Beckhoff AX2000 CANopen communication profile Manual de usuario descargar pdf (Pagina 105)

5 The Object Channel

5.1 Object Description

5.1.1 Object > 3500h Manufacturer Specific Object Channel

The Object Dictionary has been expanded beyond Index 3500

(reserved Object range 3500

...

3900

) for all Device Objects that can be described in up to 4 bytes of user data.

This range can be dynamically extended, i.e. if extensions are made, new device parameters that

fulfil the above-mentioned format are automatically added to the table for the core firmware.

Object 3500

(Sub-index 01

, read) can be used to show the total number of Objects in the Object

Channel (Þ 6.3).

Each Object in this range is described with the aid of 8 Sub-indices. The structure is built up as fol-

lows:

Index

> 3500

Name

Object-dependent

Object code

VAR

Data type

RECORD

Sub-Indexes:

Sub-index

Description

number of entries

Unit

—

Access

—

PDO mapping

not possible

Data type

UNSIGNED8

Value range

0 ... 2

-1

EEPROM

—

Default value

—

Sub-index

Description

read/write a parameter

Unit