User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 13
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2.4 Object Dictionary
The most important part of a device profile is the object dictionary description. The Object Dictionary is
essentially a grouping of objects accessible via the network in an ordered pre-defined fashion. Each
object within the dictionary is addressed using a 16-bit index.
THE OVERALL LAYOUT OF THE STANDARD OBJECT DICTIONARY IS AS FOLLOWS:
Index (hex)
Object
0000
Not used
0001 - 001F
Static data types
0020 - 003F
Complex data types
0040 - 005F
Manufacturer specific complex data types
0060 - 007F
Device profile specific static data types
0080 - 009F
Device profile specific complex data types
00A0 - 0FFF
Reserved for further use
1000 - 1FFF
Communication profile area*
1
2000 - 5FFF
Manufacturer specific profile area*
2
6000 - 9FFF
Standardized device profile area*
3
A000 - BFFF
Standardized interface profile area
C000 - FFFF
Reserved for further use
Table 2.3 Object Dictionary
*
1
The communication profile area at indices 1000
h
through 1FFF
h
contains the communication specific
parameters for the CAN network. These entries are common to all devices.
*
2
The manufacturer segment at indices 2000
h
through 5FFF
h
contains manufacturer specific objects.
These objects control the special features of the TRINAMIC motion control devices TMCM-1140,
TMCM-1160, and TMCM-1180.
*
3
The standardized device profile area at indices 6000
h
through 9FFF
h
contains all data objects
common to a class of devices that can be read or written via the network. The device profiles use
entries from 6000
h
to 9FFF
h
to describe the device parameters and the device functionality.