object dictionary

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Excellence in Motion

Technical Note:

CANopen Electronic DataSheet and Object Dictionary

T


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Table of Contents

Electronic Data Sheet (EDS) ...................................................................................................................................1Standard Data Types.....................................................................................................................................................................1Standard Object Types..................................................................................................................................................................1Object Access ...............................................................................................................................................................................2PDO Mapping .............................................................................................................................................................................2Sample EDS Entries .....................................................................................................................................................................2

Object Dictionary ....................................................................................................................................................3

List of Tables

Table 1: Standard Data Types .......................................................................................................................................................1Table 2: Standard Object Types ....................................................................................................................................................1Table 3: Object Access ..................................................................................................................................................................2Table 4: PDO Mapping ...............................................................................................................................................................2Table 5: Mandatory Objects .........................................................................................................................................................3Table 6: Manufacturer Specific Objects 0x2000 to 0x2004...........................................................................................................3Table 7: Manufacturer Specific Objects 0x2006 to 0x2033...........................................................................................................4Table 8: Manufacturer Specific Objects 0x2034 to 0x2401...........................................................................................................5Table 9: Optional Objects 0x1003 to 0x1010...............................................................................................................................5Table 10: Optional Objects 0x1011 to 0x1601 .............................................................................................................................6Table 11: Optional Objects 0x1602 to 0x1A01 ............................................................................................................................7

Table 12: Optional Objects 0x1A02 to 0x6502 ............................................................................................................................8

The information in this book has been carefully checked and is believed to be accurate; however, no responsibility is assumed for inaccuracies.

Intelligent Motion Systems, Inc., reserves the right to make changes without further notice to any products herein to improve reliability, function ordesign. Intelligent Motion Systems, Inc., does not assume any liability arising out of the application or use of any product or circuit described herein;neither does it convey any license under its patent rights of others. Intelligent Motion Systems and are trademarks of Intelligent Motion

Systems, Inc.

Intelligent Motion Systems, Inc.s general policy does not recommend the use of its products in life support or aircraft applications wherein a failure omalfunction of the product may directly threaten life or injury. Per Intelligent Motion Systems, Inc.s terms and conditions of sales, the user of Intel-ligent Motion Systems, Inc., products in life support or aircraft applications assumes all risks of such use and indemnifies Intelligent Motion Systems,Inc., against all damages.

TM

CANopen Electronic Data Sheet and Object Dictionary

Revision R120707

Copyright Intelligent Motion Systems, Inc.

All Rights Reserved

CANopen Object Dictionary Change Log

Date Revision Changes

03/10/2007 031007 Initial Release

12/07/2007 120707Removed 5000 series objects as they are factory use only. Added and updated objects to be current with Firmware Version5.38.


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1

technical noteCANopen Electronic Data Sheet and Object Dictionary

Electronic Data Sheet (EDS)

The data type and meaning of the value must be known to the enquirer. For this reason there is the electronicdata sheet (EDS), which describes each object dictionary entry with address (main-/subindex), parametername, data type, access type and default value.

An EDS is an ASCII file in WIN.INI format, which is used by CANopen configuration tools to allow the userto configure devices. The data types used in CANopen are the usual bytes, words and double words, with and

without signs in each case.

The EDS file for IMS products conforms to CiA DS-306, Electronic Data Sheet Standard for CANopen, andmay be downloaded at http://www.imshome.com/canopen.html.

The subsections below detail the standard EDS naming conventions.

Standard Data Types

Note: Not all data types are utilized by IMS.

Standard Data Types

0x0001 1 Bit Boolean

0x0002 8 Bit Signed Integer



0x0005 8 Bit Unsigned Integer



0x0008 Single Precision Floating Point

0x0009 Visible String

0x000A Octet String

0x000B Date

0x000C Time of Day

0x000D Time Difference

0x000E Bit String

0x000F Domain

0x0020 PDO CommPar

0x0021 PDO Mapping

0x0022 SDO Parameter

Table 1: Standard Data Types

Standard Object Types

Standard Object Types

0x07 var (Variable)

0x08 array

0x09 record

Table 2: Standard Object Types


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Object Access

Object Access

const Read-Only, will not Change

ro Read Only, can be changed

wo Write Only

rw Read/Writable

Table 3: Object Access

PDO Mapping

PDO Mapping

0x0 Cannot be mapped to a PDO

0x1 Can be mapped to a PDO

Table 4: PDO Mapping

Sample EDS Entries

[6068]

ParameterName=usPosition_window_time_ms_6068h0

ObjectType=0x7

DataType=0x0006AccessType=rw

DefaultValue=0x00

PDOMapping=0x0

[606C]

ParameterName=Velocity_actual_value

ObjectType=0x7

DataType=0x0004

AccessType=ro

DefaultValue=0x0

PDOMapping=0x1

[607C]ParameterName=lHome_Offset_607Ch

ObjectType=0x7

DataType=0x0004

AccessType=rw

DefaultValue=0x0

PDOMapping=0x0

LowLimit=0x80000000

HighLimit=0x7FFFFFFF


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Object Dictionary

The CANopen object dictionary in the following tables show all the Indexes defined in the Electronic Data Sheet.

