222 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
5.6 Expansion Mod. MAC00-FC2/FC4/FC41
5.6.53 CANopen® DS-301 device profiles
Standardized devices in CANopen® have their characteristics described in a device pro-
file. For each device profile, particular data and parameters are strictly defined, data and
parameters are know as objects in CANopen. Objects perform all processes in CAN-
open®, they can perform various task, it can be as a communication object or as device
specific objects, where they are directly related to the device. A communication object
can transport data to the bus control and establish connection, or supervise the network
devices.
The application layer makes it possible to exchange meaningful real-time-data across the
CAN network, the format of this data and it’s meaning must be known by the producer
and the consumer(s). There are encoding rules that define the representation of values
of data types and the CAN network transfer syntax for the representations. Values are
represented as bit sequences. Bit sequences are transferred in sequences of octets
(byte). For numerical data types the encoding is with the lowest byte first.
Every object is described and classified in the object dictionary (or index) and is accessible
though the network. They are addressed using a 16 bit index so that the object dictionary
may contain a maximum of 65536 entries.
Index 0001-001F:
Static data types contain type definitions for standard data types like boolean, integer,
floating point etc. These entries are included for reference only, they cannot be read or
written.
Index 0020-003F:
Complex data types are pre-defined structures that are composed out of standard data
types and are common to all devices.
Index 0040-005F:
Manufacturer specific data types are also structures composed of standard data types but
are specific to a particular device.
Index 1000-1FFF:
The communication Profile area contains the parameters for the communication profile
on the CAN network. These entries are common to all devices.
Index 2000-5FFF:
The manufacturer specific profile area, for truly manufacturer specific functionally.
Index (Hex) Object Supported by
MAC00-FCxx
0000- Not used
0001-001F Static data types
0020-003F Complex data types
0040-005F Manufacturer specific Data Types
0060-0FFF Reserved for further use
1000-1FFF Communication Profile area DS301 Yes
2000-5FFF Manufacturer specific profile area Yes
6000-9FFF Standardised Device Profile area (DSP-402) Yes
A000-FFFF Reserved for further use
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