实例介绍
【实例简介】
最新版的CNAopen DS-301文件。此文件為CANopen協定中最底層的協定，無論DSP-401, DSP-402等皆以此協定為基礎往上延伸。
CANopen application layer and communication profile CONTENTS HISTORY 画量画量面量量量1面 CONTENTS,… 239 Tables Figures……….… 1Sc。pe,,…, 13 2 References…, 2.1 Normative references 14 2.2 Informative references 14 3 Abbreviations and definitions 3.1 Abbreviations 15 3.2 Definitions 15 4 Modeling 17 4.1 Field device model 17 4.2 Communication reference model 18 4.2.1 General 4.2.2 CANopen application layer 18 4.2.2.1 General .18 4.2.2.2 Service litres 18 4.2.2.3 Application layer services …19 4.3 CANopen device model .19 4.3.1 General 4.4 Communication protocol sequences 20 44.1 General 面国面 20 4.4.2 Master/slave protocol 20 4.4.3 Client/server protocol 4.4.4 Producer/consumer protocol-/push model 4.4.5 The object dictionary 22 4.5 Network system model 4.5.1 Device profile 22 4.5.2 Application profile 22 5 Physical layer 23 5.1 Reference to osi model 5.2 Medium dependent interface. 5.3 Physical medium attachment.................... 23 5.4 Physical signaling 23 6 Data link layers 25 6.1 General 25 6.2 CAN frame type.... 画面面1i国面面面面面 25 7 Application layer…,,,.,.,.,.,.,,,…,… 26 7.1 Data types and encoding rules 26 O CiA 2011-All rights reserved CANopen application layer and communication profile 7.1.1 General description of data types and encoding rules 26 7.1.2 Data type definitions 7.1.3 Bit sequences 面1国面 27 7.1.3.1 Definition of bit sequences 27 7.1.3.2 Transfer syntax for bit sequences 27 7.14 Basic data types…… 7.1.4.1 General 面面 8 7.1.4.2N|L 28 7.143 Boolean 7.1.4.4oid 8 7.1. 4.5 Unsigned Integer.. 28 7.1.4.6 Signed Integer 7.1.4.7 Floating-Point Numbers 7.1.5 Compound data types. ..31 7.1.6 Extended data types 31 7.1.6.1 General 7.1.6.2 Octet String… 31 7.1.6.3 Visible String 7.1.6.4 Unicode String aniridia 7.1.6.5 Time of Day 222 7.1.6. 6 Time Difference 7.1.6.7 Domain 32 7.2 Communication objects 32 7. 2.1 General 2 7.2.2 Process data object(PDO.......……… 33 7.2.2 1 Genera 33 7.2.2.2 Transmission modes 4 7.2.2.3 Triggering modes 34 7.2.2 4 PDO services 35 7.2.24.1 Genera|. 35 7.2.2.42 Service pdo write 35 7.2.2.4.3 Service Pdo read 35 7.2.2.5 PDO protocol 36 7.2.2.5.1 Protocol PDo write 36 7.2.2.5.2 Protocol pdo read 36 7.2.3 Multiplex PDO(MPDO) 36 7.2.3.1 General 723.2 MPDO address modes 37 72.3.2.1 Destination address mode(DAM)…… 37 7.2.3.2.2 Source address mode(sam) 7.2.3.3 MPDO service 37 O CiA 2011-All rights reserved CANopen application layer and communication profile 7.2.3.3.1 Genera| 37 7.2.33.2 Service mPdo write 37 7.2.3.4 MPDO protocol 38 7.2.3. 4.1 Protocol mPdo write 38 7. 2. 4 Service data object (SDO) 7.2.4.1 General 39 72.42 SDo services 7.2.4.2.1 General 40 7.2.4.2.2 Service sdo download 40 7.242.3 Service sdo download initiate 41 7.2.4.2.4 Service SDo download segment ..42 7.2.4.2.5 Service SDO upload 7.2.4.2.6 Service SDO upload initiate 43 7.2.4.2.7 Service SDO upload segment 44 7.2. 42.8 Service sdo block download 44 7.2.4.2.9 Service sdo block download initiate 1最 45 7.2.4.2.10 Service sdo block download sub-block 46 72,4.2.11 Service sdo block download end 47 7.2.4.2.12 Service Sdo block upload 47 7.2.4.2.13 Service SDo block upload initiate 48 7.2. 4.2.14 Service SDo block upload sub-block.. 7. 4.2.15 Service SDo block upload end 50 7.2.4.2.16 Service sDo abort transfer 50 7.2.4.3 SDO protocols 7.2.4.3.1 Genera|. 1面 7.2.43.2 Protocol sdo download 7.24.3.3 Protocol sdo download initiate .52 7. 