Data Exchange With The Canopen Fieldbus Protocol; Canopen Specifications - Festo CTEU-CO Manual, Functions And Maintenance

1. Commissioning

1.1.2 Data exchange with the CANopen fieldbus protocol

Communication profile
Object directory
SDO, PDO

1.1.3 CANopen specifications

1-4
The fieldbus protocol uses a communication profile (docu-
mented in CiA DS301, see Tab. 1/1) to regulate how data is
exchanged among the fieldbus stations. A distinction is made
between real-time data and parameter data in this process.
CANopen devices have an object directory which makes all
important slave parameters accessible in a standardised
manner. A CANopen system is essentially configured by ac-
cessing the objects in the object directory of the individual
fieldbus stations.
The data exchange in CANopen is in the form of telegrams
with which the work data is transmitted. A distinction is made
between low-priority Service Data Objects (SDO), which are
used for transmitting service data from and to the object dir-
ectory, and between high-priority Process Data Objects
(PDO), which serve for the fast transfer of current process
states. In addition, Network Management Telegrams (NMT),
among others, are used for managing the fieldbus network
and global fault messages.
The following specifications are supported by the bus node:
CANopen specifications
DS201 CAN Application Layer CAL
DS207
DS301, V4.0.2 The Draft Standard 301 is based on the CAL
communication profile
DS401, V3.0 The Draft Standard 401 defines the device
profiles for input and output modules within
CANopen
Tab. 1/1: Supported CANopen specifications
Festo P.BE-CTEU-CO-OP+MAINT-EN en 1101NH