CANOPEN协议DS301_CANopenDS-301

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CANopen

Application Layer and Communication Profile

CiA Draft Standard 301

Version 4.02

Date: 13 February 2002

HISTORY CANopen CiA

HISTORY

Date Changes

June 1999

Document completely revised;

Summary of major changes:

• Object Dictionary structure reviewed

• Object services and NMT services included (former in CiA DS-201 .. CiA DS-207

specified)

• Data type definitions included (former in CiA DS-201 .. CiA DS-207 specified) and

extended

• Boot Up Message specified

• Optional Heartbeat specified

• Additional Emergency error codes specified

• Additional SDO abort codes specified

• Timer-driven PDO transmission specified

• PDO Communication parameter enhanced

• PDO Mapping procedure clarified

• SDO Block transfer specified

• Pre-defined Identifier set extended

June 2000

• correction of some typing errors

• clarification of some descriptions

• Appendix:

• Device configuration

• OS command and prompt

• Multiplexed PDOs

• Modular CANopen devices

• Error behaviour

February 2002

• errata sheet included

• chapter '11.6.2. Error behaviour object' – wrong reference changed

• default value changed from 'No' to '(device profile dependent)' for inhibit time and

event timer at definition of TPDO

• chapter '9.4.4. Restricted COB-Ids' added

• default value changed from 'No' to 'disabled' for COB-ID Client -> Server and COB-

ID Server -> Client at definition of Server SDO Parameter for Index 1201h – 127Fh

• default value changed from 'No' to 'disabled' for COB-ID Client -> Server and COB-

ID Server -> Client at definition of Client SDO Parameter

• 'All client SDOs are invalid by default (invalid bit – see …)' added

• 'A000h – BFFFh – Standardised Interface Profile Area' added at table 1

• figure 49 changed – structure of the Initialisation state.

• annex A edited

General information on licensing and patents

CAN in AUTOMATION (CiA) calls attention to the possibility that some of the elements of this CiA specification may be subject

of patent rights. CiA shall not be responsible for identifying any or all such patent rights.

means, electronic or mechanical, including photocopying and microfilm, without permission in writing from CiA at the address

below.

CAN in Automation e. V.

Am Weichselgarten 26

DE - 91058 Erlangen, Germany

Tel.: +49-9131-69086-0

Fax: +49-9131-69086-79

Url: www.can-cia.org

Email: headquarters@can-cia.org

CONTENTS CANopen CiA

CONTENTS

1 TABLES............................................................................................................................... 6

2 FIGURES............................................................................................................................. 8

3 SCOPE .............................................................................................................................. 10

4 REFERENCES .................................................................................................................. 11

4.1 Normative references .............................................................................................. 11

4.2 Informative references............................................................................................. 11

5 DEFINITIONS AND ABBREVIATIONS....................................................................... 12

5.1 Abbreviations ........................................................................................................... 12

6 MODELING .......................................................................................................................14

6.1 Reference Model ..................................................................................................... 14

6.2 Device Model .......................................................................................................... 15

6.2.1 General.............................................................................................................. 15

6.2.2 The Object Dictionary ....................................................................................... 16

6.3 Communication Model............................................................................................ 17

6.3.1 Master/Slave relationship ................................................................................. 18

6.3.2 Client/Server relationship ................................................................................. 19

6.3.3 Producer/Consumer relationship - Pull/Push model ....................................... 19

7 PHYSICAL LAYER......................................................................................................... 20

7.1 Transceiver .............................................................................................................. 20

7.2 Bit rates and timing.................................................................................................. 20

8 DATA LINK LAYER...................................................................................................... 22

8.1 CAN Frame Type..................................................................................................... 22

9 APPLICATION LAYER................................................................................................... 23

9.1 Data Types and Encoding Rules ............................................................................ 23

9.1.1 General Description of Data Types and Encoding Rules ............................... 23

9.1.2 Data Type Definitions ....................................................................................... 23

9.1.3 Bit Sequences................................................................................................... 24

CONTENTS CANopen CiA

9.1.4 Basic Data Types.............................................................................................. 25

9.1.5 Compound Data Types..................................................................................... 28

9.1.6 Extended Data Types ....................................................................................... 28

9.2 Communication Objects .......................................................................................... 29

9.2.1 Process Data Object (PDO) ............................................................................. 29

9.2.2 Service Data Object (SDO) .............................................................................. 33

9.2.3 Synchronisation Object (SYNC)....................................................................... 58

9.2.4 Time Stamp Object (TIME)............................................................................... 59

9.2.5 Emergency Object (EMCY) .............................................................................. 60

9.2.6 Network Management Objects......................................................................... 63

9.3 Synchronisation of the SYNC Consumer ............................................................... 71

9.3.1 Transmission of Synchronous PDO Messages............................................... 71

9.3.2 Optional High Resolution Synchronisation Protocol........................................ 72

9.4 Network Initialisation and System Boot-Up ............................................................ 74

9.4.1 Initialisation Procedure ..................................................................................... 74

9.4.2 NMT State Machine .......................................................................................... 74

9.4.3 Pre-Defined Connection Set............................................................................. 77

9.5 Object Dictionary ..................................................................................................... 79

9.5.1 General Structure of the Object Dictionary...................................................... 79

9.5.2 Dictionary Components .................................................................................... 80

9.5.3 Data Type Entry Specification.......................................................................... 80

9.5.4 Specification of Predefined Complex Data Types........................................... 82

9.6 Communication Profile Specification ...................................................................... 84

9.6.1 Detailed Object Specification ........................................................................... 84

9.6.2 Overview Object Dictionary Entries for Communication ................................. 84

9.6.3 Detailed Specification of Communication Profile specific Objects ................. 86

10 IMPLEMENTATION RECOMMENDATIONS.............................................................. 114

11 ANNEX A (NORMATIVE)............................................................................................... 115

11.1 Additional object dictionary entries ....................................................................... 116

11.2 Device configuration .............................................................................................. 117

11.2.1 Boot-up configuration process ....................................................................... 117

CONTENTS CANopen CiA

11.2.2 EDS storage.................................................................................................... 118

11.3 OS command and prompt ..................................................................................... 120

11.3.1 OS command .................................................................................................. 120

11.3.2 OS debugger interface ................................................................................... 122

11.3.3 OS prompt....................................................................................................... 124

11.4 Multiplexed PDOs .................................................................................................. 126

11.4.1 MPDO Protocol ............................................................................................... 126

11.4.2 Object dictionary entries ................................................................................. 127

11.4.3 Implementing MPDOs..................................................................................... 129

11.4.4 Groups, security and network configuration tools ......................................... 129

11.4.5 Indication of MPDO capability in the EDS ..................................................... 129

11.5 Additional functionality for modular CANopen devices ........................................ 130

11.5.1 Background ..................................................................................................... 130

11.5.2 Modular Devices ............................................................................................. 130

11.6 Additional communication objects......................................................................... 132

11.6.1 Emergency consumer object.......................................................................... 132

11.6.2 Error behaviour object .................................................................................... 133

12 INDEX .............................................................................................................................. 135

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