A-3 Coe Objects; A-3-1 Object Dictionary Area; A-3-2 Data Type; Object Dictionary Area - Omron EJ1 EtherCAT User Manual

A-3 CoE Objects

This section describes the CoE objects that are implemented by the EJ1 EtherCAT Slave Unit.
A-3-1

Object Dictionary Area

CAN application protocol over EtherCAT (CoE) is based on the object dictionary for the CAN applica-
tion protocol. All objects are assigned 4-digit hexadecimal indexes. The objects are structured in the fol-
lowing areas.
Index
0000 hex to 0FFF hex
1000 hex to 1FFF hex
2000 hex to 2FFF hex
3000 hex to 5FFF hex
6000 hex to 9FFF hex
A000 hex to FFFF hex
A-3-2

Data type

The following data types are used in this profile.
Data type
Unsigned8
Unsigned16
Unsigned32
Visible String
EJ1 EtherCAT Slave Unit User's Manual (H192)
Area
Data Type Area
CoE Communications Area
Manufacturer-specific Area 1
Manufacturer-specific Area 2
Device Profile Area
Reserved area
Size
1 byte
2 bytes
4 bytes
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Description
This area contains the data type definitions.
The objects in this area are defined for use by
all servers that perform specialized communica-
tions.
• PDO mapping objects
The objects in this area are defined for all
OMRON products.
The objects in this area are defined for the EJ1
EtherCAT Slave Unit.
The objects in this area are defined by the
CiA401 Generic I/O Module Device Profile (a
profile that specifies the CAN application proto-
col interface for devices with digital I/O and ana-
log I/O).
This area is reserved for future use.
Range of values
0 to 255
0 to 65,535
0 to 4,294,967,295
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Appendices
A
A - 9