Objekt Directory - Beckhoff CX1500-M510 Manual

Product overview
Object
PDO5 (tx)
PDO5 (rx)
PDO6 (tx)
PDO6 (rx)
PDO7 (tx)
PDO7 (rx)
PDO8 (tx)
PDO8 (rx)
PDO9 (tx)
PDO9 (rx)
PDO10 (tx)
PDO10 (rx)
PDO11 (tx)
PDO11 (rx)
WarningIndex 0x5500 must not be used if Bus Couplers with more than 5 PDOs are present in networks
with node numbers greater than 64, otherwise identifier overlaps can occur.
2.3.9

Objekt directory

2.3.9.1 Object Directory - Structure
All the CANopen objects relevant for the Bus Coupler are entered into the CANopen object directory. The
object directory is divided into three different regions:
1. communication-specific profile region (index 0x1000 – 0x1FFF).
This contains the description of all the parameters specific to communication.
2. manufacturer-specific profile region (index 0x2000 – 0x5FFF).
Contains the description of the manufacturer-specific entries.
3. standardized device profile region (0x6000 – 0x9FFF).
Contains the objects for a device profile according to DS-401.
Every entry in the object directory is identified by a 16 bit index. If an object consists of several components
(e.g. object type array or record), the components are identified by an 8-bit sub-index. The object name
describes the function of an object, while the data type attribute specifies the data type of the entry. The
access attribute specifies whether an entry may only be read, only written, or may be both read and written.
Communication-specific region
All the parameters and objects necessary for the CANopen Bus Coupler's communication are in this region
of the object directory. The region from 0x1000 to 0x1018 contains various general communication-specific
parameters (e.g. the device name).
The communication parameters (e.g. identifiers) for the receive PDOs are located in the region from 0x1400
to 0x140F (plus sub-index). The mapping parameters of the receive PDOs are in the region from 0x1600 to
0x160F (plus sub-index). The mapping parameters contain the cross-references to the application objects
that are mapped into the PDOs and the data width of the corresponding object (see also the section dealing
with PDO Mapping).
The communication and mapping parameters for the transmit PDOs are located in the regions from 0x1800
to 0x180F and from 0x1A00 to 0x1A0F.
112
Function code
1101
1111
111
1001
1011
1101
1111
10001
10011
10101
10111
11001
11011
11101
NOTE
Version: 1.0
Resulting COB ID (hex) Resulting COB ID (dec)
0x681 - 0x6BF
0x781 - 0x7BF
0x1C1 - 0x1FF
0x241 - 0x27F
0x2C1 - 0x2FF
0x341 - 0x37F
0x3C1- 0x3FF
0x441 - 0x47F
0x4C1 - 0x4FF
0x541 - 0x57F
0x5C1 - 0x5FF
0x641 - 0x67F
0x6C1 - 0x6FF
0x741 - 0x77F
1665 - 1727
1921- 1983
449 - 511
577 - 639
705 - 767
833 - 895
961 - 1023
1089 - 1151
1217 - 1279
1345 - 1407
1473 - 1535
1601- 1663
1729 - 1791
1857 - 1919
CX1500-M510, CX1500-B510