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_CommPar
PDO_MAPPING = 0x21, //PDO_Mapping
SDO_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
coded.
Example:
[Comments]
Lines=3
Line1=|-------------|
Line2=| Don’t panic |
Line3=|-------------|