CL3-E CANopen/USB Technical Manual

Object directory description

Overview

You can find a description of objects in this section of the manual.

Here you will find information on the following:

  • Functions
  • Object descriptions ("Index")
  • Value descriptions ("Subindices")
  • Descriptions of bits
  • Description of the object

Structure of the object description

The description of object entries is always structured the same and normally consists of the following sections:

Function
This section briefly describes the function of the object directory.
Object description
This table gives detailed information on the data type, specified values, and suchlike. A detailed description can be found in the "Object description" section.
Value description
This table is only available for the "Array" or "Record" data type and gives detailed information on the subentries. A more detailed description of entries can be found in the "Value description" section.
Description
More precise information on the single bits in an entry is given here or any compositions are explained. A detailed description can be found in the "Description" section.

Object description

The object description consists of a table that contains the following entries:

Index
Designates the index of the object in hexadecimal notation.
Object Name
The name of the object.
Object Code
The type of object. This can be one of the following entries:
  • VARIABLE: In this case the object consists of only one variable that is indexed with sub-index 0.
  • ARRAY: This objects always consist of one sub-index 0 – which specifies the quantity of valid subentries – and the subentries themselves from index 1. The data type in an array never changes, which means that subentry 1 and all following entries always have the same data type.
  • RECORD: These objects always consist of one subentry with sub-index 0 – which specifies the quantity of valid subentries – and the subentries themselves from index 1. As opposed to an ARRAY, the data type of subentries may vary, meaning, for example, that subentry 1 may have a different data type than subentry 2.
  • VISIBLE_STRING: The object specifies a character string encoded in ASCII. The length of the string appears in sub-index 0 of this object. The individual characters are contained as of sub-index 1. These character strings are not terminated by a zero string.
Data type
The size and interpretation of the object are specified here. The following notation applies for the "VARIABLE" object code:
  • Distinction is drawn between entries that are signed; this is designated with the prefix "SIGNED". The prefix "UNSIGNED" is used for unsigned entries.
  • The size of the variable in bits is added to the prefix and can be either 8, 16 or 32.
Saveable
Designates if a object can be saved and - if so - in which category
Firmware Version
The firmware version of the first occurence of the object is entered here.
Change history (ChangeLog)
Any changes to the object are noted here.

Additionally, there are the following table entries for the "VARIABLE" data type:

Access
The access restriction is entered here. The following restrictions are available:
  • "Read/write": The object can be read and written
  • "Read only": The object can only be read from the object directory. It is not possible to set a value.
PDO Mapping
Some bus systems, such as CANopen or EtherCAT, support PDO mapping. This table entry specifies whether the object may be inserted in a mapping, and in which. The following designations are possible:
  • "no": The object may not be entered in any mapping.
  • "TX-PDO": The object may in be entered in a RX mapping.
  • "RX-PDO": The object may in be entered in a TX mapping.
Admissible Values
In some cases, it is only permitted to write specific values into the object. When this is the case, these values are listed here. The field remains empty when there is no restriction.
Specified Value
Some objects must be preassigned with values to bring the motor controller into a safe state at switch on. The value written into the object for the motor controller start is noted in this table entry.

Value description

Note
For reasons of clarity, some subentries have been summarized here when all the entries have the same name.

All data for subentries with sub-index 1 or higher are listed in the table with the heading "Value description". The table contains the following entries:

Sub-index
Number of the currently specified subentry.
Name
The name of the subentry.
Data type
The size and interpretation of the subentry are specified here. The following notation always applies:
  • Distinction is drawn between entries that are signed; this is designated with the prefix "SIGNED". The prefix "UNSIGNED" is used for unsigned entries.
  • The size of the variable in bits is added to the prefix and can be either 8, 16 or 32.
Access
The access restriction for the subentry is entered here. The following restrictions are available:
  • "Read/write": The object can be read and written
  • "Read only": The object can only be read from the object directory. It is not possible to set a value.
PDO Mapping
Some bus systems, such as CANopen or EtherCAT, support PDO mapping. This table entry specifies whether the subentry may be inserted in a mapping, and in which. The following designations are possible:
  • "no": The object may not be entered in any mapping.
  • "TX-PDO": The object may in be entered in a RX mapping.
  • "RX-PDO": The object may in be entered in a TX mapping.
Admissible Values
In some cases, it is only permitted to write specific values into the subentry. When this is the case, these values are listed here. The field remains empty when there is no restriction.
Specified Value
Some objects must be preassigned with subentries to bring the motor controller into a safe state at switch on. The value written into the subentry for the motor controller start is noted in this table entry.

Description

This section can be available when use requires additional information. When single bits of an object or subentry have a different meaning, diagrams are used as shown in the following example.

Example: The object is 8-bits large, bit 0 and 1 separately have one function. Bits 2 and 3 have been combined into one function, the same apples for bits 4 to 7.

Example [4]
Description of bits 4 to including 7, these bits logically belong together. The 4 in square brackets specifies the number of associated bits. A list of possible values and their description is frequently attached at this position.
Example [2]
Description of bits 3 and 2, these bits logically belong together. The 2 in square brackets specifies the number of associated bits.
  • Value 00b: The description at this position applies when bit 2 and bit 3 are at "0".
  • Value 01b: The description at this position applies when bit 2 is at "0" and bit 3 at "1".
  • Value 10b: The description at this position applies when bit 2 is at "1" and bit 3 at "0".
  • Value 11b: The description at this position applies when bit 2 and bit 3 are at "1".
B
Description of bit B, there is no length information for a single bit.
A
Description of bit A, bits with a gray background remain unused.
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