NANOTEC ELECTRONIC N5 - Canopen; General; Canopen Services

Technical Manual N5 (CANopen)
8 CANopen
8 CANopen
The controller can be addressed by means of CANopen and can function in a network as a slave. In
this chapter, the services of the CANopen communication structure are described. In addition, the
CANopen messages are individually broken down.
CANopen references: www.can-cia.org
• CiA 301 CANopen application layer and communication profile - Application layer and
communication profile, Date: 21.02.2011, Version: 4.2.0
• CiA 402 Device profile for drives and motion control - Part 1: General definitions, Date: 14.12.2007,
Version: 3.0.0
• CiA 402 Drives and mot ion cont rol device profile - Part 2: Operation modes and application data,
Data 14.12.2007, Version: 3.0
• CiA 402 Drives and motion control device profile - Part 3: PDO mapping, Data 14.12.2007, Version:
3.0
• CiA 306 Electronic device description - Part 1: Electronic Data Sheet and Device Configuration File,
Data: 08.02.2012, Version: 1.3.5
8.1 General
Tip
• Only 11-bit CAN-IDs are currently supported.
• With CANopen, the data are always sent over the bus in little-endian format.
8.1.1 CAN message
CAN messages are described often in this chapter; these are written in the following format:
583 | 41 09 10 00 1E 00 00 00
183R | DLC=0
Where the following convention is used:
• All numbers are written in hexadecimal notation; due to the abbreviated notation, the leading 0x is
omitted.
• Normal data message: The CAN-ID of the CAN message is prefixed with 583 (i.e., 583
h
or 1411
d
)
in the above example. The data and the CAN-ID are separated from the data with a pipe character.
• RTR message (remote transmission request): If an R follows the CAN-ID instead of the data, the
length of the DLC (Download Content) is specified; in the above example, the length of the DLC is
0.
8.2 CANopen services
The CANopen stack offers the services listed in the following table; more detailed descriptions can be
found in the respective chapters.
Default CAN-ID Service Description in
000
h
Network Management (NMT) Section Network Management (NMT)
080
h
Synchronization Object Section Synchronization object (SYNC)
080
h
+Node-ID Emergency Section Emergency Object (EMCY)
180
h
+Node-ID TX Process Data Objects (PDO)
200
h
+Node-ID RX Process Data Objects (PDO)
280
h
+Node-ID TX Process Data Objects (PDO)
Section Process Data Object (PDO)
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