Delta Electronics AFE075A43A User Manual page 113

Pre-Defined Connection Set
To reduce configuration effort for simple networks, CANopen define a mandatory default identifier
allocation scheme. The 11-bit identifier structure in predefined connection is set as follows:
10 9
Function Code
Object
Broadcast messages
NMT
SYNC
TIME STAMP
Point-to-point messages
Emergency
TPDO1
RPDO1
TPDO2
RPDO2
TPDO3
RPDO3
TPDO4
RPDO4
Default SDO (tx)
Default SDO (rx)
NMT Error Control
CANopen Communication Protocol
It has services as follows:
NMT (Network Management Object)

SDO (Service Data Objects)

PDO (Process Data Object)

EMCY (Emergency Object)

NMT (Network Management Object)
The Network Management (NMT) follows a Master/Slave structure for executing NMT service. Only
one NMT master is in a network, and other nodes are regarded as slaves. All CANopen nodes have
a present NMT state, and NMT master can control the state of the slave nodes. The state diagram
of a node is shown as follows:
COB Identifier (CAN Identifier)
8 7 6
Function Code Node Number
0000
0001
0010
0001
0011
0100
0101
0110
0111
1000
1001
1010
1011
1100
1110
Chapter 14 CANopen Overview AFE2000 Series
5 4
Node Number
COB-ID
- 0
- 80H
- 100H
1-127 81H-FFH
1-127 181H-1FFH
1-127 201H-27FH
1-127 281H-2FFH
1-127 301H-37FH
1-127 381H-3FFH
1-127 401H-47FH
1-127 481H-4FFH
1-127 501H-57FH
1-127 581H-5FFH
1-127 601H-67FH
1-127 701H-77FH
14-111
3 2 1
Object Dictionary Index
-
1005H, 1006H, 1007H
1012H, 1013H
1014H, 1015H
1800H
1400H
1801H
1401H
1802H
1402H
1803H
1403H
1200H
1200H
1016H, 1017H
0