microSYST migra MPB CAN, User Manual, Page: 45 / 71

migra MPB CAN
Large Format Graphics Compatible LED Display with CANopen Interface
Page 45
microSYST Systemelectronic GmbH, Am Gewerbepark 11, 92670 Windischeschenbach
+49 9681 91960-0, +49 9681 91960-10, info@microsyst.de, www.microsyst.de
3.12.3.4 SDO Frames
COB ID B.1 B.2 B.3 B.4 B.5 B.6 B.7 B.8
“Initiate download
request” 600
h
+
node ID
22
h
or
23
h
+ *
Index -
LOW
Index -
HIGH
Subindex D0
(LSB)
D1 D2 D3
(MSB)
“Initiate download
response” 580
h
+
node ID
60
h
Index -
LOW
Index -
HIGH
Subindex 0 0 0 0
“Initiate upload
request” 600
h
+
node ID
40
h
Index -
LOW
Index -
HIGH
Subindex 0 0 0 0
“Initiate upload
response” 580
h
+
node ID
43
h
+ * Index -
LOW
Index -
HIGH
Subindex D0
(LSB)
D1 D2 D3
(MSB)
“Abort domain
transfer”
(receive SDO) 600
h
+
node ID
80
h
Index -
LOW
Index -
HIGH
Subindex Additional
code
0 Error
code Error
class
“Abort domain
transfer”
(send SDO) 580
h
+
node ID
80
h
Index -
LOW
Index -
HIGH
Subindex Additional
code
0 Error
code Error
class
* 4 times “number of unused data bytes”
The object index of all CANopen nodes can be accessed with the help of the
SDO frame.
3.12.3.5 Receive PDO Frame
COB ID B.1 B.2 B.3 B.4 B.5 B.6 B.7 B.8
RPDO1 200
h
+
node ID
RS
send
data 1
RS
send
data 2
RS
send
data 3
RS
send
data 4
RS
send
data 5
RS
send
data 6
RS
send
data 7
RS
send
data 8
RPDO1 is mapped to object 2000
h
, subindex 1 through 8.
RPDO1 must be transmitted to the interface (repeatedly), in order to
generate an RS send frame.
3.12.3.6 Transmit PDO Frame
COB ID B.1 B.2 B.3 B.4 B.5 B.6 B.7 B.8
TPDO1 180
h
+
node ID
RS
receive
data 1
RS
receive
data 2
RS
receive
data 3
RS
receive
data 4
RS
receive
data 5
RS
receive
data 6
RS
receive
data 7
RS
receive
data 8
TPDO1 is mapped to object 2001
h
, subindex 1 through 8.
TPDO1 is (repeatedly) transmitted from the interface after an RS frame has
been received.