Object Directory¶
The object directory describes the entire functionality of a CANopen® device. It is organized as a table. The object directory does not only contain the standardized data types and objects of the CANopen® communication profile and the device profiles. If necessary, it also contains manufacturer-specific objects and data types. The entries are addressed by means of a 16 bit index (table row, 65536 entries max.) and an 8 bit sub-index (table column, 256 entries max.). Thus, objects belonging together can be easily grouped. The following table shows the structure of this CANopen® object directory:
| Index | Object | |
|---|---|---|
| dec | hex | |
| 0 | 0000 | not used |
| 1…31 | 0001…001F | Static data types |
| 32…63 | 0020…003F | Complex data types |
| 64…95 | 0040…005F | Manufacturer-specific data types |
| 96…127 | 0060…007F | Profile-specific static data types |
| 128…159 | 0080…009F | Profile-specific complex data types |
| 160…4095 | 00A0…0FFF | Reserved |
| 4096…8191 | 1000…1FFF | Communication profile (DS-301) |
| 8192…24575 | 2000…5FFF | Manufacturer-specific parameters |
| 24576…40959 | 6000…9FFF | Parameters of the standardized device profiles |
| 40960…65535 | A000…FFFF | Reserved |
Several data types are defined for the objects themselves. If required, other structures (e.g. ARRAY, STRUCT) can be created from these standard types.