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9 CANopen
9.1 Overview
The ID 40/SLK-CAN is a CANopen slave. The SLK comes with nearly every data
transmission mechanism specified for CANopen and can be activated by any bus
master in compliance with CANopen.
All specifications and guidelines for CANopen can be found in the CiA (CAN in
Automation e.V.) specifications. Literature on CAN can be found under [C.] in
Chapter 16.3 “References".
Data is exchanged between CANopen users exclusively through objects addressed
by a 16-bit index and an 8-bit subindex. These objects are compiled into an object
directory. For example, the data areas described in Chapter 5 “SLK storage” are
also mapped by objects.
CANopen provides communication services (also known as communication
objects) for data exchange. Command-oriented SLK data exchange occurs via SDO
services (Service Data Object), and event-oriented data exchange via PDO services
(Process Data Object).
9.2 Object directory
The object directory contains not only user data, but also CANopen communication
objects, device profiles and even data types. Default values and access rights to the
objects are also set there. See [C17] for reference.
[C17] determines objects that have to be in a CANopen slave and those that are
optional.
Table 26: Distribution of CANopen object directory index ranges as per [C17]
Index CANopen objects ID 40/SLK-CAN
0000 Not used Not used
0001-001F Static data types All used
0020-003F Complex data types 0020 - 0023
0040-005F Manufacturer-specific complex data
types
0040 - 0043
0060-007F Device profile-specific static data types Not used
0080-009F Device profile-specific complex data
types
Not used
00A0-0FFF Reserved Not used
1000-1FFF Communication profile area Used in part
2000-5FFF Manufacturer-specific profile area Used in part
6000-9FFF Standardized device profile area Not used
A000-FFFF Reserved Not used
PROOF COPY 1 | 20.05.2014 | FOR INTERNAL USE ONLY
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