2.4.3.4 Protocol SDO download segment 7. 2.4.3.5 Protocol SDO upload 54 7.2. 4.3.6 Protocol SDO upload initiate 55 7.2.4.3.7 Protocol SDO upload segment 56 7.2.4.3.8 Protocol sDo block download 57 7.2.43.9 Protocol sdo block download initiate 58 7.243.10 Protocol sdo block download sub-block 7.2.4.3.11 Protocol sdo block download end 60 7.2.4.3.12 Protocol sdo block upload. 7.2.4.3.13 Protocol Sdo block upload initiate .62 7.2.4.3. 14 Protocol SDo block upload sub-block.. 63 7.2.4.3.15 Protocol Sdo block upload end .64 7.2.4.3.16 CRC calculation algorithm to verify SDo block transfer ….64 7. 2. 43.17 Protocol sDo abort transfer 65 O CiA 2011-All rights reserved CANopen application layer and communication profile 7.2.5 Synchronization object (SYNC) 67 7.2.5.1 General .67 7.2.5.2 SYNC services 1面1E面面 67 7. 2.5.2.1 General 67 7. 2.5.2.2 Service SYnc write 67 7. 2.5.3 SYNC protocol 68 7.2.5.3. 1 Protocol sync write 68 7.2.6 Time stamp object(TME)…… 68 7.2.6.1 General .68 72 6.2 TIME services 68 7.2.6.2.1 General 68 7.2. 6.2.2 Service tIME write 68 72.63 TIME protocol…… 69 7.2.6.3.1 Protocol TIME write 69 7.2.7 Emergency object (EMCY) 69 7.2.7.1 Emergency object usage :· 69 7.2.7.2 Emergency object services…… 72 7.2.7.2.1 Genera 72 7. 2.7.2.2 Service emcy write 72 7. 2.7.3 Emergency object protocol 2 1翻 7.2.7.3.1 Protocol eMcy write 72 7.2.8 Network management 73 7.2.8. 1 General 73 7.2.8.2 NMT services 7. 2.8.2.1 Node control services 73 7.2.8.2.2 Error control services.……75 7.2.8.2.3 Boot-up service 77 7. 2.8.3 NMT protocols 77 7. 2.8.3. 1 Node control protocols 77 7.2.8.3.2 Error control protocols 79 7.2.8.3.3 Protocol boot-up 7.3 Network initialization and system boot-up 82 7.3.1 Simplified NMT startup 82 7.3.2 NMT state machine 7.3.2.1 Overview 7.3.2.2 NMT states 84 7.3.2.2.1 NMt state Initialisation 84 7.3.2.2.2 NMT state Pre-operational 84 7.3.2.2. 3 NMT state Operational 85 7.3.2.2.4 NMT state Stopped 85 7.3.2.2.5 NMT states and communication object relation..... 85 O CiA 2011-All rights reserved CANopen application layer and communication profile 7.3.2.3 NMT state transitions 85 7.3.3 Generic pre-defined connection set 85 7.3.4 Specific pre-defined connection set 86 7.3.5 Restricted CAN-IDs 87 7.4 Object dictionary 87 7.4.1 General structure 87 7.4.2 Index and sub-index usage 88 7.4.3 Object code usage 89 744 Data type usage…… 89 7.4.5 Access usage .89 74.6 Category and entry category usage…… 90 7.4.7 Data type entry usage 90 7471 General 7.4.7.2 Organization of structured object dictionary entries 92 7.4.8 Specification of pre-defined complex data types 7.4.8.1 PDO communication parameter record specification 92 7.4.8. 2 PDO mapping parameter record specification 93 7.4.8.3 SDO parameter record specification 7.4.8.4 Identity record specification 7.4.8.5 oS debug record specification 93 7. 4.8.6 OS Command record specification 94 7.5 Communication profile specification ::.:.::.a"a":::: 94 7.5. 1 Object and entry description specification 4 7.5.2 Detailed specification of communication profile specific objects 95 7.5.2.1 Object 1000n: Device type 国1面面面4面面面新 95 7.5.2.2 Object 1001h: Error register 96 7.5. 2.3 Object 1002n: Manufacturer status registe 97 7.5.2. 4 object 1003: Pre-defined error field 97 7.5.2.5 object 1005]: COB-ID SYNC message 7.5.2.6 Object 1006n: Communication cycle period .100 7. 5.2.7 Object 1007h: Synchronous window length 100 7.5.2.8 Object 1008: Manufacturer device name 101 7.5.2.9 Object 1009: Manufacturer hardware version 101 7.5.2. 