10.3 CANopen Bus communication
The data content of the transport protocol is the data protocol. It contains 8 bytes. The
definition of the CD3 motor controller’s RS232 data protocol is compatible with the CANopen
SDO protocol, as well as the internal data organisation complies to the CANopen standard. All
parameters, values and functions are accessible via a 24-bit address, built of a 16-bit index and 8-
bit.
10.3.1 CANopen bus communication hardware description
Table 10-6 Pin name and function
The CAN communication protocol mainly describes the information transfer method between devices.
The definition of the CAN layer is consistent with the open system interconnection model (OSI)
.
Each layer
communicates with the same layer on another device, the actual communication takes place on two
adjacent layers on each device and the devices are interconnected only through the physical medium
of the model physical layer,
The specification of CAN defines the bottom two layers of the model,
the data link layer and the physical layer.
The physical layer of the CAN bus is not strictly regulated,
and can use a variety of physical media such as twisted pair optical fibers, etc. The most commonly
used is twisted pair signals, using differential voltage transmission (commonly used bus transceivers).
The two signal lines are called CAN_H and CAN_L, and they are both about 2.5V in static state. At
this time, the state is expressed as logic 1, which can also be called recessive bit.
CAN_H is higher
than CAN_L to represent logic 0, which is called display bit. At this time, the usual voltage value is
CAN_H=3.5V
and
CAN_L=1.5V
， Epiphany first in conflict.
The names and functions of the CAN
communication interface pins are shown in Table 10-6.
Figure 10-5 CAN Signal Identification
Notice：
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