What is CANopen's Electronic Data Sheet (EDS)
The scope of this article is to understand the basics of syntax and tools to work with Electronic Data Sheet (EDS).
What is CANopen's Electronic Data Sheet (EDS)
Table of contents
Definition
An INI file format (since 2007 XML is also valid), acting as the ‘template’ for the Object Dictionary (OD) of a device and contains info on all device objects (PDOs, SDOs, specific objects defined in the device profiles…). The EDS file is a text file with the extension “eds”.
An EDS is supplied by the vendor of a particular device. If a vendor provides no EDS for his CANopen devices a default EDS might be used.
EDS contain:
- Communication parameters as defined in CiA301.
- Application parameters as specified in CiA device and application profiles.
- Manufacturer-specific parameters as defined by the device manufacturer.
File basic syntax
- The files are ASCII-coded, the /ISO646/ character set shall be used.
- The lines shall be ended by a LF character or by a CR/LF combination. The total length of a line shall not exceed 255 characters.
- Section and keyname are not case sensitive.
- Section and keyname order isn’t relevant.
- The EDS contains several sections; each consists of a group of related entries. The sections and the entries shall be listed in the following format:
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; -------------------------
; --- This is a comment ---
; -------------------------
[section 1 name]
keyname_1=value
; Leading/trailing spaces in values are ignored
keyname_2= value
[section 2 name]
; Integer numbers shall be written as decimal numbers,
; hexadecimal numbers or octal numbers
; Decimal
keyname=10
; Hexadecimal numbers are preceded by 0x
keyname=0xa
keyname=0x0a
keyname=0xA
keyname=0x000A
; Octal numbers shall start with a leading 0
keyname=012
[section 3 name]
; String values are stored without quotes
keyname=hello
; Bitstrings shall be stored as a sequence of 0 and 1
keyname=0110100001101001
[section 4 name]
; For entries of one of the integer types a formula may be used (e.g. COB-ID)
; The $NODEID shall appear at the beginning of the expression.
; Otherwise the line is interpreted as without a formula.
keyname=$NODEID+number
Standard sections
File information
Section name = [FileInfo]. The EDS contains information about itself. Useful for version control management.
| FileName | File name (according to OS restrictions) |
|---|---|
| FileVersion | Actual file version (Unsigned8) |
| FileRevision | Actual file revision (Unsigned8) |
| EDSVersion | Version of the specification (3 characters) in the format “x.y”. NOTE: If the entry is missing, this is equal to “3.0”. EDS files written according to this document shall use “4.0” |
| Description | File description (max 243 characters) |
| CreationTime | File creation time (hh:mm(AM|PM)) |
| CreationDate | Date of file creation (mm-dd-yyyy) |
| CreatedBy | Name or description of the file creator (max. 245 characters) |
| ModificationTime | Time of last modification (hh:mm(AM|PM)) |
| ModificationDate | Date of the last file modification (mm-dd-yyyy) |
| ModifiedBy | Name or a description of the creator (max. 244 characters) |
Example:
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[FileInfo]
FileName=example name.eds
FileVersion=1
FileRevision=1
EDSVersion=4.0
Description=
CreationTime=20:31PM
CreationDate=26-06-2025
CreatedBy=my name
ModificationTime=21:43PM
ModificationDate=26-06-2025
ModifiedBy=my name
General device information
Section name = [DeviceInfo]. Contain device specific information.
| VendorName | Vendor name (max. 244 characters) |
|---|---|
| VendorNumber | Unique vendor ID according to identity object sub-index 01h (Unsigned32). Oficial CANopen ventor-ID list |
| ProductName | Product name (max. 243 characters) |
| ProductNumber | Product code according to identity object sub-index 02h (Unsigned32) |
| RevisionNumber | Product revision number according to identity object sub-index 03h (Unsigned32) |
| OrderCode | Order code for this product (max. 245 characters) |
| BaudRate_10 | Indicate the supported baud rates (0 = not supported, 1=supported) |
| BaudRate_20 | |
| BaudRate_500 | |
| BaudRate_125 | |
| BaudRate_250 | |
| BaudRate_500 | |
| BaudRate_800 | |
| BaudRate_1000 | |
| SimpleBootUpMaster | Indicate the simple boot-up master functionality (0 = not supported, 1 = supported) |
| SimpleBootUpSlave | Indicate the simple boot-up slave functionality (0 = not supported, 1 = supported) |
| Granularity | Granularity allowed for the mapping on this device. (Unsigned8; 0 = mapping not modifiable, 1-64 = granularity) |
| DynamicChannelsSupported | According to CiA302, indicate the facility of dynamic variable generation. If the value is unequal to 0, the additional section DynamicChannels exists. |
| GroupMessaging | According to CiA301 Annex A, indicate the facility of multiplexed PDOs. (0 = not supported, 1 = supported). |
| NrOfRXPDO | Number of supported receive PDOs (Unsigned16) |
| NrOfTXPDO | Number of supported transmit PDOs (Unsigned16) |
| LSS_Supported | Indicate if LSS functionality is supported (0 = not supported, 1 = supported) |
For compatibility reasons, the entries
ProductVersion,ProductRevision,LMT_ManufacturerName,LMT_ProductName,ExtendedBootUpMasterandExtendedBootUpSlaveare reserved.
