Manufacturer Specific Objects - HMS Anybus X-gateway CANopen User Manual

CANopen Object Implementation
7.3

Manufacturer Specific Objects

Manufacturer-specific objects are used to configure the PDOs to the shared memory area. One
or several generic data objects can be connected to each PDO.
Data in the Input/Output Buffers will be mapped to three different areas in the Local Object
Dictionary: Byte, Word and Long, using different data types.
See also Local Object Dictionary Index Mapping, p.
7.3.1 Input Buffer
Contains data transmitted to the secondary CANopen network.
Type
Index Subindex
-
STRUCT
2000h
0 U8
1 U8
2 U8
... ...
128 U8
-
2001h STRUCT
0 U8
1 U8
2 U8
... ...
128 U8
-
STRUCT
2002h
0 U8
1 U8
2 U8
... ...
128 U8
-
STRUCT
2003h
0 U8
1 U8
2 U8
... ...
126 U8
-
2010h STRUCT
0 U8
1 U16
2 U16
... ...
128 U16
-
STRUCT
2011h
0 U8
1 U16
2 U16
... ...
127 U16
-
STRUCT
2020h
0 U8
1 U32
2 U32
Anybus ® X-gateway ™ CANopen ® PROFINET
Access Name
Transmit Byte 1-128
RO Number of entries (value=128)
RW Transmit Byte 1
RW Transmit Byte 2
... ...
RW Transmit Byte 128
Transmit Byte 129-256
RO
Number of entries (value=128)
RW Transmit Byte 129
RW Transmit Byte 130
... ...
RW Transmit Byte 256
Transmit Byte 257-384
RO
Number of entries (value=128)
RW Transmit Byte 257
RW Transmit Byte 258
... ...
RW Transmit Byte 384
Transmit Byte 385-510
RO Number of entries (value=126)
RW Transmit Byte 385
RW Transmit Byte 386
... ...
RW Transmit Byte 510
Transmit Word 1-128
RO
Number of entries (value=128)
RW
Transmit Word 1
RW
Transmit Word 2
... ...
RW
Transmit Word 128
Transmit Word 129-255 area
RO Number of entries (value=127)
RW
Transmit Word 129
RW Transmit Word 130
... ...
RW
Transmit Word 255
Transmit Long 1-128 area
RO
Number of entries (value=128)
RW Transmit Long 1
RW Transmit Long 2
® IRT (2.32) User Manual
54.
Position in Input Data area (byte)
2-129 (0 and 1 reserved for Control Word)
2
3
,,,
129
130-257
130
131
...
257
258-385
258
259
...
385
386-511
386
387
...
511
2-257
2-3
4-5
...
256-257
258-511
258-259
260-261
...
510-511
2-511
2-5
6-9
52 (60)
SCM-1202-029 1.2 en-US