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5. Programmable Parameters

Objects are based on the CiA 406 DS V3.2: CANopen profile for encoders (www.can-cia.org)

Command Function Telegram Description

22h Domain Download Request Parameter to Encoderr

23h, 27h, 2Bh, 2Fh (*) Domain Download Request

Parameter to Encoder (Bytes

indicated)

60h Domain Download Confirmation Parameter received

40h Domain Upload Request Parameter request

43h, 47h, 4Bh, 4Fh (*) Domain Upload Reply

Parameter to Master (Bytes

indicated)

80 h Warning Reply Transmission error

Tab. 10 General Command Byte Description

(*)The value of the command byte depends on the data length of the called parameter:

Command Data length Data type Command Data length Data type

43h 4 Byte Unsigned 32 23h 4 Byte Unsigned 32

47h 3 Byte Unsigned 24 27h 3 Byte Unsigned 24

4Bh 2 Byte Unsigned 16 2Bh 2 Byte Unsigned 16

4Fh 1 Byte Unsigned 8 2Fh 1 Byte Unsigned 8

Tab. 11 Detailed Command Byte Description

Object Dictionary

The data transmission according to CAL is realized

exclusively by object oriented data messages. The

objects are classified in groups by an index record.

Each index entry can be subdivided by sub-indices.

The overall layout of the standard object dictionary is

shown beside:

Index (hex) Object

0000 not used

0001-001F Static Data Types

0020-003F Complex Data Types

0040-005F Manufacturer Specific Data Types

0060-0FFF Reserved for further use

1000-1FFF Communication Profile Area

2000-5FFF Manufacturer Specific Profile Area

6000-9FFF Standardized Device Profile Area

A000-FFFF Reserved for further use

Tab. 12 Overview Object Dictionary

1 2 ... 10 11 12 13 14 15 16 17 18 19 20 ... 56 57

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