CONTENTS CANopen CiA
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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
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