Canopen Object Directory - Pepperl+Fuchs IMUF99 B16 Series Manual

Inertial Measurement Unit IMUF99*B16
Parameterization Using the CANopen Engineering Tool with CANopen Objects
6.2

CANopen Object Directory

Note
CANopen Parameter Communication
This section contains the information required for the data exchange via CANopen. Data is
exchanged with the sensor via objects. These objects and their respective permissible
functions are defined in the following object directory.
The sensor supports the identifier format 2.0A (11-bit identifier) according to the CAN
specification. The extended 29-bit identifier is not supported.
The device-specific object directory OV contains all parameters and process data for the sen-
sor. The object directory has two defined areas.
• 0x1000 ... 0x1FFF Communication segment: Predefined CANopen objects as specified in
CiA301
• 0x2000 ... 0x5FFF Manufacturer segment: manufacturer-specific CANopen objects
• 0x6000 ... 0x9FFF Device Profile 410 Segment
Note
PDO mapping is not possible for most CANopen objects. For CANopen objects for which
mapping is enabled, this is explicitly mentioned in the relevant sections of the CANopen
objects.
The sensor is described in general terms in the 0x1000 area up to and including object 0x1FFF.
The device ID, the name of the manufacturer, and the Communication Parameters are listed
here. The 2nd area starting with object 0x2000 covers the specific functionality of the sensor.
The area starting with object 0x6000 covers the inclination profile 410.
An entry in the object list is identified via a 16-bit index and an 8-bit subindex. The parameters
and process data are described in detail in this manual as individual objects and are listed in
tables. The following object list only lists the 16-bit index objects; the subindices are then
described in the respective object descriptions. Access to device parameters and process
data, such as input signals and output signals, device functions, and network variables, is pro-
vided via the assignment within the object list in standardized form over the CANopen network.
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