Manual VIPA System SLIO
Chapter 3 Deployment
HB300E - IM - RE_053-1CA00 - Rev. 11/29
3-15
Telegram structure
The CANopen telegrams have the following structure according to
CiA DS-301:
Identifier
Byte
Bit 7 ... Bit 0
1
Bit 3 ... Bit 0: most significant 4 bits of the module-ID
Bit 7 ... Bit 4: CANopen function code
2
Bit 3 ... Bit 0: data length code (DLC)
Bit 4: RTR-Bit: 0: no data (request code)
1:
data
available
Bit 7 ... Bit 5: Least significant 3 bits of the module-ID
Data
Byte
Bit 7 ... Bit 0
3 ... 10 Data
An additional division of the 2 byte identifier into function portion and a
module-ID gives the difference between this and a level 2 telegram. The
function determines the type of telegram (object) and the module-ID
addresses the receiver.
CANopen devices exchange data in the form of objects. The CANopen
communication profile defines two different object types as well as a
number of special objects.
The SLIO CAN bus coupler supports the following objects:
•
16 transmit PDOs (PDO Linking, PDO Mapping)
•
16 receive PDOs (PDO Linking, PDO Mapping)
•
2 standard SDOs
•
1 emergency object
•
1 network management object NMT
•
Node Guarding
•
Heartbeat
Identifier
Data
