Canopen对象字典学习

对象字典

The object dictionary shall be structurally divided into three parts:
• [MandatoryObjects] shall only contain the mandatory objects. These are at least the objects 1000h and 1001h. For devices, that have implemented version 4.0 of CANopen,
additionally the object 1018h.
• [OptionalObjects] shall contain all other objects of the area 1000h-1FFFh and 6000HFFFFh.
• [ManufacturerObjects] shall contain all manufacturer specific objects (located in the areaof 2000h-5FFFh).
目标词典在结构上应分为三部分:
•[mandatory objects]只能包含mandatory对象。这些至少是
对象1000h和1001h。对于已经实现CANopen 4.0版本的设备，此外，对象1018h。
•[可选对象]应包含1000h-1FFFh和6000HFFFFh区域的所有其他对象。
•[制造商物品]应包含所有制造商专用物品(位于区域内)
2000 h-5fffh)。

数据类型

The keyword ObjectType is optional. If the keyword ObjectType is missing, this is regarded as
“ObjectType=0x7” (=VAR).
关键字ObjectType是可选的。如果缺少关键字ObjectType，则将其视为“ObjectType = 0 x7”(= VAR)。

public enum DataType{UNKNOWN = 0,BOOLEAN = 1,INTEGER8 = 2,INTEGER16 = 3,INTEGER32 = 4,UNSIGNED8 = 5,UNSIGNED16 = 6,UNSIGNED32 = 7,REAL32 = 8,VISIBLE_STRING = 9,OCTET_STRING = 0x0A,UNICODE_STRING = 0x0B,TIME_OF_DAY = 0x0C,TIME_DIFFERENCE = 0x0D,DOMAIN = 0x0F,INTEGER24 = 0x10,REAL64 = 0x11,INTEGER40 = 0x12,INTEGER48 = 0x13,INTEGER56 = 0x14,INTEGER64 = 0x15,UNSIGNED24 = 0x16,UNSIGNED40 = 0x18,UNSIGNED48 = 0x19,UNSIGNED56 = 0x1A,UNSIGNED64 = 0x1B,PDO_COMMUNICATION_PARAMETER = 0x20,  //PDO_CommParPDO_MAPPING  = 0x21, //PDO_MappingSDO_PARAMETER = 0x22,IDENTITY = 0x23,}

对象类型

    public enum ObjectType{UNKNOWN = -1,NULL = 0,DOMAIN =2,DEFTYPE=5,DEFSTRUCT=6,VAR = 7,ARRAY = 8,REC = 9,}

访问类型

        public enum AccessType{rw = 0,ro = 1,wo = 2,rwr = 3,rww = 4,@const = 5,UNKNOWN}public enum AccessSDO{no,ro,wo,rw}public enum AccessPDO{no,t,r,tr}public enum AccessSRDO{no = 0,tx = 1,rx = 2,trx = 3}

默认值

DefaultValue=0x20192

PDOMapping

shall indicate, if it is possible to map this object into a PDO (Boolean, 0 = not mappable, 1 = mappable).

PDOMapping=0

ObjFlags

默认值0

Comments

Comments may be added to the EDS by using the Comments section. This section shall only
provide entries determining the line number and the line contents.
Lines - number of commentlines (Unsigned16)
Line - one line of comment (max. 249 characters). The number shall be decimal
coded.
Example:
[Comments]
Lines=3
Line1=|-------------|
Line2=| Don’t panic |
Line3=|-------------|