CANopen application layer and general communication profile

Object dictionary (OD) Network management (NMT) Service data object (SDO) Process data object (PDO) Special protocols
Overview
Object dictionary Producer Consumer(s)
(1) Sync protocol
index range 2000h Client SDO Node n-1
Index range Description Initializing request indication(s)
to FFFFh is reset DLC = 1 to 8
Object dictionary Application object(s)
0000h Reserved
index range 1000h (9) (10) (11) ID n Data CAN-ID = pre-defined or user-specific Sync producer Sync consumer(s)
Application
to 1FFFh is reset
0001h to 025Fh Data types reset
ID p Data
0260h to 0FFFh Reserved (12) (13) (14) Communication request DLC = 0 or 1 indication(s)
Counter
reset Server SDO OD
1000h to 1FFFh Communication profile area Node n Default CAN-ID = 080h
(2) Boot-up message
2000h to 5FFFh Manufacturer-specific profile area
PDO protocol
6000h to 9FFFh Standardized profile area Pre-operational (7)
(5) Expedited SDO protocol
A000h to AFFFh Network variables (3) (4) Producer Consumer(s)
Stopped Client Server
B000h to BFFFh System variables 1. Event (change of
state) or event-
(6) initiate SDO download timer driven
C000h to FFFFh Reserved Operational (8) (15) Internal PDO
CS MUX DATA event
initiate SDO download response
Communication profile area (1) Power on
CS MUX Not used
2. Remote Remote frame
(2) Automatic switch to Pre-operational requested
PDO
(3) and (6) NMT switch to Operational
Index range Description (4) and (7) NMT switch to Pre-operational
(5) and (8) NMT switch to Stopped initiate SDO upload
1000h to 1029h General communication objects (9), (10) and (11) NMT switch to Application reset
CS MUX Not used 3. Synchronous
(12), (13) and (14) NMT switch to Communication reset Sync message Sync
transmission
1200h to 12FFh SDO parameter objects
(15) Power-off or hardware reset initiate SDO upload response (cyclic) PDO
producer

CS MUX DATA
1300h to 13FFh CANopen safety objects
4. Synchronous Internal Time-stamp protocol
DLC = 8 Sync message Sync
transmission event
1400h to 1BFFh PDO parameter objects CAN-ID client-to-server for Default-SDO = 600h + node-ID (acyclic)
PDO
producer
Producer Consumer(s) CAN-ID server-to-client for Default-SDO = 580h + node-ID Time-stamp producer Time-stamp consumer(s)
1F00h to 1F11h SDO manager objects
Boot-up protocol CS: Command specifier (read or write access, transfer type)
1F20h to 1F27h Configuration manager objects DLC = 1 MUX: Multiplexer (index and sub-index of an object) DLC = 6
request indication(s)
indication(s) TimeOfDay data
0
1F50h to 1F54h Program control objects request
CAN-ID = 700h + node-ID PDO communication parameter Default CAN-ID = 100h

Normal SDO protocol PDO communication parameter

1F80h to 1F89h NMT master objects
I
Client Server Index Sub-index Description Data type STRUCT OF

General communication objects CAN-ID = 600h + node-ID RPDO:

UNSIGNED28
VOID4
ms,
reserved_1,
(after midnight)

00h Number of entries Unsigned8 UNSIGNED16 days, (since January 1, 1984)

DLC = 1 (data field) initiate SDO download
Heartbeat protocol 1400h
Index Object Name indication(s)
01h COB-ID Unsigned32 TIME COB-ID (1012h)
Node state to
1000h VAR Device type request CS MUX (Length)
15FFh
CAN-ID = 700h + node-ID initiate SDO download response 02h Transmission type Unsigned8
Heartbeat
1001h VAR Error register
producer
1002h VAR Manufacturer status register time (1017h ) CS MUX Not used 03h Inhibit time Unsigned16
in ms download SDO segment 1 04h Reserved Unsigned8 Emergency protocol
1003h ARRAY Pre-defined error field Node state indication(s) TPDO:
request
Heartbeat CS DATA 1800h
1005h VAR COB-ID Sync message 05h Event timer Unsigned16
consumer
Node state values: download segment 1 response to Emergency consumer(s)
1006h VAR Communication cycle period 4d = Stopped time (1016h ) Emergency producer
5d = Operational in ms 19FFh 06h SYNC start value Unsigned8
127d = Pre-operational CS Not used
1007h VAR Synchronous window length
download segment 2 to n-1 request 2 byte 1 byte 5 byte indication(s)
1008h VAR Manufacturer device name Heartbeat EEC ER MEF
event
CS DATA Default CAN-ID = 100h
1009h VAR Manufacturer hardware version
download segment 2 to n-1 response
100Ah VAR Manufacturer software version NMT-message protocol
PDO mapping EEC = Emergency Error Code
DLC = 2 (data field) indication(s) ER = Error Register (1001h)
CS Not used MEF = Manufacturer-specific
100Ch VAR Guard time CS Node-ID
request download segment n Error Field
100Dh VAR Life time factor CAN-ID = 000h
Index Sub Object contents CAN transmission
Command specifier (CS): CS DATA EMCY producer COB-ID (1014h) EMCY consumer COB-IDs (1028h)
1010h VAR Store parameters 001d = Start (go to Operational) EMCY Inhibit time (1015h)
002d = Stop (go to Stopped) download segment n response 1800h 01h COB-ID TPDO 1 (CAN-ID see 1800h 01h)
1011h VAR Restore default parameters 128d = Go to Pre-operational
Data field
129d = Reset node (Application reset) CS Not used 1800h 02h Transmission type
1012h VAR COB-ID time stamp 130d = Reset communication
NMT master NMT slave(s) Object A Object G Object E
CAN-ID = 580h + node-ID 1800h 03h Inhibit time
1013h VAR High resolution time stamp
1800h 05h Event timer Emergency error codes
1014h VAR COB-ID emergency

1015h VAR Inhibit time emergency 1800h 06h SYNC start value

Pre-defined CAN-IDs
00xxh Error reset or no error 60xxh Device software
1016h ARRAY Consumer heartbeat time
10xxh Generic error 61xxh internal
1A00h 01h 2000h 01h 08h
1017h VAR Producer heartbeat time
20xxh Current 62xxh user
1018h RECORD Identity object Object Specification CAN-ID Object Specification CAN-ID 1A00h 02h 2003h 03h 10h
21xxh device input side 63xxh data set
1019h VAR Sync. counter overflow value NMT CiA 301 000h TPDO 3 CiA 301 381h to 3FFh(380h + node-ID) 1A00h 03h 2003h 01h 08h 22xxh inside of device 70xxh Additional modules
Global failsafe command CiA 304 001h RPDO 3 CiA 301 401h to 47Fh (400h + node-ID) 23xxh device output side 80xxh Monitoring
1020h ARRAY Verify configuration
Flying master CiA 302-2 071h to 076h TPDO 4 CiA 301 481h to 4FFh (480h + node-ID) 30xxh Voltage 81xxh communication
1021h VAR Store EDS
Indicate active interface CiA 302-6 07Fh RPDO 4 CiA 301 501h to 57Fh (500h + node-ID) 31xxh main 8110h CAN overrun
1022h VAR Storage format
Sync CiA 301 080h Default SDO server-to-client CiA 301 581h to 5FFh (580h + node-ID) 2000h 01h Object A 32xxh inside of device 8120h Error Passive (EP)
1023h RECORD OS command 33xxh output 8130h Life Guard Error
Emergency CiA 301 081h to 0FFh (080h + node-ID) Default SDO client-to-server CiA 301 601h to 67Fh (600h + node-ID) 2000h 02h Object B
1024h VAR OS command mode 40xxh Temperature 8140h recovered from Bus-off
Time stamp CiA 301 100h Dynamic SDO request CiA 302-5 6E0h
2001h 00h Object C 41xxh ambient 82xxh Protocol error
1025h RECORD OS debugger interface
Safety-relevant data objects CiA 301 101h to 180h Node claiming procedure CiA 416-1 6E1h to 6E3h
1026h ARRAY OS prompt 2002h 00h Object D 42xxh device 8210h PDO not processed
TPDO 1 CiA 301 181h to 1FFh (180h + node-ID) Node claiming procedure CiA 416-1 6F0h to 6FFh
50xxh Device hardware 8220h length exceeded
1027h ARRAY Module list 2003h 01h Object E
RPDO 1 CiA 301 201h to 27Fh (200h + node-ID) NMT error control CiA 301 701h to 77Fh (700h + node-ID)
90xxh External error
1028h ARRAY Emergency consumer TPDO 2 CiA 301 281h to 2FFh(280h + node-ID) Layer setting services CiA 305 7E4h to 7E5h 2003h 02h Object F
F0xxh Additional functions
1029h ARRAY Error behavior RPDO 2 CiA 301 301h to 37Fh (300h + node-ID) 2003h 03h Object G FFxxh Device-specific

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