VIPA System 300V - IM 353 CAN - Canopen Slave - Message Structure

Chapter 4 CANopen Manual VIPA System 300V
4-14 HB130E - IM - Rev. 08/26
IM 353CAN - CANopen slave - Message structure
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-Bus coupler IM 353 CAN supports the following objects:
• 10 transmit PDOs (PDO Linking, PDO Mapping)
• 10 receive PDOs (PDO Linking, PDO Mapping)
• 2 standard SDOs
• 1 emergency object
• 1 network management object NMT
• Node Guarding
• Heartbeat
Identifier
Data