Image Processing Reference
In-Depth Information
10
9
8
7
6
5
4
3
2
1
0
FC
Node-ID
MSB
LSB
FIGURE .
CAN-ID in the predefined connection set.
TABLE .
COBs Foreseen by the Predefined Connection Set
COB
FC
Addressing
CAN-ID(s)
NMT
b
Broadcast
h
SYNC
b
Broadcast
h
EMCY
b
Peer-to-peer
h
-FF
h
TIME
b
Broadcast
h
TPDO
b
Peer-to-peer
h
-FF
h
RPDO
b
Peer-to-peer
h
-F
h
TPDO
b
Peer-to-peer
h
-FF
h
RPDO
b
Peer-to-peer
h
-F
h
TPDO
b
Peer-to-peer
h
-FF
h
RPDO
b
Peer-to-peer
h
-F
h
TPDO
b
Peer-to-peer
h
-FF
h
RPDO
b
Peer-to-peer
h
-F
h
SDO (tx)
b
Peer-to-peer
h
-FF
h
SDO (rx)
b
Peer-to-peer
h
-F
h
NMT error control
b
Peer-to-peer
h
-F
h
pair of CAN messages, so as to provide a bidirectional communication channel), and one low-priority
message to be used by either the heartbeat or the node guarding error control mechanisms. The
predefined connection set is shown in Table ..
The CAN-ID assigned to the SYNC, TIME, and EMCY objects, as well as to any PDO, can
be changed through suitable reconfiguration—if this kind of parameterization is supported by the
device.
15.7 CANopen Device Profile for Generic I/O Modules
Besides a common and agreed protocol for exchanging data, a number of device profiles have been
standardized in CANopen to ensure interoperability between equipment from different manufactur-
ers. Device profiles are meant to ease the tasks of system integrators when designing and deploying
CANopen systems, by providing off-the-shelf devices with true plug & play capabilities.
Each profile describes the common behavior of a particular class of devices, and is usually
described in a separate document. Currently, some tens profiles have already been defined, including
the following:
•
DS : I/O devices, including both digital and analog input/output devices
•
DS : drives and motion control, which is used to describe products for digital motion,
such as, for example, frequency inverters, stepper motor controllers, and servo controllers
•
DS : measuring devices and closed-loop controllers, to measure and control physical
quantities
•
DS : encoders, which defines the behavior of incremental/absolute linear and rotary
encoders for measuring position, velocity, and so on
Profiles listed above have been introduced mainly for general-purpose applications. his means, they
were not designed to fulfill the requirements of any specific application domain and, as a consequence,