Mandatory Objects

Index Sub Parameter Name Object

Type

Data Type Access

Type

Default PDO LowLimit HighLimit

0x1000 Device Type var Unsigned32 const 0x00040192 No

0x1001 Error Register var Unsigned8 ro 0x0 No

0x1018 Device Identity array

0 Number of Entries var Unsigned8 const 0x04 No

1 Vendor ID var Unsigned32 const 0x0000021B No

2 Product Code var Unsigned32 const 0x0 No

3 Revision Number var Unsigned32 const 0x507 No

4 Serial Number var Unsigned32 ro n/a No

0x6040 ControlWord var Unsigned16 rw n/a Yes

0x6041 StatusWord var Unsigned16 ro n/a Yes

0x6060 Modes of Operation var Signed8 rw 0x01 Yes

0x6061 Modes of Operation Display var Signed8 ro 0x0 Yes

0x6064 Position Actual Value var Signed32 ro 0x0 Yes

0x607A Target Position var Signed32 rw 0x0 Yes 0x80000000 0x7FFFFFFF

0x6081 Profile Velocity var Unsigned32 rw 512000d Yes

0x6083 Profile Acceleration var Signed16 rw 100000d Yes

0x6086 Motion Profile Type var Signed16 rw 0x0 Yes

0x6089 Position Notation Index var Signed8 rw 0x0 Yes 0xEE 0x12

Table 5: Mandatory Objects

Manufacturer Specific Objects 0x2000 to 0x2004


Type

Data Type Access

Type


0x2000 Configure I/O Discretes array


1 Configure I/O as Input or Output var Unsigned8 rw 0x00 No

2 Configure I/O as Sinking or Sourcing var Unsigned8 rw 0x00 No

3 Configure I/O as Both Sinking and

Sourcing

var Unsigned8 rw 0x00 No

4 Configure I/O as a Polarity Input var Unsigned8 rw 0x00 No

5 Configure I/O as a Polarity Output var Unsigned8 rw 0x00 No

0x2002 Configure Input Switches array


1 Define Home Switch var Unsigned8 rw 0x00 No

2 Define Positive Limit Switch var Unsigned8 rw 0x00 No

3 Define Negative Limit Switch var Unsigned8 rw 0x00 No

0x2004 Configure Digital Input Mask array


1 Digital Input Filter Mask var Unsigned8 rw 0x01 No 0x00 0xFF







Table 6: Manufacturer Specific Objects 0x2000 to 0x2004


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Type

Data Type Access

Type


0x2006 Configure Digital Input Filtering array


1 Digital Input Filter Time var Unsigned8 rw 0x01 No 0d 250d








0x2007 Inhibit Switch Action array


1 Inhibit Switch Action var Unsigned8 rw 12 No 0 12

0x2008 Brake Switch Defined array


1 Brake Switch Defined var Unsigned8 rw 0x00 No 0x00 0xFF

0x2010 Analog Input record


1 Analog Input Reading var Unsigned16 ro 0x0 Yes

2 Analog Input Configuration var Unsigned8 rw 0x0 No

3 Analog Input Filter Level var Unsigned8 rw 0x0 No 0d 31d

0x2018 Temperature Error array


1 Temperature Reading var Signed8 ro Yes

2 Temperature Warning var Signed8 rw 80 No 50 120

2 Temperature Error var Signed8 rw 85 No 50 120

0x2020 Software Limits as Hardware array


1 Limit Reached Flag var Unsigned8 rw 0x00 No

2 Limit Reached Mask var Unsigned8 rw 0x00 No

2022 Actual Position Software Limit array


1 Actual Position Negative Software Limit var Signed32 rw 0x80000001 No

2 Actual Position Positive Software Limit var Signed32 rw 0x7FFFFFFF No

0x2030 Output Bridge Polarity var Signed8 rw 0 No -128 127

0x2031 Unit Options var Unsigned8 rw 0x00 No

0x2032 Clock Options array


1 Step/Direction Options var Unsigned8 rw 0x00 No

2 SCSW var Unsigned8 rw 0x00 No

0x2033 Capture Input Configuration array


1 Capture Input Control var Unsigned8 rw 0x00 No

2 Capture Input Flag var Unsigned8 rw 0x00 No

3 Capture Input Filter var Unsigned8 rw 0x00 No

4 Capture Input Position var Signed32 rw 0x00 Yes



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Type