10 Object 100Ah: Manufacturer software version 102 7.5.2. 11 Object 100Ch: Guard time 102 7.5.2.12 Object 100 Dh: Life time factor.. 103 7.5.2.13 Object 101O]: Store parameters 103 7.5.2. 14 Object 1011h: Restore default parameters 105 7.5.2.15 Object 1012h: COB-ID time stamp object 108 7.52.16 Object013: High resolution time stamp………… .109 7.5.2. 17 Object 1014h: COB-ID EMCY............................109 O CiA 2011-All rights reserved CANopen application layer and communication profile 7.5.2.18 object 1015h: Inhibit time EMCY 110 7.5.2. 19 Object 1016h: Consumer heartbeat time 7.5.2.20 object 1017]: Producer heartbeat time 112 7.5. 2.21 Object 1018n: Identity object 113 7.5.2.22 Object 1019 Synchronous counter overflow value 114 7.5. 2.23 Object 1020n: Verify configuration 115 7.5. 2.24 Object 1021h: Store EDS 116 7.5. 2.25 Object 1022n: Store format 117 7.5.2.26 Object 1023: OS command 7.5.2.27 Object 1024h: OS command mode 119 7.5.2.28 Object 1025h: Os debugger interface ..120 7.5.2.29 Object 1026h: OS prompt 121 7.5.2.30 Object 1027 Module list 122 7.5.2.31 Object 1028 Emergency consumer object 123 7.5.2.32 Object 1029h: Error behavior object .125 7.5.2.33 Object 1200n to 127Fh: SDo server parameter ..126 7.5.2.34 Object 1280 to 12FFh: SDo client parameter .129 7.5.2.35 Object 1400n to 15FFh: RPDO communication parameter 131 7.5.2. 36 Object 1600n to 17FFh: RPDO mapping parameter 134 7.5.237○ bject1800to19FFh: TPDO communication parameter.…… 137 7.5.2.38 Object 1 A0On to 1BFFh: TPDO mapping parameter 142 7.5.2. 39 Object 1 FAOn to 1 FCFh: Object scanner list ..144 7.5. 2.40 Object 1 FDOn to 1FFFn: Object dispatching list 146 Annex a(informative)... 148 Implementation Recommendations........... .148 Invalid COB's .148 Time-outs 148 PDO Transmission Type 0, 254, 255 148 Overview object dictionary objects for communication 148 O CiA 2011-All rights reserved CANopen application layer and communication profile Tables Table 1: Recommended bit timing settings .23 Table 2: Estimated bus lengths 24 Table3: Example PDo number calculation…… 33 Table 4: Service PDo write 35 Table 5: Service Pdo read 35 Table 6: Service MPDo write 37 Table 7: Service sdo download 41 Table 8: Service sDo download initiate 41 Table 9: Service SDO download segment Table 10: Service SDo upload 43 Table 11: Service SDo upload initiate 43 Table12: Service SDo upload segment.…… 44 Table 13: Service sdo block download 45 Table 14: Service sdo block download initiate …45 Table 15 service sdo block download sub-block Table 16: Service Sdo block download end 47 Table 17: Service SDo block upload 47 Table 18: Service SDo block upload initiate 48 Table 19: Service SDo block upload sub-block 1面面 49 Table 20: Service SDo block upload end 50 Table 21: Service SDo abort transfer Table 22 SDo abort codes 翻面 ∴65 Table 23: Service sYnc write 67 Table 24 Service timE write 68 Table 25: Emergency error code classes 69 Table 26: Emergency error codes 70 Table 27: service emcy write 72 Table 28: Service start remote node Table 29: Service stop remote node Table 30: Service enter pre-operational 74 Table 31: Service reset node Table 32: service reset communication 74 Table 33: Service node guarding event 75 Table34: Service life guarding event.……… Table 35 service heartbeat event :::a 76 Table 36: Service boot-up event …………77 Table 37: NMT states and communication objects 85 Table 38: Broadcast objects of the generic pre-defined connection set 86 Table 39: Peer-to-peer objects of the generic pre-defined connection set 86 Table 40: Restricted CAN-IDs 87 O CiA 2011-All rights reserved CANopen application layer and communication profile Table 41: Object dictionary structure 87 Table 42: Object Dictionary object definitions .89 Table 43: Access attributes for data objects 90 Table 44: Object dictionary data types 90 Table 45: complex data type example 92 Table 46: PDo communication parameter record 93 Table 47: PDO mapping parameter record 93 Table 48: SDO parameter record... 93 Table 49: Identity record 93 Table 50: OS debug record ..94 Table 51: os command record 94 Table 52: Format of an object description Table 53: Object value description format .95 Table 54: Structure of the error register 96 Table 55: Description of SYNC COB-ID Table 56 structure of read access 104 Table 5: structure of restore read access 106 Table 58: Description of TIME COB-ID 108 Table 59: Description of EMCY COB-ID ..110 Table 60: values for eds store formats .17 Table 61: os command mode values Table 62: Description of EMCY COB-ID 124 Table 63: error class values 125 Table 64: Description of sdo server COB-ID 127 Table 65: Description of sdo client COB-ID 面,国面面面面 129 Table 66: Description of RPDO COB-ID.... 面国面 …131 Table 67: Generic pre-defined connection set for RPDO 131 Table 68: Description of RPDo transmission type 翻国1a1日 132 Table 69: RPDO mapping values 135 Table 70: Description of TPDO COB-ID 138 Table 71: Generic pre-defined connection set for TPDO 138 Table 72: Description of TPDo transmission type 139 Table 73: TPDO mapping values .142 Table 74: Standard objects 148 O CiA 2011-All rights reserved 【实例截图】
【核心代码】
最新版的CNAopen DS-301文件。此文件為CANopen協定中最底層的協定，無論DSP-401, DSP-402等皆以此協定為基礎往上延伸。
CANopen application layer and communication profile CONTENTS HISTORY 画量画量面量量量1面 CONTENTS,… 239 Tables Figures……….… 1Sc。pe,,…, 13 2 References…, 2.1 Normative references 14 2.2 Informative references 14 3 Abbreviations and definitions 3.1 Abbreviations 15 3.2 Definitions 15 4 Modeling 17 4.1 Field device model 17 4.2 Communication reference model 18 4.2.1 General 4.2.2 CANopen application layer 18 4.2.2.1 General .18 4.2.2.2 Service litres 18 4.2.2.3 Application layer services …19 4.3 CANopen device model .19 4.3.1 General 4.4 Communication protocol sequences 20 44.1 General 面国面 20 4.4.2 Master/slave protocol 20 4.4.3 Client/server protocol 4.4.4 Producer/consumer protocol-/push model 4.4.5 The object dictionary 22 4.5 Network system model 4.5.1 Device profile 22 4.5.2 Application profile 22 5 Physical layer 23 5.1 Reference to osi model 5.2 Medium dependent interface. 5.3 Physical medium attachment.................... 23 5.4 Physical signaling 23 6 Data link layers 25 6.1 General 25 6.2 CAN frame type.... 画面面1i国面面面面面 25 7 Application layer…,,,.,.,.,.,.,,,…,… 26 7.1 Data types and encoding rules 26 O CiA 2011-All rights reserved CANopen application layer and communication profile 7.1.1 General description of data types and encoding rules 26 7.1.2 Data type definitions 7.1.3 Bit sequences 面1国面 27 7.1.3.1 Definition of bit sequences 27 7.1.3.2 Transfer syntax for bit sequences 27 7.14 Basic data types…… 7.1.4.1 General 面面 8 7.1.4.2N|L 28 7.143 Boolean 7.1.4.4oid 8 7.1. 4.5 Unsigned Integer.. 28 7.1.4.6 Signed Integer 7.1.4.7 Floating-Point Numbers 7.1.5 Compound data types. ..31 7.1.6 Extended data types 31 7.1.6.1 General 7.1.6.2 Octet String… 31 7.1.6.3 Visible String 7.1.6.4 Unicode String aniridia 7.1.6.5 Time of Day 222 7.1.6. 6 Time Difference 7.1.6.7 Domain 32 7.2 Communication objects 32 7. 2.1 General 2 7.2.2 Process data object(PDO.......……… 33 7.2.2 1 Genera 33 7.2.2.2 Transmission modes 4 7.2.2.3 Triggering modes 34 7.2.2 4 PDO services 35 7.2.24.1 Genera|. 35 7.2.2.42 Service pdo write 35 7.2.2.4.3 Service Pdo read 35 7.2.2.5 PDO protocol 36 7.2.2.5.1 Protocol PDo write 36 7.2.2.5.2 Protocol pdo read 36 7.2.3 Multiplex PDO(MPDO) 36 7.2.3.1 General 723.2 MPDO address modes 37 72.3.2.1 Destination address mode(DAM)…… 37 7.2.3.2.2 Source address mode(sam) 7.2.3.3 MPDO service 37 O CiA 2011-All rights reserved CANopen application layer and communication profile 7.2.3.3.1 Genera| 37 7.2.33.2 Service mPdo write 37 7.2.3.4 MPDO protocol 38 7.2.3. 4.1 Protocol mPdo write 38 7. 2. 4 Service data object (SDO) 7.2.4.1 General 39 72.42 SDo services 7.2.4.2.1 General 40 7.2.4.2.2 Service sdo download 40 7.242.3 Service sdo download initiate 41 7.2.4.2.4 Service SDo download segment ..42 7.2.4.2.5 Service SDO upload 7.2.4.2.6 Service SDO upload initiate 43 7.2.4.2.7 Service SDO upload segment 44 7.2. 42.8 Service sdo block download 44 7.2.4.2.9 Service sdo block download initiate 1最 45 7.2.4.2.10 Service sdo block download sub-block 46 72,4.2.11 Service sdo block download end 47 7.2.4.2.12 Service Sdo block upload 47 7.2.4.2.13 Service SDo block upload initiate 48 7.2. 4.2.14 Service SDo block upload sub-block.. 7. 4.2.15 Service SDo block upload end 50 7.2.4.2.16 Service sDo abort transfer 50 7.2.4.3 SDO protocols 7.2.4.3.1 Genera|. 1面 7.2.43.2 Protocol sdo download 7.24.3.3 Protocol sdo download initiate .52 7. 2.4.3.4 Protocol SDO download segment 7. 2.4.3.5 Protocol SDO upload 54 7.2. 4.3.6 Protocol SDO upload initiate 55 7.2.4.3.7 Protocol SDO upload segment 56 7.2.4.3.8 Protocol sDo block download 57 7.2.43.9 Protocol sdo block download initiate 58 7.243.10 Protocol sdo block download sub-block 7.2.4.3.11 Protocol sdo block download end 60 7.2.4.3.12 Protocol sdo block upload. 7.2.4.3.13 Protocol Sdo block upload initiate .62 7.2.4.3. 14 Protocol SDo block upload sub-block.. 63 7.2.4.3.15 Protocol Sdo block upload end .64 7.2.4.3.16 CRC calculation algorithm to verify SDo block transfer ….64 7. 2. 43.17 Protocol sDo abort transfer 65 O CiA 2011-All rights reserved CANopen application layer and communication profile 7.2.5 Synchronization object (SYNC) 67 7.2.5.1 General .67 7.2.5.2 SYNC services 1面1E面面 67 7. 2.5.2.1 General 67 7. 2.5.2.2 Service SYnc write 67 7. 2.5.3 SYNC protocol 68 7.2.5.3. 1 Protocol sync write 68 7.2.6 Time stamp object(TME)…… 68 7.2.6.1 General .68 72 6.2 TIME services 68 7.2.6.2.1 General 68 7.2. 6.2.2 Service tIME write 68 72.63 TIME protocol…… 69 7.2.6.3.1 Protocol TIME write 69 7.2.7 Emergency object (EMCY) 69 7.2.7.1 Emergency object usage :· 69 7.2.7.2 Emergency object services…… 72 7.2.7.2.1 Genera 72 7. 2.7.2.2 Service emcy write 72 7. 2.7.3 Emergency object protocol 2 1翻 7.2.7.3.1 Protocol eMcy write 72 7.2.8 Network management 73 7.2.8. 1 General 73 7.2.8.2 NMT services 7. 2.8.2.1 Node control services 73 7.2.8.2.2 Error control services.……75 7.2.8.2.3 Boot-up service 77 7. 2.8.3 NMT protocols 77 7. 2.8.3. 1 Node control protocols 77 7.2.8.3.2 Error control protocols 79 7.2.8.3.3 Protocol boot-up 7.3 Network initialization and system boot-up 82 7.3.1 Simplified NMT startup 82 7.3.2 NMT state machine 7.3.2.1 Overview 7.3.2.2 NMT states 84 7.3.2.2.1 NMt state Initialisation 84 7.3.2.2.2 NMT state Pre-operational 84 7.3.2.2. 