德国工程师的CANopen备忘录
电梯系统CANopen高层协议——CiA DSP 417
电梯系统CANopen高层协议——CiA DSP 417马福军;周巧仪;刘兵【摘要】为了推进国内电梯技术的进步,介绍了一种新型电梯通讯协议,电梯系统CANopcn高层协议--CiADSP 417子协议,基于CiA DSP 417子协议的电梯系统,可以大大提高电梯控制系统控制性能,实现电梯部件即插即用的特性.介绍内容包括CiA DSP 417子协议的由来及国内外应用状况;CiA DSP 417子协议文件的组成及各组成部分内容的具体说明.最后例举了CiA DSP 417子协议在电梯外召通讯中的实现过程.【期刊名称】《自动化与信息工程》【年(卷),期】2009(030)002【总页数】4页(P21-24)【关键词】电梯;CANopen;CiA DSP 417子协议【作者】马福军;周巧仪;刘兵【作者单位】浙江建设职业技术学院城建系;浙江建设职业技术学院城建系;浙江建设职业技术学院城建系【正文语种】中文【中图分类】TP3CANopen 协议基于 CAN总线的高层应用层协议，它是为标准的嵌入式网络开发的具有灵活配置能力的开放式协议[1]。
现在已经成为国际标准CENELELC EN-50325-4。
CAN器件只提供了开放系统互联模型（ISO/OSI）中物理层和数据链路层功能[2]，完成系统组态、设备互联和兼容功能必须由应用层协议来完成。
目前国内大部分企业如上海三菱、奥的斯、日立等仍然沿用RS485串行总线协议，但该总线性能较低、没有统一标准。
电梯系统通讯要求数据传输实时性高，现场抗干扰能力强，系统可靠性要好[3]。
基于CAN总线和CANopen－CiA DSP 417电梯高层应用层协议，可以很好的满足电梯通讯的需求。
CANopen在发布后，获得了广泛承认，尤其是在欧洲。
目前被广泛应用于智能楼宇、嵌入式系统、车载设备和装载机械等[4]。
CiA DSP 417电梯设备子协议就是CANopen在电梯领域的应用体现。
CANopen用户手册：线性传感器说明书
Content1CANopen 2 1.1EDS Files 2 1.2Support 2 1.3Features 2 1.3.1Basic information 2 1.3.2Basics based on CiA DS-301, V4.2.0 2 1.3.3Basics based on CiA DSP-406, V3.2 3 1.3.4Basics SDO communication 3 1.3.5Basics PDO communication based on CiA 301, V4.2.0 3 1.4Object Library 4 1.4.1Communication Profile Area based on DS 301 V4.2.0 4 1.4.2Device Profile Area 6 1.4.3Manufacturer specific Area 8 1.5Explanations to Object Library 9 1.5.1Object 0x6300 Encoder Cams 9 1.5.2Cam state registers 9 1.5.3Object 0x6400 Work Area 9 1.5.3.1Work Area Supervision 9 1.5.3.2Work Area State 9 1.6LSS / Layer Setting Service 9 1.6.1Configuration of Node-ID 10 1.6.2Configuration of Bit Rate 10 1.6.3Store Configuration Data 11 1.7SDO Services 11 1.7.1SDO Download 11 1.7.2SDO Upload 12 1.7.3SDO Abort 12 1.8Process Data PDO 12 1.8.1PDO Default Setting 12 1.8.2PDO Parameter Setting 12 1.9Error Handling 14 1.9.1Emergency Messages 14 1.10Error Objects 15 1.10.1Manufacturer-specific Status 15 1.11Non-Volatile Storage and Data Restoration 16 1.12Abbreviations 17 1.13Document Changes 171 CANopenThis document reflects the Novotechnik sensor protocol implementation of the standard CANopen protocol.A basic knowledge of the CAN Bus is required for a proper understanding of this document.Most of the definitions made are according to the following CiA Standard specifications.For making use of all the features that these specifications offer, a knowledge about them is absolutely necessary. The sensor supports the CANopen Communication profile DS-301, V4.2.0, Encoder profile DSP-406, V3.2 and Layer Setting Services (LSS) DSP-305, V1.1.2.1.1 EDS FilesFor integration in a common CANopen projecting tool, electronic data sheet (*.eds) files are provided.These files can be downloaded from the Novotechnik Web Site, see Downloads/Operating manualswhere also this document can be found.Electric data sheet see file Product series_CANopen.1.2 SupportIfyouhaveanyquestions,******************************************************.Electronic data sheets or user manuals for previous software versions are available on request.1.3 Features1.3.1 Basic informationVendor ID: 386 = 0x0182 (Novotechnik)Product code: TP1: 04035 = 0x0FC3, TH1: 04042 = 0x0FCA, TM1: 04228 = 0x1084, TF1: 04052 = 0x0FD4 Rev.