Data Type Access

Type


0x2034 Bridge-On Settle Allow Time var Unsigned16

0 Number of Entries const ro 0x02 No

1 Bridge-On Settle Allow Time var Unsigned16 rw 0 No 0 1000

0x2035 Brake Settle Allow Time var Unsigned16

0 Number of Entries const ro 0x03 No

1 Brake-On Settle Timer var Unsigned16 rw 0 No 0 2000

2 Brake-Off Settle Timer var Unsigned16 rw 0 No 0 1000

0x2036 Hold Current Delay Time var Unsigned16 rw 500 No

0x2037 Bridge-On to Encoder Settle Time var Unsigned16 rw 300 No 0 3000

0x2098 Homing Configuration var Unsigned8 rw 1 No 0 1

0x2204 Run Current Percent var Unsigned8 rw 25d No 0d 100d

0x2205 Hold Current Percent var Unsigned8 rw 5d No 0d 100d

0x2211 Position Present Point Target var Signed32 ro 0d No

0x2212 Position Final Point Target var Signed32 ro 0d No

0x2401 General Purpose User Variable var Unsigned8 rw 0 No


Optional Objects 0x1003 to 0x1010


Type

Data Type Access

Type


0x1003 Predefined Error Field array

0 Number of Errors var Unsigned8 rw 0x0 No

1 Standard Error Field var Unsigned32 ro 0x0 No




0x1005 COBID SYNC var Unsigned32 rw 0x80 No 0x1007 Window Length var Unsigned32 rw 0x0 No

0x1008 Device Name var Visible String const CANOpen

MDrivePlus

Motion

Control Node

No

0x1009 Device Hardware Version var Visible String const V1.00 No

0x100A Device Firmware Version var Visible String const V5.32 No

0x100C Guard Time var Unsigned16 rw 0x0 No

0x100D Life Time Factor var Unsigned8 rw 0x0 No

0x1010 Store Parameter Settings array

0 Largest Sub-Index Supported var Unsigned8 const 0x4 No

1 Save All Parameters var Unsigned32 rw 0x0 No

2 Save Communication Parameters var Unsigned32 rw 0x0 No

3 Save Application Parameters var Unsigned32 rw 0x0 No

4 Save Manufacturer Parameters var Unsigned32 rw 0x0 No

Table 9: Optional Objects 0x1003 to 0x1010


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Optional Objects 0x1011 to 0x1601


Type

Data Type Access

Type


0x1011 Restore Parameters array


1 Restore All Default Paramters var Unsigned32 rw 0x00000001 No

1 Restore Comm Default Parameters var Unsigned32 rw 0x00000001 No

1 Restore App Default Parameters var Unsigned32 rw 0x00000001 No

1 Restore Manuf Default Parameters var Unsigned32 rw 0x00000001 No 0x1012 COB-ID Time Stamp Message var Unsigned32 rw 0x00000100 No

0x1014 COB-ID Emergency Message var Unsigned32 rw 0x80000000 No

0x1015 Emergency Inhibit Time 100us var Unsigned16 rw 0x0 No

0x1017 Producer Heartbeat Time var Unsigned16 rw 0x0 No

0x1400 1st Receive PDO Parameter record


1 COD-ID Used by PDO var Unsigned32 rw 0x80000200 No

2 Transmission Type var Unsigned8 rw 255d No

3 Inhibit Time var Unsigned16 rw 0x0 No

0x1401 2nd Receive PDO Parameter record

0 Largest Sub-Index Supported var Unsigned8 const 0x3 No 1 COD-ID Used by PDO var Unsigned32 rw 0x80000300 No



0x1402 3rd Receive PDO Parameter record





0x1600 1st Receive PDO Mapping Parameters record

0 Number of Mapped Objects var Unsigned8 rw 0x1 No

1 1st Mapped Application Object var Unsigned32 rw 0x60400010 No 2 2nd Mapped Application Object var Unsigned32 rw 0x0 No

3 3rd Mapped Application Object var Unsigned32 rw 0x0 No

4 4th Mapped Application Object var Unsigned32 rw 0x0 No





0x1601 2nd Receive PDO Mapping Parameters record


1 1st Mapped Application Object var Unsigned32 rw 0x60400010 No

2 2nd Mapped Application Object var Unsigned32 rw 0x607A0020 No 3 3rd Mapped Application Object var Unsigned32 rw 0x0 No






