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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