1 Table of Contents
1 Table of Contents 3
2 General Information 9
2.1 About this manual 9
2.2 Target group 9
2.3 Using the PDF Format 9
2.4 Use as directed 10
2.5 Symbols Used 10
2.6 Abbreviations used 10
2.7 Basic features implemented by CANopen 11
2.8 Transmission rate and procedure 11
2.9 Response to BUSOFF communication faults 11
3 Installation / Setup 12
3.1 Important Notes 12
3.2 Setting the station address and the transmission rate 12
3.3 CAN-Bus interface (X6) 13
3.4 CAN-bus cable 13
3.5 Guide to setup 14
3.6 Important configuration parameters for CAN bus operation 14
4 CANopen Communciation Profile 15
4.1 General description of CAN 15
4.2 Construction of the Communication Object Identifier (COB-ID) 16
4.3 Definition of the used data types 17
4.3.1 Basic data types 17
4.3.1.1 Unsigned Integer 17
4.3.1.2 Signed Integer 17
4.3.2 Mixed data types 17
4.3.3 Extended data types 18
4.3.3.1 Octet String 18
4.3.3.2 Visible String 18
4.4 Communication Objects 18
4.4.1 Network Management Objects (NMT) 19
4.4.2 Synchronization Object (SYNC) 19
4.4.3 Time-Stamp Object (TIME) 19
4.4.4 Emergency Object (EMCY) 19
4.4.4.1 Application of the Emergency Object 20
4.4.4.2 Composition of the Emergency Object 20
4.4.5 Service Data Objects (SDO) 21
4.4.5.1 Composition of the Service Data Object 21
4.4.5.2 Initiate SDO Download Protocol 22
4.4.5.3 Download SDO Segment Protocol 22
4.4.5.4 Initiate SDO Upload Protocol 22
4.4.5.5 Upload SDO Segment Protocol 22
4.4.5.6 Abort SDO Protocol 23
4.4.6 Process Data Object (PDO) 23
4.4.6.1 Transmission modes 24
4.4.6.2 Trigger modes 24
4.4.7 Nodeguard 25
4.4.8 Heartbeat 26
5 CANopen Drive Profile 27
5.1 Emergency Messages 27
S300-S700 CANopen | Table of Contents
Kollmorgen | kdn.kollmorgen.com | December 2019 3
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