Pixsys MCM260X User Manual

46 - MCM260X - Manuale d’uso
11.b CANopen object dictionary structure
Index (Exadecimal) Object
0x0000 Not used
0x0001- 0x001F Static data types
0x0020 - 0x003F Complex data types
0x0040 - 0x005F Manufacturer specific data types
0x0060 - 0x007F Profile specific static data types
0x0080 - 0x009F Profile specific complex data types
0x00A0 - 0x0FFF Reserved
0x1000 - 0x1FFF Communication Profile (DS-301)
0x2000 - 0x5FFF Manufacturer specific parameters
0x6000 - 0x9FFF Parameters from standardized device profiles
0xA000 - 0xFFFF Reserved
11.1.1 CANopen communication model
CALopen defines 4 types of messages:
1 Administrative message: Layer management, network management
and identification services (network initialization, configuration and
supervision). Services and protocols are according to LMT, NMT and DBT elements.
2 Service Data Object (SDO): provides client access to objects of
the object dictionary of the device (server) using indexes and sub-indexes. A response is generated
for every CAN message: one SDO requires 2 identifiers. SDO requests and responses always contain
8 bytes.
3 Process Data Object (PDO): transfers data in real-time data. The transfer is limited from 1 to 8 bytes
and its content is defined by its
CAN-identifier only.
Each PDO is described by 2 objects in the object dictionary:
• PDO Communication Parameter: it contains the COB-ID used,
the type of transmission, inhibit time and period.
• PDO Mapping Parameter: contains a list of allocations of objects in the object dictionary mapped
in the PDO. It can be configured via SDO messages
if the mapping is supported by the device.
There are 2 types of PDO transmission:
• Synchronous: it is regulated by the reception of a SYNC object (acyclic, non periodical, or cyclic,
which means that the transmission is periodically controlled every 1,2,...,240 by SYNC messages).
• Asynchronous: the transmission is regulated by a remote transmission request from another
device or by a specific event defined in the device profile (change of the input value, timer, etc.)
• Inhibit time for a PDO defines the minimum time between the transmission of two consecutive
PDOs. It is a part of the PDO Communication Parameter and is defined as an unsigned 16bit integer
(unit is 100µsec).
• Event time period defines how the PDO transmission is regulated when a specific time has elapsed.
It is defined as an unsigned 16bit integer (unit is milliseconds). The PDO transmits data without
overloading and the messages are not confirmed: one PDO requires a CAN-identifier (no more than
8 bytes can be
transmitted with 1PDO.
4 Predefined Messages or Special Function Objects: it is a list of important pre-defined messages:
• Synchronization (SYNC): it regulates the transmission of inputs/outputs synchronizing the PDOs.
It is one of the COB-IDs with the highest priority.
• Time Stamp: it gives the devices a common time reference.
• Emergency: the event is regulated by errors within the device.
• Node/Life Guarding: the NMT master monitors the status of the slave nodes (node guarding). The

Pixsys MCM260X Specifications

General

Brand	Pixsys
Model	MCM260X
Category	Network Hardware
Language	English