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canopen 应用层协议图片图表式描述

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    canopen 应用层协议图片图表式描述

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    CANopen® application layer and general communication profile Object dictionary (OD) Overview Index range 0000h 0001h to 025Fh 0260h to 0FFFh 1000h to 1FFFh 2000h to 5FFFh 6000h to 9FFFh A000h to AFFFh B000h to BFFFh C000h to FFFFh Description Reserved Data types Reserved Communication profile area Manufacturer-specific profile area Standardized profile area Network variables System variables Reserved Communication profile area Index range 1000h to 1029h 1200h to 12FFh 1300h to 13FFh 1400h to 1BFFh 1F00h to 1F11h 1F20h to 1F27h 1F50h to 1F54h 1F80h to 1F89h Description General communication objects SDO parameter objects CANopen safety objects PDO parameter objects SDO manager objects Configuration manager objects Program control objects NMT master objects General communication objects Index 1000h 1001h 1002h 1003h 1005h 1006h 1007h 1008h 1009h 100Ah 100Ch 100Dh 1010h 1011h 1012h 1013h 1014h 1015h 1016h 1017h 1018h 1019h 1020h 1021h 1022h 1023h 1024h 1025h 1026h 1027h 1028h 1029h Object VAR VAR VAR ARRAY VAR VAR VAR VAR VAR VAR VAR VAR VAR VAR VAR VAR VAR VAR ARRAY VAR RECORD VAR ARRAY VAR VAR RECORD VAR RECORD ARRAY ARRAY ARRAY ARRAY Name Device type Error register Manufacturer status register Pre-defined error field COB-ID Sync message Communication cycle period Synchronous window length Manufacturer device name Manufacturer hardware version Manufacturer software version Guard time Life time factor Store parameters Restore default parameters COB-ID time stamp High resolution time stamp COB-ID emergency Inhibit time emergency Consumer heartbeat time Producer heartbeat time Identity object Sync. counter overflow value Verify configuration Store EDS Storage format OS command OS command mode OS debugger interface OS prompt Module list Emergency consumer Error behavior www.can-cia.org Network management (NMT) (1) Object dictionary index range 1000h to 1FFFh is reset Initializing Application reset Object dictionary index range 2000h to FFFFh is reset (9) (10) (11) (12) (13) (14) Communication reset (2) Boot-up message Pre-operational (3) (4) (7) (5) Stopped (6) Operational (8) (15) (1) Power on (2) Automatic switch to Pre-operational (3) and (6) NMT switch to Operational (4) and (7) NMT switch to Pre-operational (5) and (8) NMT switch to Stopped (9), (10) and (11) NMT switch to Application reset (12), (13) and (14) NMT switch to Communication reset (15) Power-off or hardware reset Producer Boot-up protocol request DLC = 1 0 CAN-ID = 700h + node-ID Consumer(s) indication(s) Heartbeat protocol request Heartbeat producer time (1017h ) in ms request DLC = 1 (data field) Node state CAN-ID = 700h + node-ID Node state Node state values: 4d = Stopped 5d = Operational 127d = Pre-operational Heartbeat consumer time (1016h ) in ms indication(s) indication(s) Heartbeat event NMT-message protocol request NMT master DLC = 2 (data field) CS Node-ID CAN-ID = 000h Command specifier (CS): 001d = Start (go to Operational) 002d = Stop (go to Stopped) 128d = Go to Pre-operational 129d = Reset node (Application reset) 130d = Reset communication indication(s) NMT slave(s) Service data object (SDO) Client SDO Node n-1 ID n Data ID p Data Node n Server SDO OD Client Expedited SDO protocol initiate SDO download CS MUX DATA initiate SDO download response CS MUX Not used Server initiate SDO upload CS MUX Not used initiate SDO upload response CS MUX DATA DLC = 8 CAN-ID client-to-server for Default-SDO = 600h + node-ID CAN-ID server-to-client for Default-SDO = 580h + node-ID CS: Command specifier (read or write access, transfer type) MUX: Multiplexer (index and sub-index of an object) Client Normal SDO protocol CAN-ID = 600h + node-ID initiate SDO download CS MUX (Length) initiate SDO download response CS MUX Not used download SDO segment 