3 NMT state Operational 85 7.3.2.2.4 NMT state Stopped 85 7.3.2.2.5 NMT states and communication object relation..... 85 O CiA 2011-All rights reserved CANopen application layer and communication profile 7.3.2.3 NMT state transitions 85 7.3.3 Generic pre-defined connection set 85 7.3.4 Specific pre-defined connection set 86 7.3.5 Restricted CAN-IDs 87 7.4 Object dictionary 87 7.4.1 General structure 87 7.4.2 Index and sub-index usage 88 7.4.3 Object code usage 89 744 Data type usage…… 89 7.4.5 Access usage .89 74.6 Category and entry category usage…… 90 7.4.7 Data type entry usage 90 7471 General 7.4.7.2 Organization of structured object dictionary entries 92 7.4.8 Specification of pre-defined complex data types 7.4.8.1 PDO communication parameter record specification 92 7.4.8. 2 PDO mapping parameter record specification 93 7.4.8.3 SDO parameter record specification 7.4.8.4 Identity record specification 7.4.8.5 oS debug record specification 93 7. 4.8.6 OS Command record specification 94 7.5 Communication profile specification ::.:.::.a"a":::: 94 7.5. 1 Object and entry description specification 4 7.5.2 Detailed specification of communication profile specific objects 95 7.5.2.1 Object 1000n: Device type 国1面面面4面面面新 95 7.5.2.2 Object 1001h: Error register 96 7.5. 2.3 Object 1002n: Manufacturer status registe 97 7.5.2. 4 object 1003: Pre-defined error field 97 7.5.2.5 object 1005]: COB-ID SYNC message 7.5.2.6 Object 1006n: Communication cycle period .100 7. 5.2.7 Object 1007h: Synchronous window length 100 7.5.2.8 Object 1008: Manufacturer device name 101 7.5.2.9 Object 1009: Manufacturer hardware version 101 7.5.2. 10 Object 100Ah: Manufacturer software version 102 7.5.2. 11 Object 100Ch: Guard time 102 7.5.2.12 Object 100 Dh: Life time factor.. 103 7.5.2.13 Object 101O]: Store parameters 103 7.5.2. 14 Object 1011h: Restore default parameters 105 7.5.2.15 Object 1012h: COB-ID time stamp object 108 7.52.16 Object013: High resolution time stamp………… .109 7.5.2. 17 Object 1014h: COB-ID EMCY............................109 O CiA 2011-All rights reserved CANopen application layer and communication profile 7.5.2.18 object 1015h: Inhibit time EMCY 110 7.5.2. 19 Object 1016h: Consumer heartbeat time 7.5.2.20 object 1017]: Producer heartbeat time 112 7.5. 2.21 Object 1018n: Identity object 113 7.5.2.22 Object 1019 Synchronous counter overflow value 114 7.5. 2.23 Object 1020n: Verify configuration 115 7.5. 2.24 Object 1021h: Store EDS 116 7.5. 2.25 Object 1022n: Store format 117 7.5.2.26 Object 1023: OS command 7.5.2.27 Object 1024h: OS command mode 119 7.5.2.28 Object 1025h: Os debugger interface ..120 7.5.2.29 Object 1026h: OS prompt 121 7.5.2.30 Object 1027 Module list 122 7.5.2.31 Object 1028 Emergency consumer object 123 7.5.2.32 Object 1029h: Error behavior object .125 7.5.2.33 Object 1200n to 127Fh: SDo server parameter ..126 7.5.2.34 Object 1280 to 12FFh: SDo client parameter .129 7.5.2.35 Object 1400n to 15FFh: RPDO communication parameter 131 7.5.2. 36 Object 1600n to 17FFh: RPDO mapping parameter 134 7.5.237○ bject1800to19FFh: TPDO communication parameter.…… 137 7.5.2.38 Object 1 A0On to 1BFFh: TPDO mapping parameter 142 7.5.2. 39 Object 1 FAOn to 1 FCFh: Object scanner list ..144 7.5. 2.40 Object 1 FDOn to 1FFFn: Object dispatching list 146 Annex a(informative)... 