-No.: f.e 196613 = 0x30005Serial No.: see product label, “YYMMxxxx”1.3.2 Basics based on CiA DS-301, V4.2.01.3.3 Basics based on CiA DSP-406, V3.21.3.4 Basics SDO communication1.3.5 Basics PDO communication based on CiA 301, V4.2.01.4 Object Library1.4.1 Communication Profile Area based on DS 301 V4.2.01) for 1 position marker2) for 2 position markers1.4.2 Device Profile Area* for 1 position marker: default value 0x01** for 1 position marker and product series TM1 / TF1: not available 1.4.3 Manufacturer specific Area1.5 Explanations to Object Library1.5.1 Object 0x6300 Encoder CamsEncoder cams are used to indicate if a position falls below or exceeds a defined value.1.5.2 Cam state registersCam active: the current position value is between the higher and lower cam-limitCam inactive: the current position value is not between the higher and lower cam-limit.The values for low limit (0x631x) and high limit (0x632x) regard the values for preset (0x6010) and measuring steps (0x6005). The value of hysteresis (0x633x) is added in direction of motion.Note: the cam high limit value can have a lower value than the cam low limitA change in cam state causes an EMCY message.The cam state objects (0x6300) are able to be mapped to the TPDOs.1.5.3 Object 0x6400 Work AreaIt is possible for encoders to define a so-called user defined working area.The main purpose for a work area is to get a high-priority information (via EMCY message) when the transducer’s p o-sition leaves its predefined working area.The actual work area information with work area low limit and work area high limit may be stored in object 0x6401 and 0x6402. This way, the area state object (0x6400) may also be used as software limit switches.1.5.3.1 Work Area SupervisionEach work area channel is fixedly linked to a position channel:1.5.3.2 Work Area StateThe values for low limit (0x6401) and high limit (0x6402) regard the values for preset (0x6010) and scaling (0x6501, 0x6502).A change in work area state causes an EMCY message.The work area state objects (0x6400) are able to be mapped to the TPDOs.1.6 LSS / Layer Setting ServiceTo configure the encoder via the LSS(according CiA DS 305) the encoder is handled as a slave, thePLC must have a LSS master functionality.A LSS-message is composed as follows:This applies to the COB-ID:• LSS-Master ⇒ LSS-Slave: 2021 (0x7E5)• LSS-Slave ⇒ LSS-Master: 2020 (0x7E4)LSS can only be used when the encoder is in the stopped status or pre-operational status.The NMT command for setting the encoder in stopped status is:To program via LSS the sensor has to be switched to LSS configuration state.There are two possible ways to do so:• Switch Mode Selective:only the addressed CANopen device is switched to the LSS configuration stateLSS requires data content in the following objects:Example:Vendor-ID (see index 1018/1) 0x0182 LSS-Command 0x40 Product code (see index 1018/2) 0x0BE0 LSS-Command 0x41 Rev.No. (see index 1018/3) 0x10003 LSS-Command 0x42 Serial-No. (see index 1018/4) 0x12345678 LSS-Command 0x43 After receiving the identification objects, the encoder answers with LSS-Command 0x44.• Switch Mode Global: all CANopen devices supporting LSS are switched to the LSS configuration stateWhen the CAN devices are in configuration state the Node-ID and/or the bit rate can be changed. 1.6.1 Configuration of Node-IDThe Node-ID can be programmed with the LSS-Command 0x11N ID: new Node-ID in the range of 1 (127)Err Code: 0: protocol successfully completed / 1: Node-ID out of rangeChange of Node-ID will cause:•Automatic alteration of COB-ID’s for SDO1, EMCY and Heartbeat and TPDOs.