SFA-5000 • SFA-10000 CANopen®
6.7.1 Command
The command byte contains the type of telegram transmitted to the CAN
network.
The main types of COB telegram are as follows:
Set: it is used to send the configuration parameters to a device;
Req: it is used by the Master to read data from a Slave device;
Warning: it is used by the Slave to send error messages to the Master (e.g.
following a wrong SDO message:
Object does not exist in the object
dictionary
, …).
Command
COB
COB type
Data length
22h
Set
M
S request
not spec.
23h
Set
M
S request
4 bytes
2Bh
Set
M
S request
2 bytes
2Fh
Set
M
S request
1 byte
60h
Set
S
M confirmation
0 byte
40h
Req
M
S request
0 byte
42h
Req
S
M reply
not spec.
43h
Req
S
M reply
4 bytes
4Bh
Req
S
M reply
2 bytes
4Fh
Req
S
M reply
1 byte
41h
Req
S
M reply segmented SDO
80h
Warning
S
M reply
4 bytes
6.8 Object dictionary
The most important part of a device profile is the Object Dictionary. The Object
Dictionary is essentially a grouping of objects accessible via the network in an
ordered, pre-defined fashion.
The user-related objects are grouped in three main areas: the Communication
Profile Area, the Manufacturer Specific Profile Area and the Standardised Device
Profile Area. The objects are all described in the EDS file.
The
Communication Profile Area
at indexes from 1000h to 1FFFh contains the
communication specific parameters for the CANopen network. These entries are
common to all devices. NMT services, PDO objects and SDO objects are described
in this section. The Communication Profile Area objects comply with the “CiA
Draft Standard Proposal 301 CANopen Application layer and communication
profile”. Refer to the “6.8.1 Communication Profile Area objects (DS 301)”
section on page 45.
The
Manufacturer Specific Profile Area
at indexes from 2000h to 5FFFh is
free to add manufacturer-specific functionality. Refer to the “6.8.2
Manufacturer Specific Profile Area objects” section on page 56.
MAN SFA_5000_10000_CB E 1.0.odt
6 - CANopen® interface
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