Danfoss VLT CANopen MCA 105, Руководство по программированию

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3 Configuration
3.1 Configure the CANopen Network
3.1.1 Object Model
Illustration 3.1 Functional Principle of CANopen Nodes
All information accessible via the CAN-bus is stored in the
object directory (OD).
The contents of the OD are organised in
Table 3.1 .
Object directory
index range Object type
0000h Not used
0001h–025Fh Data types
0260h–0FFFh Reserved
1000h–1FFFh Communication object area
2000h–5FFFh Manufacturer-specific area
6000h–9FFFh Standardised device profile area
A000h–FFFFh Reserved
Table 3.1 Contents of the OD
For a complete overview of the supported objects in the
OD, refer to
chapter 7 Object Directory .
3.1.2 Communication in CANopen
Communication with the frequency converter in CANopen
is achieved via service data objects (SDOs), process data
objects (PDOs), and network management (NMT).
PDOs represent real-time process data with high priority.
PDOs are only available if the node is in operational state.
SDOs represent non-time-critical data and are used to
configure the frequency converter. SDOs are only available
if node is in both operational and pre-operational state.
NMT functions monitor the network stability and include
synchronisation, detection of faults, and emergency
message transmission.
COB-Identifiers (ID)
Each communication object has a unique identity (COB-ID)
comprising the function code and the node ID (node
address), see
Illustration 3.2 .
Illustration 3.2 COB-ID
Configuration Programming Guide
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