User Manual

TMCM-3313 CoE Firmware Manual • Firmware Version V1.01 | Document Revision V1.02 • 2016-NOV-29
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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 shown in table 5:
Object Dictionary
Index Object
0000
h
Not used.
0001
h
– 001F
h
Static data types.
0020
h
– 003F
h
Complex data types.
0040
h
– 005F
h
Manufacturer specific complex data types.
0060
h
– 007F
h
Device profile specific static data types.
0080
h
– 009F
h
Device profile specific complex data types.
00A0
h
– 0FFF
h
Reserved for further use.
1000
h
– 1FFF
h
Communication profile area.
2000
h
– 5FFF
h
Manufacturer specific profile area.
6000
h
– 9FFF
h
Standardized device profile area.
A000
h
– BFFF
h
Standardized interface profile area.
C000
h
– FFFF
h
Reserved for further use.
Table 5: Object Dictionary
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.
The manufacturer segment at indices 2000
h
through 5FFF
h
contains manufacturer specific objects. These
objects control the special features of the Trinamic TMCM-3313 motion control device.
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. They describe the device parameters and the
device functionality of the device profile.
2.4.1 Object Indices on Multi-Axis Modules
On a multi-axis module like the TMCM-3313 each object in the manufacturer area and each object in the
profile specific area is available for each motor. In this manual, only the object indices for motor #0 are
shown. The objects for the other motors can be accessed by adding offsets to the object indices:
• Add an offset of motor_number· 200
h
to the index of a manufacturer specifc object to get its index for
other motors.
• Add an offset of motor_number· 800
h
to the index of a profile specific object to get its index for other
motors.
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