PCAN-MicroMod CANopen - User Manual - PEAK-System

PCAN-MicroMod CANopen - User Manual
track of all nodes connected and ensures that the connected nodes
are configured correctly.
Change-of-state (COS)
Generic I/O modules typically monitor their inputs for changes.
CANopen nodes can be configured to only transmit this input data,
if a change was detected.
Connection Object Identifier, COB-ID
The COB-ID specifies the CAN message details used for a specific
connection. These include a (CAN) Message Identifier and typically
an enable/disable bit.
Default Connection Set
The default connection set determines which (CAN) Message
Identifier is used for which purpose in a CANopen network.
Typically (CAN) Message Identifiers are assigned using a base
identifier (such as 180h for TPDO1) and adding the Node ID to that
base identifier.
Emergency, EMCY
CANopen emergency messages have a default (CAN) Message
Identifier of 80h plus the Node ID of the node generating the
emergency. Emergency messages contain a CANopen specified
emergency code, the error register [1001h,00h] and a manufacturer
specific emergency code.
Event Time
For TPDOs the Event Time specifies the periodic time at which
TPDOs get transmitted. The Event Time is specified in multiples of
milliseconds and typically only used if the Transmission Type is set
to 255d/FFh.
Heartbeat Producer and Consumer
In CANopen the recommended function to monitor the health of
network nodes is to use the heartbeat mechanism. Each CANopen
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