REXROTH IndraDrive Fc FCS01, Operating Instructions Manual

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15-26
Control Communication - Field Busses and Protocols Rexroth IndraDrive FCS01.1
DOK-INDRV*--FCS01*****-IB01_EN-P
CANopen Protocol
Overview
Element Description
Object directory
(OD) The OD contains all objects of the device. Objects mirror the visible functionality.
They contain data, parameters or functions. They are accessed via SDOs . An
object is addressed via the
index
(16 bit) and the
sub-index
(8 bit). The OD is
subdivided into the following sections:
- 0000h...1FFFh: Communication-specific objects
-
2000h...5FFFh: Manufacturer-specific objects
- 6000h...9FFFh: Standardized device profile objects
- A000h...FFFFh: reserved
Service Data
Obj.
(SDO) Via SDOs , confirmed transfer of data of any length between two nodes takes
place: Here, the
SDO client
is the initiating node and has direct access to the OD
entries of the SDO server (read or write). Usually, the SDO transfer is used for
parameterization and for service purposes.
Process Data
Obj.
(PDO)
PDOs
are used to transmit process data. The process data can comprise 8 byte as
a maximum. They are transmitted unconfirmed. The significance of the
transmitted data is specified by the identifier and the set
PDO mapping . A PDO
generally has one producer (sender). It can have several consumers (receivers),
however.
PDO mapping In the objects 1600h-1603h or 1A00h..1A03h, it can be specified which objects
(setpoint/actual values) are transmitted in the PDO telegrams.
Each CAN message has an 11 bit identifier. Via this identifier, addressing and priority
allocation take place.
CANopen defines a preset identifier allocation which provides for communication between
an upstream device with up to 127 other devices. The 11 bit identifier is divided as follows:
10 9 8 7 6 5 4 3 2 1 0
Function code Node identifier (0[all], 1-127)
Object Function code Resulting COB-ID Index OD entry
NMT 0000 0
SYNC 0001 80h 1005h-1007h
Time stamp 0010 100h 1012h, 1013h
Emergency 0001 81h – FFh 1014h, 1015h
PDO1 (Tx) 0011 181h – 1FFh 1800h, 1A00h
PDO1 (Rx) 0100 201h – 27Fh 1400h, 1600h
PDO2 (Tx) 0101 281h – 2FFh 1801h, 1A01h
PDO2 (Rx) 0110 301h – 37Fh 1401h, 1601h
PDO3 (Tx) 0111 381h – 3FFh 1802h, 1A02h
PDO3 (Rx) 1000 401h – 47Fh 1403h, 1602h
PDO4 (Tx) 1001 481h – 4FFh 1803h, 1A03h
PDO4 (Rx) 1010 501h – 57Fh 1403h, 1603h
SDO (Tx) 1011 581h – 5FFh 1200h
SDO (Rx) 1100 601h – 67Fh 1200h
Identifier
NMT Error Control 1110 701h – 77Fh 1016h, 1017h
Fig. 15-34: Protocol elements