JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x 219
10.1 General information about CANopen
JVL uses the 11-bit format type CAN A, but not the 29-bit format type CAN B.
The COB-ID carries out two tasks for the controller communications object.
- Bus arbitration: Specification of transmission priorities.
- Identification of communications objects.
The COB-ID comprises two sections:
- Function code, 4 bits in size (0....15)
- Node address (Node ID), 7 bits in size (0....127).
The function code classifies the communications objects, and controls the transmission
priorities. Objects with a small function code are transmitted with high priority. For ex
-
ample, in the case of simultaneous bus access an object with the function code “1” is sent
before an object with the function code “3”.
Node address:
Every device is configured before network operation with a unique 7-bit long node ad-
dress between 1 and 127. The device address “0” is reserved for broadcast transmis-
sions, in which messages are sent simultaneously to all devices.
PDO, SDO, EMCY, NMT and heartbeat use the header frame for communication on the
CANopen bus.
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