More Details Of Canopen Theory - JVL MIS17 Series User Manual

11.7

More details of CANopen Theory

11.7.1 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-
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-
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-
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 (Hex)
0000-
0001-001F
0020-003F
0040-005F
0060-0FFF
1000-1FFF
2000-5FFF
6000-9FFF
A000-FFFF
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.
298 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x
Object
Not used
Static data types
Complex data types
Manufacturer specific Data Types
Reserved for further use
Communication Profile area DS301
Manufacturer specific profile area
Standardised Device Profile area (DSP-402)
Reserved for further use
Supported
Yes
Yes
Yes