Bootup Protocol; Object Directory - WAGO -I/O-SYSTEM 750 Technical Description

100 • CANopen
Network Communication

4.3.3.5 Bootup Protocol

This protocol shows that the NMT slave has changed its status from
INITIALIZING to PRE-OPERATIONAL. This is performed after a
hardware/software reset or following the service reset code.
request
Fig. 4-18: Bootup Protocol

4.3.4 Object Directory

The object directory is the central point of a CANopen subscriber where all
configuration information and data is stored and can be polled. The directory
organization is by means of tables and contains three areas of CANopen ob-
jects:
In the object directory, a logical addressing scheme is used for the access to
communication and device parameters, data and functions. Each entry into the
directory is identified by a 16 bit index which indicates the row address of the
table. A maximum of 65536 entries are permitted.
If an object is composed of several components, the components are identified
by means of an 8 bit sub-index. The sub-index indicates the individual column
address of the table allowing a maximum of 256 entries.
NMT Slave
• Communication Profile Area (Index 0x1000 – 0x1FFF)
This profile contains all parameters relevant for CANopen communi-
cation. This area is identical for all CANopen subscribers.
• Manufacturer Specific Profile Area (Index 0x2000 – 0x5FFF)
In this profile, each manufacturer can implement his own company
specific objects.
• Standardized Device Profile Area (Index 0x6000 – 0x9FFF)
This profile contains all objects which are assisted by a certain device
profile. The bus coupler assists the device profile DS-401 (Device Pro-
file for Generic I/O Modules)
0
0
COB-ID = 1792 + Node-ID
NMT Master
indication
g012421x
WAGO-I/O-SYSTEM 750
CANopen