Kollmorgen S300 Interface Manual page 14

CANopen communication profile
3 CANopen communication profile
This chapter describes the basic services and communication objects of the CANopen communica-
tion profile DS 301, which are used in the S300/S700.
It is assumed that the basic operating functions of the communication profile are known, and
available as reference documentation.
3.1 General description of CAN
The transmission method that is used here is defined in ISO 11898 (Controller Area Network CAN
for high-speed communication).
The Layer-1/2 protocol (Physical Layer/Data Link Layer) that is implemented in all CAN modules
provides, amongst other things, the requirements for data.
Data transport or data request is made by means of a data telegram (Data Frame) with up to 8
bytes of user data, or by a data request telegram (Remote Frame).
Communication objects (COBs) are labeled by an 11-bit Identifier (ID) that also determines the pri-
ority of objects.
A Layer-7 protocol (Application Layer) was developed, to decouple the application from the commu-
nication. The service elements that are provided by the Application Layer make it possible to imple-
ment an application that is spread across the network. These service elements are described in the
CAN Application Layer (CAL) for Industrial Applications.
The communication profile CANopen and the drive profile are mounted on the CAL.
The basic structure of a communication object is shown in the following diagram:
S
O
M
SOM
COB-ID
RTR
CTRL
Data Segment
CRC
ACK
EOM
14
R
COB-ID T CTRL
R
Start of message
Communication Object Identifier (11-bit)
Remote Transmission Request
Control Field (e.g. Data Length Code)
0 ... 8 byte (Data-COB)
0 byte (Remote-COB)
Cyclic Redundancy Check
Acknowledge slot
End of message
11/2018
Data Segment CRC
Kollmorgen
A
C EOM
K
CANopen for S300/S700