A-5 Coe Objects - Omron NX-ECC201 User Manual

A-5 CoE Objects

This section explains the CoE objects that are implemented by the EtherCAT Coupler Unit.
A-5-1 Object Dictionary Area
The CAN application protocol over EtherCAT (CoE) is based on the object dictionary for the CAN appli-
cation protocol.
All objects are assigned 4-digit hexadecimal indexes. The objects are structured in the following areas.
Indexes
0000 to 0FFF hex Data Type Area
1000 to 1FFF hex CoE Communications Area
2000 to 2FFF hex Manufacturer-specific Area 1
3000 to 5FFF hex Manufacturer-specific Area 2
6000 to 9FFF hex Device Profile Area
A000 to EFFF hex Reserved area
F000 to FFFF hex Modular Device-specific Area
A-5-2 Data Type
The following data types are used in this profile.
Data type
Boolean BOOL
Unsigned8 U8
Unsigned16 U16
Unsigned32 U32
Unsigned64 U64
Visible string VS
ARRAY[0..Y] OF BYTE ARRAY[0..Y] OF BYTE
NX-series EtherCAT Coupler Unit User's Manual (W519)
Area
This area contains the data type definitions.
The objects in this area are defined for use by all servers
that perform specialized communications.
• PDO mapping objects
The objects in this area are defined for all OMRON products.
The objects in this area are defined for the EtherCAT Cou-
pler Unit.
The objects in this area are defined by the CiA401 Generic
I/O Module Device Profile (a profile that specifies the CAN
application protocol interface for devices with digital I/O and
analog I/O).
This area is reserved for future use.
The objects in this area are defined by modular devices.
Abbreviation
1 bit
1 byte
2 bytes
4 bytes
8 bytes
---
Y+1 bytes
Description
Size Range of values
0 (FALSE) or 1 (TRUE)
0 to 255
0 to 65,535
0 to 4,294,967,295
0 to 18,446,744,073,709,551,615
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Appendices
A
A - 13