Product Manual CANcockpit
TU00-0726-5111102 Technische Änderungen vorbehalten 0609 Technical details subject to change 5.2 - 9
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CANopen-Specification for CANcockpit
Pre-Defined Connection Set
In order to reduce configuration effort for simple networks a mandatory default identifier allocation scheme is defined. These
identifiers are available in the PRE-OPERATIONAL state directly after initialization (if no modifications have been stored).
The default profile ID-allocation scheme consists of a functional part, which determines the object priority and a Node-ID-part,
which allows distinguishing between devices of the same functionality. This allows a peer-to-peer communication between a
single master device and up to 127 slave devices. It also supports the broadcasting of non-confirmed NMT-objects.
Broadcasting is indicated by a Node-ID of zero.
The pre-defined connection set supports one emergency object, one SDO, maximum 4 Receive-PDOs (RPDO) and 4
Transmit-PDOs (TPDO) and the NMT objects.
COB ID Structure of pre-defined Connection Set
Bit 10 9 8 7 6 5 4 3 2 1 0
F F F F N N N N N N N
Function Code Node ID
The following table outlines the CO allocation for the CAN controller.
CO Function Comment ID
1 TPDO1 64 Digital Inputs 0x0180+own Node ID
2 TPDO2
4 analogue Inputs
(ADC_wANI1Phy, ADC_wANI2Phy, ADC_wANI3Phy,
ADC_w20mAPhy)
0x0280+own Node ID
3 TPDO3
4 analogue Inputs (ADC_w5VPhy, ADC_wKl58, VN_wRevolution,
VN_wVelocity)
0x0380+own Node ID
4 Emergency Emergency Message and reserved for TNMT2025 0x0080+own Node ID
5 Heartbeat Heartbeat, also used for boot-up message. 0x0700+own Node ID
6 TSDO Send SDO responses 0x0580+own Node ID
7 RNMT0
Receive NMT commands with ID=0.
This CO will be serviced via interrupt.
0x0000
8
Reserved for
RNMT2026
Disabled until required.
9 RSDO Receive SDO messages 0x0600+own Node ID
10 RPDO1 64 Digital Outputs 0x0200+own Node ID
11 RPDO2 4 analogue Outputs (Main Gauge + 3Sat Gauges) 0x0300+own Node ID
12 RPDO3 4 analogue Outputs (4 Sat Gauges) 0x0400+own Node ID
13 RPDO4 4 analogue Outputs (4 Sat Gauges) 0x0500+own Node ID
14 RPDO5
4 analogue Outputs (4 Sat Gauges).
This PDO is not part of the pre-defined connection set. The system
designer must allocate a unique ID with WINgauge.
Configurable with
WINgauge
15 RPDO6
4 analogue Outputs (4 Sat Gauges).
This PDO is not part of the pre-defined connection set. The system
designer must allocate a unique ID with WINgauge.
Configurable with
WINgauge
16 RPDO7
4 analogue Outputs (4 Sat Gauges).
This PDO is not part of the pre-defined connection set. The system
designer must allocate a unique ID with WINgauge.
Configurable with
WINgauge
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