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CANopen information
4.3 Object Dictionary
The object dictionary structures the data of a CANopen device in a clear tabular
arrangement. It contains all device parameters as well as all current process data,
which are accessible thereby also about the SDO.
Figure 4: Structure of the Object Dictionary
4.4 CANopen default identifier
CANopen devices can be used without configuration in a CANopen network. Just the
setting of a bus address and the baud rate is required. From this node address the
identifier allocation for the communication channels is derived.
10
1
Examples
Object
SYNC
PDO1 (tx)
© TR-Electronic GmbH 2007, All Rights Reserved
Page 84 of 135
COB-Identifier = Function Code + Node-ID
2
3
4
Function Code
Function Code
NMT
0000bin
0001bin
0011bin
TR - ECE - BA - DGB - 0066 - 04
1
2
3
Node-ID = Adjustment of the address switches + 1
COB-ID
Index Communication Parameter
0
80h
181h – 1FFh
4
5
6
–
1005
1800h
Printed in the Federal Republic of Germany
01/21/2009
0
7
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