CANopen Basics Instruction Manual pdf - Kuhnke

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CANopen Basics 7.4.5.2 Heartbeat Message This mechanism involves a node cyclically transmitting a so-called heartbeat message containing its communication status. The message can be received by one or several stations thus enabling them to monitor the sending station. They will detect a fault if the heartbeat message is not transmitted. This mechanism reduces the load on the bus because the status request message is not required. 7.5 Identifier Distribution As a rule, communication via a CANopen network is handled by means of identifiers of a length of 11 bit (standard frames). The so-called pre-defined connection set sub-divides the available amount of possible identifiers into various ranges. The identifiers are distributed such that every CANopen network is made up of a maximum of 128 devices: one NMT master and up to 127 NMT slaves. The 7 low-significant bits of the identifier are used to distinguish the 127 devices. The remaining 4 bits identify 11 different communication functions. 11-bit identifier (standard frames) 10 9 8 7 6 5 4 3 2 1 0 Function code Device identifier (0, 1-127) 94 E 615 GB 06.02.2008
CANopen Basics The table below summarises the identifiers allocated in compliance with the preset matrix of identifiers for the messages defined. Communication object Broadcast Peer-to-peer messages Function code COB-ID dec. bin dec. NMT commands 0 0000 0 Sync message 1 0001 128 System time 2 0010 256 Alert object 1 0001 128 + device ID Transmit PDO 1 3 0011 384 + device ID Receive PDO 1 4 0100 512 + device ID Transmit PDO 1 5 0101 640 + device ID Receive PDO 1 6 0110 768 + device ID Transmit PDO 1 7 0111 896 + device ID Receive PDO 1 8 1000 1024 + device ID Transmit PDO 1 9 1001 1152 + device ID Receive PDO 1 10 1010 1280 + device ID Transmit SDO 11 1011 1408 + device ID Receive SDO 12 1100 1536 + device ID NMT error 14 1110 1792 + device ID Please note that the synchronisation message has the highest priority in the system, directly followed by the system time and the alert messages. The next priority group is made up of the first Transmit PDO and Receive PDO frames. Communication through the SDO channels has a comparatively low priority. E 615 GB 95 06.02.2008
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Kuhnke Electronics Instruction Manu
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Table of Contents Table of Contents
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Table of Contents 6.1.3 PDO Manager
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1 Introduction Introduction Next to
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1.2 Bus Location Introduction The s
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2 Reliability, Safety 2.1 Target Gr
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2.3.5 Instruction Reliability, Safe
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2.4.1 Project Planning and Installa
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2.5 Electromagnetic Compatibility 2
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Reliability, Safety 2.5.5 Protectio
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Network Configuration (Hardware) 3
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3.3 Bus Cable 3.3.1 Material Networ
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3.4 Line Interfacing 3.4.1 D-Sub So
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Network Configuration (Hardware) Th
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Network Configuration (Software) 4
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4.2.2 Using COBES Network Configura
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• OK • Go to section 4.2.2.2 4.
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4.2.2.4 Further Functions Network C
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5 Setting up Projects Project Setup
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5.1.2 Start ProCANopen Project Setu
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Project Setup • Specify a name an
Page 43 and 44: Project Setup This will close the "
Page 45 and 46: 5.1.6 Define the Communication Path
Page 47 and 48: Project Setup Two double arrows in
Page 49 and 50: Project Setup Network Name and Info
Page 51 and 52: The information in the window will
Page 53 and 54: 5.1.8 Transfer the Data to the PLC
Page 55 and 56: Write a Test Program for the PLC ;
Page 57 and 58: 5.1.10 Test the Communication Proje
Page 59 and 60: 5.1.11.1 Analyse Messages Project S
Page 61 and 62: Project Setup 5.1.11.1.2 CANopen Ke
Page 63: Project Setup � CSO08.06 = Config
Page 66 and 67: Project Setup 5.2.2 Configuration S
Page 68 and 69: Project Setup For notes on which fo
Page 70 and 71: Project Setup 5.2.6 Applicable Vari
Page 72 and 73: Kuhnke Control Units 6.1.2 NMT Mast
Page 74 and 75: Kuhnke Control Units 6.2 KUBES Modu
Page 76 and 77: Kuhnke Control Units 6.2.3 Read Ker
Page 78 and 79: Kuhnke Control Units Parameters: In
Page 80 and 81: Kuhnke Control Units Output Functio
Page 82 and 83: Kuhnke Control Units Output Functio
Page 84 and 85: Kuhnke Control Units C/D SO10.08 Da
Page 86 and 87: Kuhnke Control Units 86 E 615 GB 06
Page 88 and 89: CANopen Basics 7.2.1 Bus Allocation
Page 90 and 91: CANopen Basics 7.4 Mechanisms of Co
Page 92 and 93: CANopen Basics 7.4.4 Emergency Mess
Page 96 and 97: CANopen Basics 7.5.1 PDO Mapping Th
Page 98 and 99: CANopen Basics 98 E 615 GB 06.02.20
Page 100 and 101: Appendix 8.2 Abbreviations CAN Cont
Page 102 and 103: Appendix 8.4 Index address ........
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CANopen Basics Instruction Manual pdf - Kuhnke

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