Example:
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[DeviceInfo]
VendorName=company name
VendorNumber=0x00000000
ProductName=Example turbo 3000
ProductNumber=0x00000000
RevisionNumber=0x00000000
BaudRate_50=1
BaudRate_250=1
BaudRate_1000=1
SimpleBootUpMaster=0
SimpleBootUpSlave=1
Granularity=8
DynamicChannelsSupported=0
GroupMessaging=0
NrOfRXPDO=1
NrOfTXPDO=3
LSS_Supported=0
; This is a "Specific flag" to define a specific behaviour for tools how to treat an object.
CompactPDO=0
Mapping of dummy entries
Section name = [DummyUsage]. Contain device specific information. Sometimes it is required to leave gaps in the mapping of a device.
Format = Dummy<data type index (without 0x-prefix)>={0|1}
Example:
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[DummyUsage]
Dummy0001=0
Dummy0002=1
Dummy0003=1
Dummy0004=1
Dummy0005=1
Dummy0006=1
Dummy0007=1
Object dictionary lists
This sections configure the device:
- Which objects of the object dictionary are supported
- Limit values for parameters
- Default values
- Data types
Object descriptions:
[MandatoryObjects]Contain the mandatory objects (1000h, 1001h and 1018h)[OptionalObjects]Contain all other objects of the area (1000h-1FFFh and 6000H-FFFFh).[ManufacturerObjects]Contain all manufacturer specific objects (2000h-5FFFh).
See Object Dictionary overview (0000h - FFFFh).
| Index | Object |
|---|---|
| 0000h | not used |
| 0001h – 001Fh | Static data types (standard data types, e.g. Boolean, Integer16) |
| 0020h – 003Fh | Complex data types (predefined structures composed of standard data types, e.g. PDOCommPar, SDOParameter) |
| 0040h – 005Fh | Manufacturer-specific complex data types |
| 0060h – 025Fh | Device profile specific data types |
| 0260h – 0FFFh | reserved |
| 1000h – 1FFFh | Communication profile area (e.g. Device Type, Error Register, Number of PDOs supported) |
| 2000h – 5FFFh | Manufacturer-specific profile area |
| 6000h – 9FFFh | Standardised Device Profile Area (e.g. "DSP-401 Device Profile for I/0 Modules" [3]: Read State 8 Input Lines, etc.) |
| A000h – BFFFh | Standardized network variable area |
| C000h – FFFFh | reserved |
See Communication profile area (1000h - 1F89h).
| Index range | Description |
|---|---|
| 1000h - 1029h | General communication objects |
| 1200h - 12FFh | SDO parameter objects |
| 1300h - 13FFh | CANopen safety objects |
| 1400h - 1BFFh | PDO parameter objects |
| 1F00h - 1F11h | SDO manager objects |
| 1F20h - 1F27h | Configuration manager objects |
| 1F50h - 1F54h | Program control objects |
| 1F80h - 1F89h | NMT master objects |
See General communication objects (1000h - 1029h).
| Index | Object | Name |
|---|---|---|
| 1000h | VAR | Device type |
| 1001h | VAR | Error register |
| 1002h | VAR | Manufacturer status register |
| 1003h | ARRAY | Pre-defined error field |
| 1005h | VAR | COB-ID Sync message |
| 1006h | VAR | Communication cycle period |
| 1007h | VAR | Synchronous window length |
| 1008h | VAR | Manufacturer device name |
| 1009h | VAR | Manufacturer hardware version |
| 100Ah | VAR | Manufacturer software version |
| 100Ch | VAR | Guard time |
| 100Dh | VAR | Life time factor |
| 1010h | VAR | Store parameters |
| 1011h | VAR | Restore default parameters |
| 1012h | VAR | COB-ID time stamp |
| 1013h | VAR | High resolution time stamp |
| 1014h | VAR | COB-ID emergency |
| 1015h | VAR | Inhibit time emergency |
| 1016h | ARRAY | Consumer heartbeat time |
| 1017h | VAR | Producer heartbeat time |
| 1018h | RECORD | Identity object |
| 1019h | VAR | Sync. counter overflow value |
| 1020h | ARRAY | Verify configuration |
| 1021h | VAR | Store EDS |
| 1022h | VAR | Storage format |
| 1023h | RECORD | OS command |
| 1024h | VAR | OS command mode |
| 1025h | RECORD | OS debugger interface |
| 1026h | ARRAY | OS prompt |
| 1027h | ARRAY | Module list |
| 1028h | ARRAY | Emergency consumer |
| 1029h | ARRAY | Error behavior |
Each of these sections shall contain a list of the supported objects which contains entries for the supported objects.
SupportedObjects= Number of entries in the section (Unsigned16).
See an example.
