《CANopen_high-level protocol for CAN-bus V3_0》.pdf

CANopen 20-Mar-2000 CANopen high-level protocol for CAN-bus H. Boterenbrood NIKHEF, Amsterdam March 20, 2000 Contents 1 INTRODUCTION 2 2 CAL 2 3 CANOPEN 3 3.1 CANOPEN OBJECT DICTIONARY 3 3.2 CANOPEN COMMUNICATION 5 3.3 CANOPEN PREDEFINED CONNECTION SET 7 3.4 CANOPEN IDENTIFIER DISTRIBUTION 8 3.5 CANOPEN BOOT-UP PROCESS 9 3.6 DETAILS OF CANOPEN MESSAGE SYNTAX 10 3.6.1 NMT Module Control 10 3.6.2 NMT Node Guarding 10 3.6.3 NMT Boot-up 10 3.6.4 PDO 11 3.6.5 SDO 11 3.6.6 Emergency Object 14 4 SUMMARY 16 5 EXAMPLE OF A CANOPEN OBJECT DICTIONARY FOR DEVICES WITH CS5525 ADCS 17 5.1 INTRODUCTION 17 5.2 ADC READ-OUT 17 5.3 ADC CONFIGURATION AND CALIBRATION 18 5.4 THE OBJECT DICTIONARY 18 5.5 EMERGENCY OBJECTS 22 REFERENCES 23 1 CANopen 15-Mar-2000 Version History Version Date Comments 1.x 1998 First draft versions 2.0 1999 Change of title; change in chapter numbering; addition of CAN message syntax details 2.0a 7 April 1999 Corrected error in