Table 10: Optional Objects 0x1011 to 0x1601


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Optional Objects 0x1602 to 0x1A01


Type

Data Type Access

Type


0x1602 3rd Receive PDO Mapping Parameters record



2 2nd Mapped Application Object var Unsigned32 rw 0x60FF0020 No


4 4th Mapped Application Object var Unsigned32 rw 0x0 No 5 5th Mapped Application Object var Unsigned32 rw 0x0 No




0x1800 1st Transmit PDO Parameter record




3 Inhibit Time var Unsigned16 rw 0d No

4 Event Timer var Unsigned16 rw 100d No

0x1801 2nd Transmit PDO Parameter record0 Largest Sub-Index Supported var Unsigned8 const 0x5 No




4 Event Timer var Unsigned16 rw 100d No

0x1801 3rd Transmit PDO Parameter record


1 COD-ID Used by PDO var Unsigned32 rw 0xC0000380 No



4 Event Timer var Unsigned16 rw 100d No 0x1A00 1st Transmit PDO Mapping Parameters record



2 2nd Mapped Application Object var Unsigned32 rw 0x0 No







0x1A01 2nd Transmit PDO Mapping Parameters record0 Number of Mapped Objects var Unsigned8 rw 0x1 No


2 2nd Mapped Application Object var Unsigned32 rw 0x60640020 No







Table 11: Optional Objects 0x1602 to 0x1A01


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Optional Objects 0x1A02 to 0x6502


Type

Data Type Access

Type


0x1A02 3rd Transmit PDO Mapping

Parameters

record



2 2nd Mapped Application Object var Unsigned32 rw 0x606C0020 No







0x6007 Abort Connection Opcode var Signed16 rw 3d No 0d 3d

0x603F Error Code var Unsigned16 ro 0x0 Yes

0x605A Quick Stop Opcode var Signed16 rw 2d No 0d 6d

0x605B Shutdown Opcode var Signed16 rw 0d No 0d 2d

0x605C Disable Operation Opcode var Signed16 rw 0 No 0 1

0x605D Halt Opcode var Signed16 rw 2d No 0d 2d

0x605E Fault Reaction Opcode var Signed16 rw 2 No 0d 2d

0x6062 Position Demand Value var Signed32 ro 0x0 Yes

0x6063 Position Actual Value Internal var Signed32 ro 0x0 Yes

0x6065 Following Error Window var Unsigned32 rw 512d No

0x6066 Following Error Timeout (ms) var Unsigned16 rw 0x00 No

0x6067 Position Window var Unsigned32 rw 0xFFFFFFFF No

0x6068 Position Window Time var Unsigned16 rw 0x00 No

0x606C Velocity Actual Value var Signed32 ro 0x0 Yes

0x607C Home Offset var Signed32 rw 0x0 No 0x80000000 0x7FFFFFFF

0x607E Polarity var Unsigned16 rw 0x0 Yes

0x6082 End Velocity var Unsigned32 rw 51200d Yes

0x6084 Profile Deceleration var Unsigned32 ro 0x0 Yes

0x6093 Position Factor array


1 Numerator var Unsigned32 rw 0x1 No 0x1 0x7FFFFFFF

2 Denominator var Unsigned32 rw 0x1 No 0x1 0x7FFFFFFF

0x6098 Homing Method var Signed8 rw 0x0 No

0x6099 Homing Speed array


1 Homing Speed Fast var Unsigned32 rw 102400d No 0x0 0x7FFFFFFF

2 Homing Speed Slow var Unsigned32 rw 6400d No 0x0 0x7FFFFFFF

0x60F8 Maximum Slippage var Signed32 rw 512d No

0x60FD Digital Inputs var Unsigned32 ro 0x0 Yes

0x60FE Digital Outputs array


1 Physical Outputs var Unsigned32 rw 0x0 Yes

0x60FF Target Velocity var Signed32 rw 0x0 Yes 0x80000000 0x7FFFFFFF

0x6402 Motor Type var Unsigned16 const 0x0009 No

0x6502 Supported Drive Modes var Unsigned32 const 0x00000025 No

Table 12: Optional Objects 0x1A02 to 0x6502


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intelligent motion systems, INC.

Excellence in Motionwww.imshome.comIMSEUROPE GmbH

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2007 Intelligent Motion Systems, Inc. All Rights Reserved. REV R031507IMS P d Di l i d d i f i i h

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