[MandatoryObjects] SupportedObjects=3 1=0x1000 2=0x1001 3=0x1018 [...] [OptionalObjects] SupportedObjects=17 1=0x1008 2=0x1009 3=0x100A 4=0x100C 5=0x100D 6=0x1013 7=0x1016 8=0x1017 9=0x1200 10=0x1400 11=0x1600 12=0x1800 13=0x1801 14=0x1802 15=0x1A00 16=0x1A01 17=0x1A02 [...] [ManufacturerObjects] SupportedObjects=20 1=0x2000 2=0x2001 3=0x2002 4=0x2003 5=0x2004 6=0x2005 7=0x2006 8=0x2007 9=0x2008 10=0x2009 11=0x200A 12=0x200B 13=0x200C 14=0x200D 15=0x200E 16=0x200F 17=0x2010 18=0x2011 19=0x2012 20=0x2013
Section’s keynames:
| SubNumber | Number of sub-indexes available at this index (Unsigned8) |
|---|---|
| ParameterName | Parameter name (up to 241 characters) |
| ObjectType | Object code |
| DataType | Index of the data type of the object in the OD |
| LowLimit | [Only if applicable] Lowest limit of the object value |
| HighLimit | [Only if applicable] Upper limit of the object value |
| AccessType | |
| DefaultValue | Default value for this object |
| PDOMapping | If it is possible to map this object into a PDO (Boolean, 0 = not mappable, 1 = mappable) |
| ObjFlags | [Optional] Assignment of special behavior |
See an overview of the obligation of keywords.
Table legend: - m = Mandatory - o = Optional. If the entry is missing "( )" says default value - n = Not supported| DEFTYPE VAR | DEFSTRUCT ARRAY RECORD | DEFSTRUCT ARRAY RECORD | DOMAIN | |
|---|---|---|---|---|
| ParameterName | m | m | m | m |
| ObjectType | o (VAR) | m | m | m |
| DataType | m | n | m | o (DOMAIN) |
| AccessType | m | n | m | o (rw) |
| DefaultValue | o () | n | o () | o () |
| PDOMapping | o (0) | n | o (0) | n |
| SubNumber | n | m | n | n |
| LowLimit | o () | n | o () | n |
| HighLimit | o () | n | o () | n |
| ObjFlags | o (0) | o (0) | o (0) | o (0) |
| CompactSubObj | n | n | m | n |
See an example of an EDS's one RPDO definition
[...] [1402] ParameterName=Receive PDO Communication Parameter 2 ObjectType=0x9 SubNumber=4 [1402sub0] ParameterName=Number of entries ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=5 PDOMapping=0 LowLimit=0x02 HighLimit=0x05 [1402sub1] ParameterName=COB ID ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x400+$NODEID PDOMapping=0 LowLimit=0x00000001 HighLimit=0xFFFFFFFF [1402sub2] ParameterName=Transmission Type ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=1 PDOMapping=0 [1402sub5] ParameterName=Event Timer ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [...] [1602] ParameterName=Receive PDO Mapping Parameter 2 ObjectType=0x9 SubNumber=5 [1602sub0] ParameterName=Number of entries ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=4 PDOMapping=0 LowLimit=0 HighLimit=8 [1602sub1] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x20000910 PDOMapping=0 [1602sub2] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x20000a10 PDOMapping=0 [1602sub3] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x20010110 PDOMapping=0 [1602sub4] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x20010210 PDOMapping=0 [...] [2000] ParameterName=Reception Element 2 ObjectType=0x9 SubNumber=11 [2000sub0] ParameterName=NrOfObjects ObjectType=0x7 DataType=0x0005 AccessType=rww DefaultValue=10 PDOMapping=0 [...] [2000sub9] ParameterName=i_sp_lim_pow ObjectType=0x7 DataType=0x0006 AccessType=rww PDOMapping=1 [2000subA] ParameterName=i_sp_lim_pow_ef ObjectType=0x7 DataType=0x0006 AccessType=rww PDOMapping=1 [2001] ParameterName=Reception Element 3 ObjectType=0x9 SubNumber=11 [2001sub0] ParameterName=NrOfObjects ObjectType=0x7 DataType=0x0005 AccessType=rww DefaultValue=10 PDOMapping=0 [2001sub1] ParameterName=rcw_gen_10 ObjectType=0x7 DataType=0x0006 AccessType=rww PDOMapping=1 [2001sub2] ParameterName=rcw_gen_11 ObjectType=0x7 DataType=0x0006 AccessType=rww PDOMapping=1 [...]
Optional sections
Comments
Section name = [Comments]. To add comments to the EDS. Example:
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[Comments]
Lines=3
Line1=|-------------|
Line2=| Hello World |
Line3=|-------------|
Tools
Section name = [Tools]. Based on CiA 405, describe some aspects of the usage of the EDS by software packages.
References
- CiA standard 306: CANopen electronic data sheet (EDS)
- CiA 306: Electronic Device Description (EDD)
- CANopen EDS File Explained - A Simple Intro
- EDS & DCF files
- https://en.wikipedia.org/wiki/CANopen
Useful tools
This post is licensed under CC BY 4.0 by the author.