Canopen Interface - Deif IMD 100 Series Integration Manual

IMD 100 Integration manual 4189360015 Rev. G

7.1.3 CANopen interface

See section 13.3 on page
Info
CANopen uses little-endian format. That means that the least significant byte is sent first and
the most significant byte is sent last. For example, object ID 2098 is sent as 98 20. The same
also applies to data. However, it is not the whole data field that is little-endian, but each object
in the data field. Example of TPDO1 which has the following format:
Byte 1
Data
7B 3C 3F 4F FF 1F 00 00
www.deif.com/wind-power
211 for a description and a list of parameters (CANopen objects).
Byte 2 Byte 3
POS-Actual (Obj. 0x206D)
Byte 4 Byte 5
Interpretation
Resolver position: 4F 3F 3C 7B
SSI encoder position: 00 00 1F FF
Communication
Byte 6 Byte 7
POS-Actual_2 (Obj. 0x206F)
Byte 8
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