Scaime eNod4-B - 5.7 Access to the Object Dictionary

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User manual SCAIME: NU-soft-eNod4B-E-0716_236704-C.doc
5.7 Access to the object dictionary
The most important element of a CANopen® compatible device is its object dictionary (OD). Each node object that can
be accessed via the bus is part of a table called object dictionary. The dictionary entries can be addressed by a couple
of an index (2 bytes) and a sub-index (1 byte) with the following organization:
Index (hex.)
Object type
0000
reserved
0001  001F
static data types
0020  003F
complex data types
0040  005F
manufacturer specific complex data bytes
0060  007F
device profile specific static data types
0080  009F
device profile specific complex data types
00A0  0FFF
reserved
1000  1FFF
communication profile area
2000  5FFF
manufacturer specific profile area
5FFF  9FFF
standardized device profile area
A000  FFFF
reserved
Only the greyed elements of the table are accessible through eNod4 OD.
The whole object dictionary is accessible and can be configured from usual CANopen® configuration tools. This can be
done using eNod4 available EDS file.
5.7.1 SDO communication
The model for SDO communication is a client/server model as described below:
The node that sends the request is the client application whereas eNod4 only behaves as the server application. There
are two types of requests, write and read requests. Both have the same structure: