slave node. The following figure shows the structure of the object
dictionary.
Figure 4‑2 Structure of object dictionary
Commonly-used Communication Objects
CANopen provides multiple communication objects, each of which has different
characteristics and applies to different applications. It uses predefined
communication object identifiers (COB‑IDs). The rules are as follows:
● NMT object: 0x000
● SYNC object: 0x080
● SDO object:
Transmit SDO — 0x600+Node‑Id
Receive SDO — 0x580+Node‑Id
● PDO object:
RPDO1 — 0x200+Node‑Id
RPDO2 — 0x300+Node‑Id
RPDO3 — 0x400+Node‑Id
RPDO4 — 0x500+Node‑Id
To Next Page
Loading...