1 CS DATA download segment 1 response CS Not used download segment 2 to n-1 CS DATA download segment 2 to n-1 response CS Not used download segment n CS DATA download segment n response CS Not used CAN-ID = 580h + node-ID Server Pre-defined CAN-IDs Object NMT Global failsafe command Flying master Indicate active interface Sync Emergency Time stamp Safety-relevant data objects TPDO 1 RPDO 1 TPDO 2 RPDO 2 Specification CiA 301 CiA 304 CiA 302-2 CiA 302-6 CiA 301 CiA 301 CiA 301 CiA 301 CiA 301 CiA 301 CiA 301 CiA 301 CAN-ID 000h 001h 071h to 076h 07Fh 080h 081h to 0FFh (080h + node-ID) 100h 101h to 180h 181h to 1FFh (180h + node-ID) 201h to 27Fh (200h + node-ID) 281h to 2FFh(280h + node-ID) 301h to 37Fh (300h + node-ID) Object Specification TPDO 3 CiA 301 RPDO 3 CiA 301 TPDO 4 CiA 301 RPDO 4 CiA 301 Default SDO server-to-client CiA 301 Default SDO client-to-server CiA 301 Dynamic SDO request CiA 302-5 Node claiming procedure CiA 416-1 Node claiming procedure CiA 416-1 NMT error control CiA 301 Layer setting services CiA 305 CAN-ID 381h to 3FFh(380h + node-ID) 401h to 47Fh (400h + node-ID) 481h to 4FFh (480h + node-ID) 501h to 57Fh (500h + node-ID) 581h to 5FFh (580h + node-ID) 601h to 67Fh (600h + node-ID) 6E0h 6E1h to 6E3h 6F0h to 6FFh 701h to 77Fh (700h + node-ID) 7E4h to 7E5h Process data object (PDO) Special protocols Producer Consumer(s) request DLC = 1 to 8 Application object(s) CAN-ID = pre-defined or user-specific indication(s) PDO protocol Sync protocol Sync producer Sync consumer(s) request DLC = 0 or 1 Counter Default CAN-ID = 080h indication(s) Producer 1. Event (change of state) or eventtimer driven Internal event 2. Remote requested PDO Remote frame PDO Consumer(s) 3. Synchronous transmission (cyclic) 4. Synchronous Internal transmission (acyclic) event Sync message PDO Sync message PDO Sync producer Sync producer Time-stamp protocol Time-stamp producer Time-stamp consumer(s) I Index RPDO: 1400h to 15FFh TPDO: 1800h to 19FFh PDO communication parameter PDO communication parameter Sub-index 00h 01h 02h 03h 04h 05h 06h Description Data type Number of entries Unsigned8 COB-ID Unsigned32 Transmission type Unsigned8 Inhibit time Unsigned16 Reserved Unsigned8 Event timer Unsigned16 SYNC start value Unsigned8 PDO mapping Index 1800h 1800h 1800h 1800h 1800h Sub Object contents 01h COB-ID 02h Transmission type 03h Inhibit time 05h Event timer 06h SYNC start value 1A00h 01h 2000h 01h 08h 1A00h 02h 2003h 03h 10h 1A00h 03h 2003h 01h 08h CAN transmission TPDO 1 (CAN-ID see 1800h 01h) Data field Object A Object G Object E 2000h 2000h 2001h 2002h 2003h 2003h 2003h 01h Object A 02h Object B 00h Object C 00h Object D 01h Object E 02h Object F 03h Object G request DLC = 6 TimeOfDay data Default CAN-ID = 100h indication(s) STRUCT OF UNSIGNED28 VOID4 UNSIGNED16 TIME COB-ID (1012h) ms, (after midnight) reserved_1, days, (since January 1, 1984) Emergency protocol Emergency producer Emergency consumer(s) request 2 byte 1 byte 5 byte EEC ER MEF Default CAN-ID = 100h EEC = Emergency Error Code ER = Error Register (1001h) MEF = Manufacturer-specific Error Field indication(s) EMCY producer COB-ID (1014h) EMCY Inhibit time (1015h) EMCY consumer COB-IDs (1028h) Emergency error codes 00xxh 10xxh 20xxh 21xxh 22xxh 23xxh 30xxh 31xxh 32xxh 33xxh 40xxh 41xxh 42xxh 50xxh Error reset or no error Generic error Current device input side inside of device device output side Voltage main inside of device output Temperature ambient device Device hardware 60xxh 61xxh 62xxh 63xxh 70xxh 80xxh 81xxh 8110h 8120h 8130h 8140h 82xxh 8210h 8220h 90xxh F0xxh FFxxh Device software internal user data set Additional modules Monitoring communication CAN overrun Error Passive (EP) Life Guard Error recovered from Bus-off Protocol error PDO not processed length exceeded External error Additional functions Device-specific © 2011 CAN in Automation (CiA) international users‘ and manufacturers‘ group

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