Device Description HG G-71915ZA | English, Revision 01 | Date: 09.09.2021
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Chapter 10 – Interfaces
10.3.3 CANopen®
In addition to Basic CAN, CANopen® (DS 401) is available for selection. The mea
-
sured values of the system (transponder code, status, etc.) are transmitted via so-
called TPDOs. The CAN identifiers are derived from the node address (1..127).
10.3.3.1 Operating Modes and States
Note that not every device supports every operating mode. Devices from Götting
normally support the operating modes 1 to 240 and 255.
Table 14
Definitions CANopen®
Abkürzung
Name
Bedeutung
PDO
Process data object
Maximum 8 bytes process data
TPDO
Transmit PDO
The process data sent by a device
RPDO
Receive PDO
The process data received by a device
SDO
Service data objects
Used to read and write device param
-
eters. No size limit.
Sync
Synchronization telegram Bus-wide telegram sent by the
CANopen® master
–
CAN-Identifier
The address on which a PDO, SDO is
sent
–
Node ID
For CANopen® the address of the
device, which is added to the CAN
identifier
Table 15
CANopen®: Parameter PDO operating mode
Value
cyclic
acyclic
synchro
-
nous
asynchro
-
nous
only on request
(RTR)
0
x
x
1-240
x
x
241-251
reserved
252
x
x
253
x
x
254
x
255
x
Table 16
CANopen®: PDO operating modes (part 1 of 2)
Operating
mode
Explanation
Cyclic
Data is transmitted every nth sync telegram
Acylic
Transmits if an event has occurred since the last Sync telegram
Synchronous Data is transmitted after receipt of a sync telegram
Asynchronous Data is transmitted event-driven
