7-1
CANopen Function and Operation
This chapter explains the functions of CANopen and the usage.
Chapter Contents
7.1 The Introduction of CANopen ..............................................................................................7-2
7.1.1 The Description of the CANopen Functions...............................................................7-2
7.1.2 The Input/Output Mapping Areas ...............................................................................7-3
7.2 The Installation and the Network Topology ....................................................................... 7-3
7.2.1 The Dimensions......................................................................................................... 7-3
7.2.2 The Profile ................................................................................................................. 7-4
7.2.3 The CAN Interface and the Network Topology.......................................................... 7-4
7.3 The CANopen Protocol ........................................................................................................ 7-8
7.3.1 The Introduction of the CANopen Protocol................................................................ 7-8
7.3.2 The CANopen Communication Object ...................................................................... 7-9
7.3.3 The Predefined Connection Set .............................................................................. 7-14
7.4 Sending SDO, NMT and Reading Emergency Message through the Ladder Diagram 7-15
7.4.1 Data Structure of SDO Request Message............................................................... 7-15
7.4.2 Data Structure of NMT Message ............................................................................. 7-18
7.4.3 Data Structure of EMERGENCY Request Message ............................................... 7-19
7.4.4 Example on Sending SDO through the Ladder Diagram ........................................ 7-21
7.5 Indicators and Troubleshooting........................................................................................ 7-23
7.5.1 Description of Indicators.......................................................................................... 7-23
7.5.2 CANopen Network Node State Display................................................................... 7-24
7.6 Application Example .......................................................................................................... 7-27
7.7 Object Dictionary................................................................................................................ 7-35
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