Canopen Definitions; Communication Method - Mitsubishi Electric FR-A7NCA Instruction Manual

6

CANopen DEFINITIONS

6.1

Communication method

There are two objects for CANopen data communication objects: Process Data Object (PDO) and Service
Data Object (SDO).
PDO has features such as transmission of real time data and no response (Ack) requirement, and can be
used for general process data transmission. SDO has features such as peer to peer communication and cor-
rect communication by response waiting and can handle a large amount of data. Therefore it is used for set-
ting change and diagnosis of device.
Device model of CANopen communication is indicated below.
CAN
Refer to a CANopen standard material for details.
36
CANopen Protocol Object dictionary
PDO
Index Description
SDO
1000h
Error control 1001h
NMT
1018h
Application
Device type
I/O