Inovance MD38CAN2 - 3 Protocol Description of the MD38 CAN2; Software Feature; Cob-ID

3 Protocol Description of the MD38CAN2
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3 Protocol Description of the MD38CAN2
3.1 Software Feature
MD38CAN2 supports 󶍾ve protocols, described as follows:
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NodeGuarding: The master can query the device state with this function.
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Heartbeat: The slave reports its current state periodically to the master.
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Service data object (SDO): Only expedited transfer is supported. Two bytes of a
parameter is transferred each time.
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Three transmit process data objects (TPDOs) and three receive process data objects
(RPDOs)
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Emergency (EMCY) objects
3.2 COB-ID
CANopen provides many types of communication objects (COBs), each having di󶍽erent
features (for details, see the description of the CANopen standard protocol). Di󶍽erent
communication objects are used based on the actual application scenarios. MD38CAN2
adopts the pre-de󶍾ned communication object identi󶍾ers (COB-IDs), as follows:
1) Network management (NMT) object: 0x000
2) Synchronization (SYNC) object: 0x080
3) SDO:
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Transmit SDO: 0x600+Node-Id
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Receive SDO: 0x580+Node-Id
4) PDO:
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RPDO1: 0x200+Node-Id
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RPDO2: 0x300+Node-Id
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RPDO3: 0x400+Node-Id
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TPDO1: 0x180+Node-Id
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TPDO2: 0x280+Node-Id
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TPDO3: 0x380+Node-Id
5) EMCY object: 0x80+Node-Id
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Node-Id: Indicates the device ID (node address), and it is set by the DIP switch.
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COB-ID is 󶍾xedly allocated and cannot be changed.