•Non-volatile Node-ID storage through …Store Configuration“ in the LSS mode configur ation.1.6.2 Configuration of Bit RateThe Bit Rate can be programmed with LSS-Command 0x13Table Index: 0x07: 20 kBaud0x06: 50 kBaud0x04: 125 kBaud0x03: 250 kBaud0x02: 500 kBaud0x01: 800 kBaud0x00: 1000 kBaudErr Code: 0: protocol successfully completed 1: Bit timing not supportedChange of Bit rate will cause:•The bit rate gets active•Non-volatile CAN bit rate storage through …Store Configuration“ in the LSS mode configuration1.6.3 Store Configuration DataThe LSS configuration data (Node-ID and Bit Rate) are stored to the non-volatile memory of the sen-sor using LSS-Command 0x17Err Code: 0: protocol successfully completed 2: storage media access error1.7 SDO ServicesService Data Objects SDO (according to CiA DS 301) manage the parameter data exchange, e.g. thenon-cyclical execution of the preset function.Parameters of device object library (object index/subindex see chapter 1.4 Object Library) can beread, written or stored by means of SDO.1.7.1 SDO DownloadThe SDO download service is used to configure the parameters.Command 0x2_: 0x22 write command, parameter to encoder0x23 write command, 4 Byte parameter to encoder0x27 write command, 3 Byte parameter to encoder0x2B write command, 2 Byte parameter to encoder0x2F write command, 1 Byte parameter to encoderCommand 0x60: confirmation: parameter receivedNODE-IDUsing writing to object 0x2000, non-volatile storage has to be done by w riting the“save”- signature (0x65766173) on object 0x1010/1 (TP1/TH1) or 0x1010/4 (TF1). These changes will become effective after a communication restart or a power up.Changing the Node-ID will affect all COB-IDs according to the “predefined co nnection s et”.Example: COB-ID TPDO1 = 0x180 + (Node-ID)BIT-RATEUsing writing to object 0x2001; non-volatile storage has to be done by writing the“save”- signature (0x65766173) on ob-ject 0x1010/1 (TP1/TH1) or 0x1010/4 (TF1). These changes will become effective after a communication restart or a power up.1.7.2 SDO UploadThe SDO upload service is used to read the parameters.Command 0x40: read command, parameters from encoderCommand 0x4_: 0x42 read command, parameter to encoder0x43 read command, 4 Byte parameter to encoder0x47 read command, 3 Byte parameter to encoder0x4B read command, 2 Byte parameter to encoder0x4F read command, 1 Byte parameter to encoder1.7.3 SDO AbortIf the SDO download or SDO upload service fails for any reason, the sensor responds with a SDO abort protocol. Abort Code: 0x06090011 subindex does not exist0x06090030 value exceeded0x06020000 object does not exist0x06010001 object is write only0x06010002 object is read only0x06060000 access error0x08000020 data transport error0x08000000 general error0x08000022 wrong state1.8 Process Data PDOProcess Data Objects (according CiA DS 301)manage the process data exchange, f.e the cyclical transmission of the position value. The process data exchange with the CANopen PDOs is a very slim process without protocol overhead.1.8.1 PDO Default Setting2 Transmit PDOs (TPDO) with each max. 8 bytes are provided:0x1800 TPDO1: default: Event-driven with event timer switched off (changeable to synchronous)0x1801 TPDO2: default: synchronous1.8.2 PDO Parameter SettingThe contents of the encoder-specific TPDOs can be configured by variable mapping according to cus-tomer´s requirements. This mapping has to be performed for the encoder as well as for the receiver.The PDO is limited to