CANopen-Firmware
Manual • Doc.-No.: C.3030.21 / Rev. 1.4
CAN-CBX-AI420
Page 40 of 103
7. CANopen Firmware
Apart from basic descriptions of CANopen, this chapter contains the most significant information about
the implemented functions.
A complete CANopen description is too extensive for the purpose of this manual.
Further information can therefore be taken from the CANopen documentation [1] and [4].
7.1 Definition of Terms
COB ...
Communication Object
Emergency-Id...
Emergency Data Object
NMT...
Network Management (Master)
SDO...
Service Data Object
Sync...
Sync(frame) Telegram
PDOs (Process Data Objects)
PDOs are used to transmit process data.
In the ‘Transmit’-PDO (TPDO) the CAN-CBX-module transmits data to the CANopen network.
In the ‘Receive’-PDO (RPDO) the CAN-CBX-module receives data from the CANopen network.
SDOs (Service Data Objects)
SDOs are used to transmit module internal configuration- and parameter data. In opposition to the
PDOs SDO-messages are confirmed. A write or read request on a data object is always answered by
a response telegram with an error index.
