Commissioning
66
Operating Manual XCA 1100 / XCA 1200
●
Version 12/17
6.8
CANopen for Remote I/O
The XCx 1100 has an integrated CANopen interface for the field bus
connection or the control of digital drives. This section describes the
startup and configuration of the CANopen network using a minimal
configuration.
6.8.1
Specifications
CANopen operates with two types of telegrams:
▪
SDO
(Service Data Objects) are telegrams that must be
confirmed
by the recipient
▪
PDO
(Process Data Objects) are telegrams that must
not
be
confirmed
by the recipient.
The PDOs for data exchange are defined during network
configuration and given a so-called COB ID. The recipient of a
message always knows which telegram is addressed for this node.
Certain components only use default mapping and work with fixed
COD IDs, which are defined in the CANopen definition.
The standard communication for PDO is
COS
(
C
hange
O
f
S
tate): A
PDO is only sent if the information in the PDO changes.
