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21.11.12 Villingen-Schwenningen, Germany

3.3. CANopen communication

3.3.1. Communication profile

Communication between network users and master (PC / control) is effected by object directories and objects.

Adressing the objects is by help of a 16bit index. The individual communication objects are standardized by

CANopen communication profile DS 301. They are subdivided into several groups:

• Process DataOobjects PDO for process data transmission in realtime

• Service Data Objects SDO for write and read access to the object directory

• objects for synchronisation and error warnings of CAN users:

SYNC-object (synchronisation object) for synchronisation of network users

EMCY-object (emergency object) for error warnings of a single device or its periphery

• Network Management NMT (network management) for initialization and network control

• Layer Setting Services LSS for configuration by serial number, revision number etc within the existing

network

3.3.2. CANopen message structure

First part of the message is the COB-ID (identifier).

Structure of the 11-Bit COB-ID :

Function Code

Node-ID

4 Bit Function code

7 Bit Node-ID

The function code is defining the kind of message and priority. The lower the COB-ID, the higher the priority of

the message.

Broadcast messages:

Function code

COB-ID

NMT

SYNC

80h

Peer to Peer messages:

Function code

COB-ID

Emergency

80h + Node-ID

PDO1 (tx)

180h + Node-ID

PDO2 (tx)

280h + Node-ID

SDO (tx)

580h + Node-ID

SDO (rx)

600h + Node-ID

Heartbeat

700h + Node-ID

LSS (tx)

7E4h

LSS (rx)

7E5h

1): (tx) and (rx) from the inclination sensor’s point of

view

The Node-ID is optionally set anywhere between 1 and 127 via the CANopen bus (if rotary switch = 0). Default

setting of the inclination sensor is Node ID 1.

Changing the Node-ID is effected by using service data object 2101h or by LSS.

A CAN telegram consists of the COB-ID and a data packet of max. 8 bytes:

COB-ID

DLC

Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Byte 6

Byte 7

Byte 8

Xxx

More detailed information on the telegram structure in later chapters.

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