Description of CANopen-Interface
HYDAC ELECTRONIC GMBH
07.10.2010
Mat. No. 669824
Page 3 of 63
Contents
Contents.........................................................................................................................................3
1 General information....................................................................................................................6
1.1 Applicability ........................................................................................................................6
1.2 References.........................................................................................................................7
1.3 Abbreviations and definitions..............................................................................................8
2 Additional safety instructions....................................................................................................9
2.1 Definition of symbols and instructions.................................................................................9
2.2 Additional instructions for proper use ..................................................................................9
2.3 Organizational measures....................................................................................................10
3 Technical data.............................................................................................................................11
4 CANopen information.................................................................................................................12
4.1 CANopen – Communication profile.....................................................................................13
4.2 Process- and Service-Data-Objects ....................................................................................14
4.3 Object Dictionary ................................................................................................................15
4.4 CANopen default identifier..................................................................................................15
4.5 Transmission of SDO messages.........................................................................................16
4.5.1 SDO message format..........................................................................................16
4.5.2 Read SDO...........................................................................................................18
4.5.3 Write SDO...........................................................................................................19
4.6 Network management, NMT ...............................................................................................20
4.6.1 Network management services............................................................................21
4.6.1.1 NMT device control services...........................................................................................................21
4.6.1.2 NMT Node / Life guarding services ................................................................................................22
4.7 Layer setting services (LSS) and protocols .........................................................................23
4.7.1 LSS Modes and Services ....................................................................................24
4.7.2 Transmission of LSS services .............................................................................26
4.7.2.1 LSS message format ......................................................................................................................26
4.7.3 Switch mode protocols ........................................................................................26
4.7.3.1 Switch mode global protocol ...........................................................................................................26
4.7.3.2 Switch mode selective protocol.......................................................................................................27
4.7.4 Configuration protocols........................................................................................28
4.7.4.1 Configure Node-Id -address protocol..............................................................................................28
4.7.4.2 Configure bit timing parameters protocol ........................................................................................29
4.7.4.3 Activate bit timing parameters protocol ...........................................................................................30
4.7.4.4 Store configuration protocol............................................................................................................30
4.7.5 Inquire LSS address protocols .............................................................................31
4.7.5.1 Inquire Identity Vendor-ID protocol .................................................................................................31
4.7.5.2 Inquire Identity Product-Code protocol............................................................................................31
4.7.5.3 Inquire Identity Revision-Number protocol ......................................................................................32
4.7.5.4 Inquire Identity Serial-Number protocol...........................................................................................32
4.7.5.5 Inquire Node-ID protocol.................................................................................................................33
4.7.6 Identification protocols.........................................................................................34
4.7.6.1 LSS identify remote slave protocol..................................................................................................34
4.7.6.2 LSS identify slave protocol..............................................................................................................35
4.7.6.3 LSS identify non-configured remote slave protocol.........................................................................35
