9
CANopen interface
9.1
Communication profile
The CANopen communication profile (documented in CiA DS-301) regulates how the
devices in a CANopen network exchange data.
9.1.1
CANopen in the OSI model
The CANopen protocol is a standardized Layer 7 protocol for the CAN bus. This layer is
based on the CAN Application Layer (CAL).
Physical layer
Data link layer
e.g., DS401
DSP 410
Device profile for inclinometer
e.g., DS 402
CAN Application Layer (CAL) defined by DS 301
Figure 12: CANopen in the OSI layers model
NOTE
Layers 3 to 6 are not used in the CANopen definition.
9.1.2
Communication channels
CANopen features various communication channels (SDO, PDO, Emergency Messages).
These channels are formed with the help of the communication object identifier (COB
ID). The COB IDs are based on the node IDs of the individual devices on the CANopen
bus (
see "Node IDs and COB IDs", page 20
9
CANOPEN INTERFACE
18
OPERATING INSTRUCTIONS
| TMS/TMM88, TMS/TMM61
8019054/14IT/2019-06-27
| SICK
Subject to change without notice
