JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x 247
10.7 More details of CANopen Theory
10.7.1 CANopen DS-301 device profiles
Standardized devices in CANopen have their characteristics described in a device profile.
For each device profile, particular data and parameters are strictly defined. Data and pa
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rameters are known as objects in CANopen. Objects perform all processes in CAN-
open; they can perform various tasks, either as communications objects or as device-spe
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cific 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 de
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vices.
The application layer makes it possible to exchange meaningful real-time-data across the
CAN network. The format of this data and its 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
via the network. Objects 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 predefined 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 functionality.
Index (Hex) Object Supported
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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