10 CANopen interface
10.1 Basics
The CANopen communication standard has been defined as a standardized application
for distributed industrial automation systems on the basis of CAN and CAL (CAN Appli‐
cation Layer). The CiA (CAN in Automation) user organization has described CANopen in
detail as a standard, see www.can-cia.org
The CANopen bus enables:
•
Access to device and communication parameters
•
One synchronization from multiple devices
•
A configuration of the network (LSS)
•
Cyclic and/or acyclic process data traffic
Explanation of terms
Table 25: CANopen-specific abbreviations
Abbreviation Explanation
PDO Process Data Object: Used for real-time transmission of process data.
SDO Service Data Object: Enables read and write access to the object directories
SYNC Synchronization Object: Used for synchronization of network nodes (CAN‐
open Device)
EMCY Emergency Object: Used for error indication of a CANopen device and/or the
periphery of the CANopen device.
NMT Network Management: Used for internal CANopen network control
LSS Layer Setting Services: LSS: Enables configuration of the baud rate and
node ID of all or individual CANopen devices that are addressed via Identity
Object 1018h.
RTR Layer Setting Services: Trigger type of PDOs
Node ID The node ID addresses the CANopen device in the network and can be
freely selected between 1 and 127 via the CANopen bus.
DLC Data Length Code: Describes the length of a CANopen telegram
ER Error Register: Object 1001h, carries the error state of a device, bit-coded
EEC Emergency Error Code: A code is transmitted in the emergency telegram
that uniquely identifies the error. This is the “Emergency error code” consist‐
ing of two bytes. For example, a temperature error is described with 40xxh.
MSEF Manufacturer Specific Error Field: Five bytes that allow the manufacturer to
describe the error code more precisely. If an emergency telegram has no
MSEF, it is 0.
COB-ID Communication Object Identifier: For each communication object, there is a
unique COB ID in the network. It is used for addressing and prioritizing the
PDOs. The lower the COB ID, the higher the priority.
EDS Electronic data sheet: The EDS lists all objects, the supported baud rates,
the manufacturer and many other details. However, the EDS is only a tem‐
plate for the device and contains only the default value of an object. The
CANopen controller can set a CANopen device to its default values using the
EDS. The EDS also be used as an exchange format between software tools.
CANOPEN INTERFACE 10
8015418/19HA/2022-12-15 | SICK O P E R A T I N G I N S T R U C T I O N S | DL100 Pro CANopen
53
Subject to change without notice
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