148 Implementation Recommendations........... .148 Invalid COB's .148 Time-outs 148 PDO Transmission Type 0, 254, 255 148 Overview object dictionary objects for communication 148 O CiA 2011-All rights reserved CANopen application layer and communication profile Tables Table 1: Recommended bit timing settings .23 Table 2: Estimated bus lengths 24 Table3: Example PDo number calculation…… 33 Table 4: Service PDo write 35 Table 5: Service Pdo read 35 Table 6: Service MPDo write 37 Table 7: Service sdo download 41 Table 8: Service sDo download initiate 41 Table 9: Service SDO download segment Table 10: Service SDo upload 43 Table 11: Service SDo upload initiate 43 Table12: Service SDo upload segment.…… 44 Table 13: Service sdo block download 45 Table 14: Service sdo block download initiate …45 Table 15 service sdo block download sub-block Table 16: Service Sdo block download end 47 Table 17: Service SDo block upload 47 Table 18: Service SDo block upload initiate 48 Table 19: Service SDo block upload sub-block 1面面 49 Table 20: Service SDo block upload end 50 Table 21: Service SDo abort transfer Table 22 SDo abort codes 翻面 ∴65 Table 23: Service sYnc write 67 Table 24 Service timE write 68 Table 25: Emergency error code classes 69 Table 26: Emergency error codes 70 Table 27: service emcy write 72 Table 28: Service start remote node Table 29: Service stop remote node Table 30: Service enter pre-operational 74 Table 31: Service reset node Table 32: service reset communication 74 Table 33: Service node guarding event 75 Table34: Service life guarding event.……… Table 35 service heartbeat event :::a 76 Table 36: Service boot-up event …………77 Table 37: NMT states and communication objects 85 Table 38: Broadcast objects of the generic pre-defined connection set 86 Table 39: Peer-to-peer objects of the generic pre-defined connection set 86 Table 40: Restricted CAN-IDs 87 O CiA 2011-All rights reserved CANopen application layer and communication profile Table 41: Object dictionary structure 87 Table 42: Object Dictionary object definitions .89 Table 43: Access attributes for data objects 90 Table 44: Object dictionary data types 90 Table 45: complex data type example 92 Table 46: PDo communication parameter record 93 Table 47: PDO mapping parameter record 93 Table 48: SDO parameter record... 93 Table 49: Identity record 93 Table 50: OS debug record ..94 Table 51: os command record 94 Table 52: Format of an object description Table 53: Object value description format .95 Table 54: Structure of the error register 96 Table 55: Description of SYNC COB-ID Table 56 structure of read access 104 Table 5: structure of restore read access 106 Table 58: Description of TIME COB-ID 108 Table 59: Description of EMCY COB-ID ..110 Table 60: values for eds store formats .17 Table 61: os command mode values Table 62: Description of EMCY COB-ID 124 Table 63: error class values 125 Table 64: Description of sdo server COB-ID 127 Table 65: Description of sdo client COB-ID 面,国面面面面 129 Table 66: Description of RPDO COB-ID.... 面国面 …131 Table 67: Generic pre-defined connection set for RPDO 131 Table 68: Description of RPDo transmission type 翻国1a1日 132 Table 69: RPDO mapping values 135 Table 70: Description of TPDO COB-ID 138 Table 71: Generic pre-defined connection set for TPDO 138 Table 72: Description of TPDo transmission type 139 Table 73: TPDO mapping values .142 Table 74: Standard objects 148 O CiA 2011-All rights reserved 【实例截图】
【核心代码】
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