CANopen gateway
Wieland Electric GmbH | BA000970 | 07/2019 [9855]
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Object
CAN identifier
Meaning
Broadcast objects
Peer-to-peer objects
TxPDO2
281h…2FFh
Send process data object 2
RxPDO2
301h…37Fh
Receive process data object 2
TxPDO3
381h…3FFh
Send process data object 3
RxPDO3
401h…47Fh
Receive process data object 3
TxPDO4
481h…4FFh
Send process data object 4
RxPDO4
501h…57Fh
Receive process data object 4
TxSDO
581h…5FFh
Send service data project
RxSDO
601h…67Fh
Receive service data object
NMT-ErrorControl
701h…77Fh
Node guarding
Each object starts with a CAN identifier, followed by a RTR bit (remote transmission request), follo-
wed by a data length code (DLC), followed by 0 to 8 data bytes. The DLC (4 bits) provides the number
of data bytes.
NMT – network management
78602635
The broadcast object NMT is used to start, stop or initialize CANopen devices. A device in the CANo-
pen network must take on the role of the NMT master for this purpose. This is usually the PLC. All
other devices are regarded as NMT slaves. NMT services are broadcast services to which the slaves
do not generate responses.
All NMT objects start with the CAN-ID 00h.
Broadcast service for an NMT slave with the address N:
Table 89: Network management for an NMT slave with the address N
CAN-ID
DLC
DATA
00h
2
OP
N
Broadcast service for all NMT slaves:
Table 90: Network management for all NMT slaves:
CAN-ID
DLC
DATA
OP
NMT command
Explanation
00h
2
OP
0
80h
Go to "Pre-Operational"
After booting, an NMT slave will automatically go into
the pre-operational state. In this state,
communication via SDOs is permitted, but not via
PDOs. The NMT slave can be set to this state from
another state.
10.4