a maximum size of 8 bytes and 5 mappings per each PDO.Step 1: For changing of mapping, the sensor must be in properational mode and the MSB of PDOCOB-ID has to be set to 1 to deactivate it.Step 2: Clearing entries in mapping table of PDO1 (PDO2) => subindex 0x0 of object 1A00 (1A01)has to be set to 0x00.Step 3: Mapping of objects into PDOExample:A PDO shall be mapped in a way that the "current position", the "current speed" and the "current chiptemperature" are transmitted in one PDO .Mapping #1 “current position”:Mapping #2 “current speed”:Mapping #3: “current chip temperature”.Step 4: Setting entries in mapping table => subindex 0x0 of object 1A00 has to be set to the numbers of mapping en-tries (e.g. 0x03)Step 5: For re-activating the PDO, the MSB of PDO COB-ID has to be set to 0.Note:TPDO1 value for Event Timer must always be higher than the value for Inhibit Time (except for value 0).Failed sending of TPDOs can occur if:•more TPDOs shall be sent than the CANbus may accept due to insufficient CAN bit rate compared to TPDO/Event Timer •excessive bus load or unfavourable setting of COB-ID in the CANopen network prevents TPDOsending•Object 0x1800/5- event timer- is set to 0.1.9 Error HandlingDepending on the type of error occured, the sensor will react accordingly:* according to DS-301, see chapter 1.7 SDO Services** details see chapter 1.9.1 Emergency Messages1.9.1 Emergency MessagesCOB-ID EMCY in object 0x1014.Error-Register in object 0x1001.0x50xx Device Hardware 0x60xx Device Software 0x80xx Monitoring 0x90xx External Error1.10 Error Objects1.10.1 Manufacturer-specific StatusThe object 0x1002 shows the sensor status bit code and is used for internal process control purposes. For servicing this information can be requested via SDO (see chapter 1.7 SDO Services).Bit Definition (if bit value = 1)2 CAN Bus-Off Timer started0-1 NMT Condition of Sensor%11 stopped%10 operational%01 pro-operational%00 initialisation1.11 Non-Volatile Storage and Data RestorationDefault values for all data objects are stored in the non-volatile program memory.Data encryption to the non-volatile memory is only admitted in the pre-operational status.• Storage via LSS:Data must be stored through the LSS Service Configuration/Store while in LSS Configuration Mode (see chapter 1.6 LSS / Layer Setting Service)• Storage via SDO:Object 0x1010:Data is stored in the non-volatile memory during encryption of object 0x1010 with …save“ signature (0x65766173).Object 0x1011:Encryption of object 0x1011 with the sig nature …load“ (0x64616F6C) will upload data from the non-volatile memory. Default settings are being restored (see chapter 1.7 SDO Services).CAUTION: In case of custom programmed parameters like node-ID, averaging, bit rate etc. these will be reset to default in case of the corresponding reset command below (default values see chapter 1.4 Object Library).Object 0x1010 Object 0x1011 Subindex /1AllSubindex /2CommunicationSubindex /3ApplicationSubindex /4ManufacturerCOB-ID SyncGuard Time X XLife Time Factor X XHeartbeat Timer X XTPDO COB-ID D XTPDO Trans Typ X XTPDA Inhibit Time X XTPDO Event Timer X XTPDO Mapping X XNMT Startup X XNode-ID X (TP1/TH1) X (TF1) BitRate X (TP1/TH1) X (TF1) Number of position markers (only TP1 / TH1) XCustom (only TP1 / TH1) X Operating Parameters X XLinear Encoder Measuring Step Settings X XPreset Value X XCAM Enable X XCAM Polarity X XCAM Low Limit X XCAM High Limit X XCAM Hysterese XWork Area Low Limit XWork Area High Limit XX: data saved or restoredD: data set to default value• Delete via SDO Object 0x1010:Additionally to the functionality defined in CiA standard DS-301, CANopen library offers the possibility to delete data inthe non-volatile memory. Del ete process is initiated by sending the signature “kill” (0x6C6C696B) to object 0x1010.