Communication profile, Object dictionary | Schneider Electric DS301

IL•1F CANopen DS301

3 Basics

3.2Communication profile

CANopen manages communication between the network devices with object dictionaries and objects. A network device can use process data objects (PDO) and service data objects (SDO) to request the object data from the object dictionary of another device and, if permissible, write back modified values.

The following can be done by accessing the objects of the network de- vices

•Exchange parameter values

•Start motion functions of individual CAN bus devices

•Request status information

3.2.1Object dictionary

Each CANopen device manages an object dictionary which contains all objects for communication.

Index, subindex The objects are addressed in the object dictionary via a 16 bit index. One or more 8 bit subindex entries for each object specify individual data fields in the object. Index and subindex are shown in hexadecimal nota- tion with a subscript "h".

The following example shows the index entries and subindex entries for the object receive PDO4 mapping, 1603h for mapping in R_PDO4.

Index	Subindex	Object	Meaning
1603h	00h	Number of elements	Number of subindexes
1603h	01h	1st mapped object	First object for mapping in
		R_PDO4	R_PDO4
1603h	02h	2nd mapped object	Second object for mapping
		R_PDO4	in R_PDO4
1603h	03h	3rd mapped object	Third object for mapping in
		R_PDO4	R_PDO4

Table 3.2 Examples of index and subindex entries

0198441113586, V2.01, 11.2008

Fieldbus interface

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Contents

IL1F CANopen DS301 Important information Table of Contents Table of Contents IL1F CANopen DS301 Object directory Table of Contents IL1F CANopen DS301 Writing conventions and symbols Writing conventions and symbols IL1F CANopen DS301 About this manual IntroductionCAN-Bus Fieldbus devices networked via can bus Operating modes and functions in fieldbus mode Can users and manufacturers organization Documentation and literature references Introduction IL1F CANopen DS301 Before you begin safety information Before you begin safety information IL1F CANopen DS301 Communication layers BasicsCANopen technology CANopen description language Index hex Object groups Supported By the drive Objects IL1F CANopen DS301 Basics CANopen reference model CANopen profiles Object dictionary Communication profileIndex Subindex Object Meaning Index range Object groups Supported Hex By the drive Communication objects Communication objects COB ID with function code and node address TPDO4 Master slave relationships Communication relationships Client-server relationship Overview Service data communicationSDO data exchange 11 SDO message, example SDO message Message type Data length used Bytes Reading and writing data Message type Data length used Byte Bytes 14 Reading a parameter value 15 Response with error message error response Process data communication 16 PDO data exchange PDO data exchange UINT32 18 Requesting a message with RTR = Dynamic and static PDO mapping Structure of RPDO4 Receive PDO RPDO4 master slave State machine drivectrl JOG Operating modes modeCtrl Transmit PDO TPDO4 product to master @ Warning 20 Structure of TPDO4 Structure of TPDO4 Bit Name Description Handshake with Mode Toggle Bit Master Slave Xend 22 Mode Toggle Handshake, short movement Basics IL1F CANopen DS301 23 Error message with the Emcy object Emergency service 25 Sync message Synchronization 27 Cyclic and acyclic transmission NMT services for device control Network management services Initialization NMT service Transition MeaningPersistent data memory Command Specifier NMT service Transition NMT services for connection monitoringNode/Life guarding 31 Acknowledgement of the NMT slave 32 Node Guarding and Life Guarding with time intervals Installation Installation IL1F CANopen DS301 Commissioning the device Commissioning Address and baud rate Starting fieldbus modeCommissioning the fieldbus network Error Error class Cause of error Troubleshooting Troubleshooting Creating a new network SyCon CANopen configuration softwareSelecting the CANopen master Setting the bus parameters Selecting and inserting nodes Overview Operation Operation IL1F CANopen DS301 Receive data Using SDO commandsWriting parameters Transmit data Reading a parameter Synchronous errorsIndex Sub Data Description Changing operating states with PDO4 Operating Name Power Description State StageBit no Value Meaning Triggering a Quick Stop Switching the power stage on and offExample Come to a standstill System is to resume opera Resetting faults Examples for the operating modes with PDO4 Operating mode Profile Position absolute positioning Operating mode Profile Velocity Operating mode Profile Position relative positioning Master --- Slave Position setting Operating mode Homing Asynchronous errors Error signaling via PDO4 Positioning running xerr=0 Operation IL1F CANopen DS301 Fieldbus communication error diagnostics Diagnostics and troubleshooting Message objects Error diagnostics via fieldbusMessages on the device status Bit Message Meaning CANopen error messagesError register Error code table Error code Meaning SDO error message Abort Data type Value range Data length Specifications for the objectsObject directory Object code Meaning Coding Objects, overview Index Subindex Designation Obj. code Data type Access Objects of the product Error registerDevice type 100Ch Bit coding, subindex 00h1008h Manufacturer device name Index 100D h Object name Life time factor Object code Index 1018 h Object name Identity Object Object code Data type PDO Communication parameter Bit Acces Value Meaning Bit assignment subindex 01hBit 30 RTR bit Bit coding, subindex 02h 1603h Receive PDO4 mapping Value description BitMeaning 1803h Transmit PDO4 communication parameter Subindex 03 h, inhibit time TPDO4 Meaning IL1F CANopen DS301 Object directory PDO4 mapping 1603h Units and conversion tables Glossary Moment of inertia TemperatureRotation Torque Terms and Abbreviations Default value Factory setting Power amplifier See power stage Can Index Index IL1F CANopen DS301 IL1F CANopen DS301 Index NMT IL1F CANopen DS301 Index 102 Fieldbus interface