Delta C200 Series User Manual page 260

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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:
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COB Identifier (CAN Identifier)
8 7 6
Function Code Node Number
0000
0001
0010
0001 1-127
0011 1-127
0100 1-127
0101 1-127
0110 1-127
0111 1-127
1000 1-127
1001 1-127
1010 1-127
1011 1-127
1100 1-127
1110 1-127
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Chapter 13 CANopen Overview |C200 Series
5 4 3
Node Number
COB-ID
- 0
- 80H
- 100H
81H-FFH
181H-1FFH
201H-27FH
281H-2FFH
301H-37FH
381H-3FFH
401H-47FH
481H-4FFH
501H-57FH
581H-5FFH
601H-67FH
701H-77FH
13-3
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2 1 0
Object Dictionary Index
-
1005H, 1006H, 1007H
1012H, 1013H
1014H, 1015H
1800H
1400H
1801H
1401H
1802H
1402H
1803H
1403H
1200H
1200H
1016H, 1017H
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