• Manufacturing Mode Object 0x1010▪Only TM1 series:If the sensor is out of function and the signature “boot” 0x746F6F62 in object 0x1000 (device type) is active, the sensor is in manufacturing mode. This mode can be left by power off-on or via the operationalcommand.1.12 AbbreviationsCAN Controller Area Networkch channelCOB-ID Communication Object Identifierconst constant parameter, only readableDLC Data Length CodeDS Draft StandardEMCY Emergency ServiceNMT Network-ManagementPDO Process Data ObjectPos Position (value)ro read only, parameter can changerw read/writeRx Novotechnik sensor is consumer of the CAN data frameRTR Remote Transmission RequestSDO Service Data ObjectSYNC Synchronisation messageTPDO Transmit Process Data ObjectTx Novotechnik sensor is producer of the CAN data frame1.13 Document ChangesRevision Changes Date WhoV00 First edition 16.07.14 VM/mm V07 1.2.5 / 1.3.1 object 1801x2: event driven transmission deleted for TPDO2. 1.3.1 objects:TPDO1 and TPDO2: name modified. 1.3.object 1800/2 and 1801/2 comment: synchronous1...240 instead 1...239, TPDO off: 0 added01.04.20 VM/mmV08 1.3.1 object 1010/4 user parameter data instead of manufacturer defined parameters.1.3.1 1010/5 added (Manufacturer data parameter). 1.10. signature kill 6C6C696B insteadof 6B696C6C, comment regarding manufacturing mode added21.01.21 VM/mmV09 1.2 Support added, all further chapter numbers changed1.8.3 Textual modifications 07.09.2117.11.22VM/mm。
CANopen使用手册_V1.01_.
ProNet 伺服驱动器ESTUNCANopen 使用手册修订记录日期修订版本描述作者初稿完成移振华增加第8章移振华1、第3,3,1章“PDO 参数”，修正PDO 默认表格中的COB-ID 和default 值；易健2、增加第9章“通讯例程”——目录——1、概述............................................................................................................................................ . (5)1.1 CAN 主要相关文档 (5)1.2 本手册使用的术语和缩语 (5)1.3 CAN OPEN 概述 (6)2、接线和连接 (7)3、CANOPEN 通讯 (8)3.1 CAN 标识符分配表 (9)3.2 服务数据对象SDO (10)3.3 过程数据对象PDO (12)3.3.1 PDO参数 (14)3.4 SYNC 报文 (20)3.5 E MERGENCY 报文 (21)3.6 HEARTBEAT 报文 (23)3.7网络管理（NMT ） (24)4、单位换算单元（FACTOR GROUP） (26)4.1 单位换算相关参数 (27)4.1.1 position factor (27)4.1.2 velocity factor (29)4.1.3 acceleration factor (30)5、位置控制功能 (31)5.1 位置控制相关参数 (33)6、设备控制 (35)6.1 控制状态机 (35)6.2 设备控制相关参数 (36)6.2.1 controlword (37)6.2.2 statusword (38)6.2.3shutdown_option_code (3)96.2.4disable_operation_option_code (40)6.2.5quick_stop_option_code (4)6.2.6halt_option_code (41)6.2.7fault_reaction_option_code (41)7、控制模式 (42)7.1 控制模式相关参数 (42)7.1.1modes_of_operation (42)7.1.2modes_of_operation_display (43)7.2 回零模式（HOMINGMODE ） (44)7.2.1 回零模式的控制字 (44)7.2.2 回零模式的状态字 (44)7.2.3 回零模式相关参数 (45)7.2.4 回零方法 (47)7.3 速度控制模式（PROFILE VELOCITYMODE ） (49)7.3.1速度模式的控制字 (49)7.3.2 速度模式的状态字 (49)7.3.3 速度控制模式相关参数 (49)7.4 位置控制模式（PROFILE POSITIONMODE ） (53)7.4.1 位置模式的控制字 (53)7.4.2 位置模式的状态字 (53)7.4.3 位置控制相关参数 (54)7.4.4 功能描述 (56)8、CAN 通讯相关参数 (58)9、CANOPEN 通讯例程 (59)9.1 SDO 操作； (59)9.2 PDO 配置 (59)9.3 位置控制例子（P ROFILE P OSITON MODE ） (60)9.4 位置插补控制（I NTERPLATE P OSITION MODE ） (61)9.5 速度控制（P ROFILE V ELOCITY MODE ） (62)9.6 回零 (6)2对象字典表 (64)1、概述1.1 CAN 主要相关文档 CiA DS 301 V 4.01: CiA CANopen Communication Profilefor Industrial Systems - based on CALCiA DSP 402 V 2.0: CiA CANopen Device Profile1.2 本手册使用的术语和缩语CANCiACOBEDSLMTNMTOD参数PDORORWSDO控制器局域网在自动化国际用户和制造商协会中的 CAN。
