Datalogic AMT58 Series Manual page 310

AMT58x-CB CANopen®
6.3 Communication objects
Four different kinds of communication messages are used in a
CANopen® network:

Network management NMT protocol: NMT protocols are used to
issue state machine change commands (i.e. to start and stop the
devices), detect remote device boot-ups and error conditions.
 Process Data Objects PDO protocol: used to process real time
data (transmission of process data in real time).
 Service Data Objects SDO protocol: used to set and read values
from the object dictionary of a remote device.

Special Function Objects:
- SYNC: synchronization message used by master to enable
slaves devices to transmit process data (encoder position and
velocity).
- Emergency: error messages are triggered by each error event.
- Nodeguard: used to request the state of the slave.
Relation between device states and communication objects:
NMT
PDO
SDO
SYNC
EMCY
Boot-up
Node
guard
6.3.1 Pre-defined connection set
Master  Slave broadcast
Type of COB
(Object)
NMT
SYNC
peer-to-peer transmission
EMERGENCY
PDO 1 (tx)
PDO 2 (tx)
PDO 3 (tx)
PDO4 (tx)
SDO (tx)
SDO (rx)
Node guard
Boot-up
The type of COB (tx or rx) is viewed from the slave device.
16
Initial. Pre-oper.
X
X
X
X
X
Function code
(binary)
0000
0001
0001
0011
0101
0111
1001
1011
1100
1110
1110
Operat. Stopped
X X
X
X
X
X
X X
COB-ID (hex)
000
080
081 - 0FF
181 - 1FF
281 - 2FF
381 - 3FF
481 - 4FF
581 - 5FF
601 - 67F
701 - 77F
701 - 77F