Device Description HG G-7335xZA | English, Revision 05 | Date: 19.02.2020
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CAN Interface (HG G-73350) – Chapter 8
Please observe that a CAN Identifier (for CANopen® the combination of a CAN Iden
-
tifier and Node Identifier) always has to be unique!
Asynchronous
data is transmitted event-driven
RTR
solely upon request via a Remote Frame
Inhibit Time
minimum time span that has to pass before the same PDO
is sent again
Event Time
Whenever this time span ends an event is initiated. Is re-
started after each event.
Table 11
Definition of terms CAN/CANopen®
Abbreviation Name
Meaning
PDO
Process Data Objects
maximum 8 Byte process data
TxPDO
Transmit-PDO
the process data sent by a device
RxPDO
Receive-PDO
the process data received by a device
SDO
Service Data Objects
serves for reading and writing device
parameters, no size limit
Sync
Synchronization Telegram bus-wide telegram sent by the
CANopen® Master
–
CAN Identifier
the address on which a PDO,SDO is
sent
–
Node ID
CANopen®: the address of the device
that is added to the CAN identifier
Table 12
Bit and Byte order
Name
Meaning
Low Byte First Little-Endian-Format, Intel Format
the low byte of each multibyte value is sent first
High Byte First Big-Endian-Format, Motorola Format
the high byte of each multibyte value is sent first
Left-aligned
Order of the bits in a byte from left (high, most significant) to right
(low)
Table 13
CANopen® operation states
Name
Meaning
Stopped
only network management service can be executed
Pre-Operational
full configuration possible, PDOs are not transmitted
Operational
full configuration possible, PDOs are transmitted
Table 10
PDO operation modes (part 2 of 2)
Operation Mode
Explanation