ICP DAS CAN-2054C CANopen Slave Device用户手册说明书
CANopen Slave DeviceCAN-2054CApplication User’s ManualWarrantyWithout contrived damage, all products manufactured by ICP DAS are warranted in one year from the date of delivery to customers.WarningICP DAS revises the manual at any time without notice. However, no responsibility is taken by ICP DAS unless infringement act imperils to patents of the third parties.CopyrightCopyright © 2009 is reserved by ICP DAS.TrademarkThe brand name ICP DAS as a trademark is registered, and can be used by other authorized companies.Contents1Introduction (3)1.1Overview (3)1.2Hardware Specifications (4)1.3Features (5)1.4Application (5)2Hardware (6)2.1Structure (6)2.2Node ID & Baud Rate Rotary Switch (7)2.3I/O Pair-connection Mode (8)2.4LED Description (10)2.5PIN Assignment (12)2.6Wire Connection (13)3Object Dictionary (14)3.1Object List (14)3.2Store and Restore Object (17)3.3Application Object (18)3.4Default PDO Mapping (22)1 Introduction1.1 OverviewCANopen is one kind of the network protocols based on the CAN bus and mainly used for embedded network of machine control, such as industrial machine control , aircraft engines monitoring, factory automation, medical equipments control, remote data acquisition, environmental monitoring, and packaging machines control, etc.CAN-2054C module follows the CiA DS-301 version 4.02 and DSP-401 version 2.1. It is easy to access the digital I/O status and set the configuration by using standard CANopen protocol. CAN-2054C has passed the validation of the CiA CANopen Conformance Test tool. Therefore, the provided EDS file is standard for any other standard CANopen masters. CAN-2054C has 8-channel isolated sink/source input and 8-channel isolated sink output and it can be used to various applications, such as PNP, NPN, TTL, relay contact and so forth. By owing to the CANopen masters of ICP DAS, you can quickly build a CANopen network to approach your requirements.Figure 1-11.2 Hardware SpecificationsDigital Output:z Output Channels: 8 (Sink)z DO Load Voltage: +5 ~ +30 V DCz Output Max Load Current: 700 mA per channel.z Output Type: Open-Collector.z Intra-module Isolation: 3750 Vrmsz Reaction Time:DO Message to rising edge: 55 us.DO Message to falling edge: 170 us.z ESD Protection: 4 kV Contact for each channelDigital Input:z Input Channels: 8 (Sink/Source).z DI On Level: +3.5 ~ +30 V DC.z DI Off Level: +1V DC Max.z Input Impedance: 3 kΩ, 0.3 W.z Intra-module Isolation: 3750 Vrmsz Response Time:Rising edge to DI response: 75 usFalling edge to DI response: 180 usz ESD Protection: 4 kV Contact for each channelOthers:z CANopen Status: 3 LEDs for PWR / RUN / ERR.z Terminal Resister: 1 LED as terminator resister indicatorsz DI LED: 8 LEDs as digital input indicators.z DO LED: 8 LEDs as digital output indicators.z Power Supply: Unregulated +10 ~ +30 V DC.z Power Consumption: 1.5 W.z Operating Temperature: -25 ~ 75 ℃.z Storage Temperature: -35 ~ 80 ℃.z Humidity: 10 to 90% RH, Non-condensing.z Dimensions: 32.5 mm x 110 mm x 102 mm (W x L x H) Detail.1.3 Featuresz Standard CANopen general I/O slave devices.z CANopen Version: DS-301, v4.02.z Device Profile: DSP-401, v2.1z Support I/O pair-connection mechanism.z Provide