ElmoMC CANopen DS 301 Implementation Guide - Manual (Page 17)

Chapter 3: The Object Dictionary
The object dictionary is essentially a grouping of objects that are accessible via receive
and transmit SDOs. Part of the object can be mapped to transmit and receive PDOs
(TPDO and RPDO, respectively) in a predefined manner.
The following layout is used with the objects in the object dictionary:
Index (Hex) Object
0 Not used
0001 - 001F Static data type
0020 - 003F Complex data type
0040 - 005F Manufacturer-specific data type
0060 - 0FFF Reserved
1000 - 1FFF Communication profile area
2000 - 2FFF Manufacturer-specific profile area
6000 - 6FFF Standardized device profile area
A000 - FFF Reserved
The table that follows lists the objects supported by SimplIQ digital servo drives. Each
object is addressed by a 16-bit index. Some of the objects may include 8-bit sub-indices,
which are described in the object description. The object Name is that given by CiA or
Elmo according to object type. Access can be R (read only), W (write only) or R/W
(read/write). In the Can be Mapped column, N indicates that the object cannot be
mapped to a PDO, while Y indicates that the object can be mapped to a PDO or that it is
permanently mapped to a predefined PDO.
Name Index
Description Access Mapped
CAN controller
type 0x1000 Device type and functionality. Constant
value = 0x12D. R N
Error register 0x1001 Contains error information. R N
Manufacturer
status register 0x1002 Returns status similar to SR command. R Y
Pre-defined error
field 0x1003 Returns previous emergency history.
Setting object 0x1003 sub-index 0 to 0
deletes error history. R N
COB-ID for
SYNC message 0x1005 32-bit Dword, pre-defined. R N
Communication
cycle period 0x1006 Spacing, in μsec, between consecutive
SYNC signals. This parameter is included
for compatibility with the standard OD, but
it is ignored.
R/W N
CANopen DS 301 Implementation Guide The Object Dictionary
MAN-CAN301IG (Ver. 2.1)
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