Object Dictionary; Manufacturer Specific - WEG SCA06 User Manual

7

OBJECT DICTIONARY

The object dictionary is a list containing several equipment data which can be accessed via EtherCATnetwork. An
object of this list is identified by means of a 16-bit index, and it is based in that list that all the data exchange between
devices is performed. Any object of this list can be accessed via SDO, and objects related with the control, operation
and monitoring of the equipment can be mapped to cyclical communication via PDOs.
The objects are divided into groups with different functions. The main groups are:
Index
1000h – 1FFFh Communication objects
2000h – 5FFFh Manufacturer specific objects
6000h – 9FFFh Standardized device objects
The other indexes that are not referred in this list are reserved for future use.
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NOTE!
The configuration file in XML brings the full list of objects in the equipment, as well as their properties
with respect to type, default values, and mapping for PDOs
7.1 MANUFACTURER SPECIFIC
For indexes from 2000h to 5FFFh, each manufacture is free to define which objects will be present, and also the type
and function of each one. In the case of the SCA06, the whole list of parameters was made available in this object
range. It is possible to operate the SCA06 by means of these parameters, carrying out any function that the drive
can execute. The parameters were made available starting from the index 2000h, and by adding their number to this
index their position in the dictionary is obtained. The next table illustrates how the parameters are distributed in the
object dictionary.
Index
2000h
2002h
2003h
2004h
2077h
2079h
In order to be able to program the device operation correctly via the network, it is necessary to know its operation
through the parameters.
Besides parameters, the SCA06 servo drive also has the following objects:
3000h – digital inputs.
3001h – digital outputs.
Table 7.1: Groups for Object Dictionary
Objects
They are objects common to all the CANopen devices. They contain general
information about the equipment and also data for the communication configu-
ration.
In this range, each CANopen equipment manufacturer is free to define which
data those objects will represent.
This range is reserved to objects that describe the behavior of similar equipment,
regardless of the manufacturer.
Table 7.2: Object List – Manufacturer Specific
Sub-
Name
index
0 P0000 – Access parameter
0 P0002 – Motor speed
0 P0003 – Motor current
0 P0004 – DC link voltage
0 P0119 – Current reference
0 P0121 – Speed reference
Description
PDO
Type Access
Mapping
INT16 rw No
INT16 ro Yes
INT16 ro Yes
INT16 ro Yes
INT16 rw Yes
INT16 rw Yes
Object Dictionary
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