normal/polarity 8 DI channels and 8 DO channelsz CANopen transfer rate: 10 kbps, 20 kbps, 50 kbps, 125 kbps, 250 kbps, 500 kbps, 800 kbps, 1000 kbps.z Support maximum CANopen slave devices Node-ID up to 99.z Set Node-ID 0 for firmware update (after version 1.50-20111227).Firmware updates tools: I-7530 series, I-7540D series, I-7565 series, PISO-CM100 series, and PISO-CAN series.z Support NMT, PDO, SDO, EMCY, SYNC, Guarding, and Heartbeat protocol.z Pass the validation of CANopen conformance testz Provide EDS file for CANopen master interface1.4 ApplicationFigure 1-2 Application Structure2 Hardware2.1 StructureFigure 2-1 (Top View) Figure 2-2 (Bottom View)2.2 Node ID & Baud Rate Rotary SwitchThe rotary switches of node ID configure the node ID of CAN-2054C module. These two switches are for the tens digit and the units digit of the node ID. The node ID value of this demo picture is 32.Figure 2-3 Node ID rotary switchThe rotary switch of baud rate handles the CAN baud rate of CAN-2054C module. The value of baud rate switch from 0 ~ 7 are normal CANopen mode, and 8 ~ F are I/O pair-connection mode. About the I/O pair-connection mode please refer to section 2.3. The relationship between the rotary switch value and the practical baud rate is presented in the following table.Figure 2-4 Baud rate rotary switchRotary Switch Value Rotary Switch Value ofI/O Pair-connectionBaud Rate (k bps)0 810 1 920 2 A50 3 B125 4 C250 5 D500 6 E800 7 F1000 Table 2-12.3 I/O Pair-connection ModeThe CAN-2054C module provides the I/O pair-connection function. Before using this function, you need to prepare one CAN-2054C module and a 8-bit DO and 8-bit DI CAN-2000 series module (such as CAN-2054C). When applying this function, the DI channels of one CAN-2054C and the DO channels of another CAN-2054C are mapping with each other. That is to say that when the DI channels of one CAN-2054C get the ON signal, the corresponding DO channels of another CAN-2054C will be turned on.When you completed the connection of these two CAN-2054Cs by CAN bus, you need to set the baud rate rotary switch of these two modules to 0x8 ~ 0xF, and configure the node ID of them by the special rule. Set the node ID to be odd for one module, and set the node ID of another module to be the value which is equal to the node ID increased one of the former. Therefore, they are the couple as the following figure.Figure 2-5For example, user uses two CAN-2054Cs to do I/O pair-connection. The connection structure is as follows.Figure 2-6The node IDs of these two CAN-2054Cs are 1 and 2 respectively. Both of these two module’s baud rate switch are selected to “D”, 500 kbps CANopen baud rate with I/O pair-connection mode, and these two modules will into Operational state automatically. When the DI channel of one CAN-2054C receives a DI ON-signal, another CAN-2054C will output the ON-signal at the corresponding DO channel.2.4 LED DescriptionPower LEDCAN-2054C allows 10 V DC ~ 30 V DC for working voltage. The power consumption is 1.5 W. Under the connection of a proper powerconnection, as the unit is turned on, the LED will light up in red.Run LEDThe Run LED indicates the CANopen operation state. The description of LED state is shown below. About the detail, please referto the section 2.3.1 of the CAN-2000C user manual.LED Signal State DescriptionNo Light Non-operation Power Supply is not readySingle Flash Stopped The device is in