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Communication entries


The communication entries in the Object Dictionary describe most of the aspects of the CANopen communications used by the node. Many of the entries are or can be made writeable, allowing configuration of a node by other nodes on the network. The entries occupy the Index range 1000h – 1FFFh in the Object Dictionary.

IndexName
1000hDevice Type
1001hError Register
1002hManufacturer Status Register
1003hPre-defined Error Field
1005hCOB ID SYNC
1006hCommunication Cycle Period
1007hSynchronous Window Length
1008hManufacturer Device Name
1009hManufacturer Hardware Version
100AhManufacturer Software Version
100ChGuard Time
100DhLife Time Factor
1010hStore Parameters
1011hRestore Default Parameters
1012hCOB ID Time
1013hHigh Resolution Time Stamp
1014hCOB ID EMCY
1015hInhibit Time EMCY
1016hConsumer Heartbeat Time
1017hProducer Heartbeat Time
1018hIdentity Object
1200h – 127FhServer SDO Parameters
1280h – 12FFhClient SDO Parameters
1400h – 15FFhRxPDO Communication Parameters
1600h – 17FFhRxPDO Mapping Parameters
1800h – 19FFhTxPDO Communication Parameters
1A00h – 1BFFhTxPDO Mapping Parameters

Among these entries there exist a few mandatory entries that must be implemented by a node in order to be CANOPEN compliant.

Manufacturer specific entries occupy Indexes from 2000h to 5FFFh. Whenever the application requires storage of data or configuration of operations that are outside of any CANOPEN standard they are located in this section of the Object Dictionary.


I.E. a real time clock node could have the following Object Dictionary entry 
in the Manufacturer Specific section:

Index 2000h:
Subindex 00h - 3 (UNSIGNED8)
Subindex 01h - Hours (UNSIGNED16)
Subindex 02h - Minutes (UNSIGNED8)
Subindex 03h - Seconds (UNSIGNED8)

In order to organize such a variety of communication services, device parameters, etc device profiles are used.