ZLTECH ZLIM42C, Manual

Page: 9 / 25

ZLIM42C Integrated Open Loop Step Motor Manual Version 1.03 ZLIM42C Integrated Open Loop Step Motor Manual Version 1.03
15
Shenzhen ZhongLing Technology Co.,Ltd. TEL: +86-0755-29799302 FAX
：
+86-0755-2912 4283 WEB: www.zlingkj.com Shenzhen ZhongLing Technology Co.,Ltd. TEL: +86-0755-29799302 FAX
：
+86-0755-2912 4283 WEB: www.zlingkj.com
16
As the application layer protocol of CAN bus, CANopen protocol mainly defines the
arbitration field (11 bits) and data field (maximum 8 bytes) in CAN message.
In CANopen protocol, it is stipulated that 11 arbitration bits are divided into the upper 4
bits of the function code (Function Code) and the lower 7 bits of the node address
(Node-ID), which is called COB-ID (Communication Object Identifier). The structure of
CANopen identifier is as follows:
※
CANopen identifier format
The value of the Node-ID node address ranges from 1 to 127.
The ZLIM42C series driver supports the following types of CANopen messages:
 PDO
(Process Data Object) message
 SDO
(Service Data Object) message
 NMT
(Network Management Object) message
 SYNC
(Synchronisation Object) message
 EMCY
(Emergency Object) message
Command Word
Command Function Type Data length
2F Set M->S Request 1 byte
2B Set M->S Request 2 byte
27 Set M->S Request 3 byte
23 Set M->S Request 4 byte
60 Setting feedback S->M Confirm
40 Read M->S Request 0 byte
4F Read feedback S->M Answer 1 byte
4B Read feedback S->M Answer 2 byte
47 Read feedback S->M Answer 3 byte
43 Read feedback S->M Answer 4 byte
80 Error S->M Answer 4 byte
The following table is the function codes of various messages predefined in the
communication sub-protocol CiA301 and the corresponding COB-ID.
※
Function code and COB-ID of communication objects
Broadcast object for CANopen predefined master / slave connection set
Object Function Code Node Address COB-ID Object Dictionary Index
NMT(Network
Management) 0000 0 0x000 -
Synchronization
Object
0001 0 0x080 1005h,1006h,1007h
Peer object of CANopen master / slave connection set
Object Function
Code
Node
Address
COB-ID Object Dictionary
Index
Emergency 0001 1-127 0x081-0x0FF 1024h,1015h
PDO1(TX) 0011 1-127 0x181h-0x1FFh 1800h
PDO1(RX) 0100 1-127 0x201h-0x27Fh 1400h
PDO2(TX) 0101 1-127 0x281h-0x2FFh 1801h
PDO2(RX) 0110 1-127 0x301h-0x37Fh 1401h
PDO3(TX) 0111 1-127 0x381h-0x3FFh 1802h
PDO3(RX) 1000 1-127 0x401h-0x47Fh 1402h
PDO4(TX) 1001 1-127 0x481h-0x4FFh 1803h
PDO4(RX) 1010 1-127 0x501h-0x57Fh 1403h
SDO(TX) 1011 1-127 0x581h-0x5FFh 1200h
SDO(RX) 1100 1-127 0x601h-0x67Fh 1200h
Heart Beat 1110 1-127 0x701h-0x77Fh 1016h-1017h
Process Data Object (PDO)