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CANOpen应用层及通信特性
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CIA draft standard 301 v4.02 (English) CANOpen官方规范,对CANOpen应用层协议进行了详细的描述,是CANOpen开发过程的基础。
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© CAN in Automation e. V.
CANopen
Application Layer and Communication Profile
CiA Draft Standard 301
Version 4.02
Date: 13 February 2002
HISTORY CANopen CiA
2
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.
© CiA 2005-01-01
All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized in any form or by any
means, electronic or mechanical, including photocopying and microfilm, without permission in writing from CiA at the address
below.
CAN in Automation e. V.
Kontumazgarten 3
DE – 90429 Nuremberg, Germany
Tel.: +49-911-928819-0
Fax: +49-911-928819-79
Url: www.can-cia.org
Email: headquarters@can-cia.org
CONTENTS CANopen CiA
3
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
4
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
5
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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