HBM QuantumX CX27C Bedienungsanleitung Seite 24

EtherCAT
clock rates specified by a master. No objects are addressed in the telegram,
instead the content of previously selected parameters is directly sent.
All the device parameters are stored in an object dictionary. This object dictio­
nary contains the description, data type and structure of the parameters, as
well as the address (index). For the QuantumX CX27 gateway, the standard­
ized DS404 device profile for the sensor/controller group is listed with useful
additions. Only the index values required for the configuration are described
there, starting at 0x6000. A description of the other index ranges can be found
in the CiA standard.
Object dictionary DS404 (Version 1.2.2)
All the variables and parameters (objects) of a CANopen device are grouped
together in the object dictionary. The process image of the data is created in
this manner and the operating behavior of a CANopen device can then be influ­
enced by means of the parameters.
An object dictionary is structured in such a way that some parameters are
specified (mandatory) for all the devices of the relevant category and others
can be freely defined and used. In CANopen, objects are first given a number
(the so-called index), which uniquely identifies them and can also be used to
address them. Objects can be implemented as simple data types such as
bytes, whole numbers (integers), "longs" or also as character sequences
(strings). With more complex structures such as arrays and structures, a sub-
index is introduced to address the individual elements.
The structure of the object dictionary, the assignment of index numbers, and
some mandatory entries are specified in the device profiles. For the user, the
object dictionary is stored in an EDS data set (Electronic Data Sheet). In the
EDS data set, all the objects are stored with index, sub-index, name, data type,
default value, minimum, maximum and access options (read/write, transmis­
sion by SDO only or also by PDO, etc.). This means that the EDS data set de­
scribes the full functionality of a CANopen device.
CANopen standard objects (from address 0x1xxx) are available from the CiA
(www.can-cia.de).
22 CX27C
A02720_04_X00_00 HBM: public