BECKHOFF AX2000 CANopen communication profile - Manual (Page 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
h
(reserved Object range 3500
h
...
3900
h
) 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
h
(Sub-index 01
h
, 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 h
Name Object-dependent
Object code VAR
Data type RECORD
Sub-Indexes:
Sub-index 00 h
Description number of entries
Unit —
Access —
PDO mapping not possible
Data type UNSIGNED8
Value range 0 ... 2 8 -1
EEPROM —
Default value —
Sub-index 01 h
Description read/write a parameter
Unit see corresponding ASCII command
Access see corresponding ASCII command
PDO mapping not possible
Data type see corresponding ASCII command
Value range see corresponding ASCII command
EEPROM see Sub-index 04 h
Default value see corresponding ASCII command
Sub-index 02 h
Description read lower limit value
Unit see corresponding ASCII command
Access ro
PDO mapping not possible
Data type see corresponding ASCII command
Value range see corresponding ASCII command
EEPROM —
Default value —
CANopen for AX2000/2500 105
BECKHOFF
07/2007
The Object Channel