Chapter 8 Deployment CPU 21xCAN Manual VIPA CPU 21x
8-16 HB103E - Rev. 05/45
CANopen - Messages
All CANopen messages have the following structure according to
CIA DS-301:
Identifier
Byte Bit 7 ... Bit 0
1 Bit 3 ... Bit 0: most significant 4 bits of the module-ID
Bit 7 ... Bit 4: CANopen function code
2 Bit 3 ... Bit 0: data length code (DLC)
Bit 4: RTR-Bit: 0: no data (request code)
1: data available
Bit 7 ... Bit 5: Least significant 3 bits of the module-ID
Data
Byte Bit 7 ... Bit 0
3 ... 10 Data
An additional division of the 2Byte identifier into function portion and a
module-ID gives the difference between this and a level 2 message. The
function determines the type of message (object) and the module-ID
addresses the receiver.
CANopen devices exchange data in the form of objects. The CANopen
communication profile defines two different object types as well as a
number of special objects.
The VIPA CAN master supports the following objects:
• 40 Transmit PDOs (PDO Linking, PDO Mapping)
• 40 Receive PDOs (PDO Linking, PDO Mapping)
• 2 Standard SDOs (1 Server, 127 Clients)
• 1 Emergency Object
• 1 Network management Object NMT
• Node Guarding
• Heartbeat
Note!
The exact structure and data content of all objects is described in the CiA-
Profiles DS-301, DS-302, DS-401 and DS-405.
Identifier
Data
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