D301087 0308 - BL20 CANopen 4-1
4 BL20 - Communication in CANopen
Setting up communication................................................................. 6
Minimum Boot-up .......................................................................................6
Identifier for the Standard Objects............................................................10
– Node-ID .................................................................................................10
– COB-ID (Communication Object Identifier) ...........................................10
Set up Node Guarding Protocol................................................................13
Boot-up Message......................................................................................15
Parameterization through Service Data Objects (SDO).................... 16
Read (Read from Object Dictionary)..........................................................17
Write (Write to Object Dictionary)..............................................................18
Commanded Parameter Storing/Restoring...............................................21
Transmission of Process Data Objects (PDO) .................................. 22
Communication Parameter COB-ID..........................................................22
Transmission Type ....................................................................................23
Inhibit Time................................................................................................24
Event Timer ...............................................................................................24
Available PDOs..........................................................................................25
Mapping Objects in PDOs.........................................................................25
Default-PDOs and PDO-Mappings ...........................................................26
– Default-PDOs as per CiA DS-301 and DS-401 .....................................26
BL20-Specific Default-PDOs.....................................................................28
Mappable Objects.....................................................................................32
Procedure for Altering PDO-Mappings .....................................................34
Object Dictionary ............................................................................. 35
Overview of all Objects..............................................................................35
Commands for "Parameter Save" and "Restore Defaults".......................40
Objects for the Communication Profile .....................................................42
– Object 1000hex - Device Type ..............................................................47
– Object 1001hex - Error Register ............................................................48
– Object 1005hex - SYNC COB-ID ..........................................................49
– Object 1008hex - Device Name ............................................................51
– Object 1009hex - Manufacturer Hardware Version ...............................52
– Object 100Ahex - Manufacturer Software Version ................................53
– Object 100Chex - Guard Time ..............................................................53
– Object 100Dhex - Lifetime Factor .........................................................55
– Object 1010hex - Store Parameters ......................................................56
To Next Page
Loading...
