
IL•1F CANopen DS301 | 3 Basics |
3.2.2Communication objects
Overview The communication objects are standardized with the DS301 CANopen communication profile. The objects can be classified into 4 groups ac- cording to their tasks.
PDO
T_PDO1 R_PDO1
T_PDO2 R_PDO2
T_PDO3 R_PDO3
T_PDO4 R_PDO4
SDO
T_SDO
R_SDO
Communication objects
Special objects
SYNC
EMCY
Network management
NMT Services
NMT Node guarding NMT Heartbeat
Figure 3.4 Communication objects; the following applies to the perspective of the network device: T_..: "Transmit", R_..: "Receive"
•PDOs (process data objects) for
•SDOs (service data object) for read and write access to the object dictionary
•Objects for controlling CAN messages:
–SYNC object (synchronization object) for synchronization of net- work devices
–EMCY object (emergency object), for signaling errors of a device or its peripherals.
•Network management services:
–NMT services for initialization and network control (NMT: net- work management)
–NMT Node Guarding for monitoring the network devices
–NMT Heartbeat for monitoring the network devices
0198441113586, V2.01, 11.2008
Fieldbus interface | 21 |