Parker EME
Communication
192-121102 N04 June 2008 377
6.5.3. CANopen communication profile
The CANopen communication objects described in this chapter are either set
to sensible standard values or they are set under menu control with the help
of the ServoManager.
The communication objects described below must be modified only for
special deviating settings.
CAN is an open system which has been standardised in the ISO 11898 and OSI
reference model ISO 7498.
CAN is Multi-Master compatible.
Data transmission takes place with up to 8 Bytes useful data.
The CAN objects are designated with an 11 Bit identifier (ID or COB-ID: CAN
Object identifier). The identifier specifies the priority of the objects (the smaller the
value of the object ID is, the higher is the priority level of the object).
The COB-ID consists of the function code and the node ID:
Structure of the COB-ID
Bit 10 9 8 7 6 5 4 3 2 1 0
Function code NodeID (1 ... 127)
NodeID: The Compax3 device address is used here as standard value
CANopen ratings
Baud rate [kBit/s]
20, 50, 100, 125, 250, 500, 800, 1000
EDS file
C3.EDS
Service data object
SDO1
Process data objects
PDO1, ... PDO4
I21 Function
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