Kinco CD3 Series - CANopen Software Introduction

Kinco FD3&CD3 User Manual
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11.2 Software Introduction
11.2.1 EDS
EDS
（
Electronic Data Sheet
）
file is an identification documents or similar code of slave device,to identify what kind
of slave device is(Like 401,402 and 403,or which device type of 402).This file includes all information of slaves,such
as manufacturer,sequence No.,software version,supportable baudrate, mappable OD and attributes of each OD and
so on,similar to the GSD file for Profibus.Therefore,we need to import the EDS file of slave into the software of master
before we configure the hardware.
11.2.2 SDO
SDO is mainly used in the transmit the low priority object between the devices, typically used to configure and
mange the device,such as modifying PID parameters in current loop,velocity loop and position loop,and PDO
configuration parameters and so on.This data transmission mode is the same as Modbus,that is it needs response
from slave when master sends data to slave.This communication mode is suitable for parameters setting,but not for
data transmission frequently.
SDO includes upload and download.The host can use special SDO instructions to read and write the OD of servo.
11.2.3 PDO
PDO can transport 8 bytes of data at one time,and no other protocol preset(Mean the content of the data are
preset),it is mainly used to transmit data in high frequency.PDO uses brand new mode for data exchange,it needs to
define the data receiving and sending area before the transmission between two devices,then the data will transmit to
the receiving area of devices directly when exchanging data.It greatly increase the efficiency and utilization of the bus
communication.
PDO COB-ID
COB-ID is a unique way of CANopen communication protocol,it is the short name
of Communication Object Identifier. These COB-ID defines the respective transmission levels for PDO, These
transport level, the controller and servo will be able to be configured the same transmission level and the transmission
content in the respective software.Then both sides know the contents of data to be transferred, there is no need to
wait for the reply to check whether the data transmission is successful or not when transferring data.
The default ID allocation table is based on the CAN-ID(11 bits) defined in CANopen 2.0A（The COB-ID of CANopen
2.0B protocol is 27 bits
）
,include function code(4 bits) and Node-ID(7 bits) as shown in following figure:
Node-ID is defined by system integrator,such setting by the DIP switch on the devices(Like servo’s station