Stopped stateis in Pre-operational state Blinking Pre-operational DeviceContinuing Light Operational Device is in Operational stateTable 2-2Error LEDThe Error LED indicates the CANopen error state. The description of LED state is shown below. About the detail please referto the section 2.3.2 of the CAN-2000C user manual.LED Signal State DescriptionNo Light No error Device is working well.Single Flash Error Warning At least one CANopen errorhappened.Double Flash Guarding Fail Guarding fail event happened.Continuing Light Bus Off The bus off state happened.Table 2-3Terminal Resistor LEDWhen enable the 120Ω terminator resistor, the LED will turn on.DO LEDIf the DO LED turns on, it means that the corresponding DO channel is active no matter what the DO channel polarity is. (User canconfigure the 0x6202 object to change the polarity of the DO channel.Please refer to section 3.3 for detail.)DI LEDIf the DI LED turns on, it means that the corresponding DI channel receives an ON voltage-level digital signal no matter what the DI channel polarity is. (User can configure the 0x6002 object to change the polarity of the DO channel. Please refer to section 3.3 for detail.)2.5 PIN AssignmentFigure 2-72.6 Wire ConnectionFigure 2-83 Object Dictionary3.1 Object ListGeneral Communication EntriesIdx Sidx Description Type Attr Default1000h 0h device type UNSIGNED 32RO 00300191h1001h 0h error register UNSIGNED 8RO 0h1003h 0h largest sub-index supported forUNSIGNED 8RO 0h“predefine error field”1h actual error (the newest one) UNSIGNED 32RO ---... ---... ... ...5h actual error (the oldest one) UNSIGNED 32RO ---1005h 0h COB-ID of Sync message UNSIGNED 32RW 80h1008h 0h manufacturer device name VISIBLE_STRING RO CAN-2054C1009h 0h manufacturer hardware version VISIBLE_STRING RO 1.2100Ah 0h manufacturer software version VISIBLE_STRING RO 1.50-20111227100Ch 0h guard time UNSIGNED 16RW 0h100Dh 0h life time factor UNSIGNED 8RW 0h1010h 0h largest sub-index supported forUNSIGNED 8RO 1h“store parameters”1010h 1h save all hardware parameter UNSIGNED 32RW ---1011h 0h largest sub-index supported forUNSIGNED 8RO 1h“restore default parameters”1011h 1h restore all default parameters UNSIGNED 32RW ---1014h 0h COB-ID of EMCY UNSIGNED 32RW 80h+x1017h 0h producer heartbeat time UNSIGNED 16RW 01018h 0h largest sub-index supported forUNSIGNED 8RO 4“identity object”1h vender ID UNSIGNED 32RO ---2h product code UNSIGNED 32RO ---3h revision number UNSIGNED 32RO ---4h serial number UNSIGNED 32RO ---Table 3-1Note: x is Node-ID of the moduleSDO Communication EntriesIdx Sidx Description Type Attr Default 1200h 0h largest sub-index supported forUNSIGNED 8 RO 2 “server SDO parameter”1h COB-ID form client to serverUNSIGNED 32 RO 600h+x (RxSDO)2h COB-ID form server to clientUNSIGNED 32 RO 580h+x (TxSDO)Table 3-2Note: x is Node-ID of the moduleRxPDO Communication EntryIdx Sidx Description Type Attr Defaultofentries UNSIGNED 8RO 21400h 0h Number1h COB-ID used by RxPDO UNSIGNED 32RW 200h+xtype UNSIGNED 8RW FFhTransmission2hTable 3-3Note: x is Node-ID of the moduleRxPDO Mapping Communication EntryIdx Sidx Description Type Attr Defaultentries UNSIGNED 8RW 8of1600h 0h Number1h Write Output channel 0 UNSIGNED 32RW 6200 0108hTable 3-4TxPDO Communication EntryIdx Sidx Description Type Attr Defaultentries UNSIGNED 8 RO 5of1800h 0h Number1h COB-ID used by TxPDO UNSIGNED 32RW 180h+xtype UNSIGNED 8RW FFh 2hTransmissiontime UNSIGNED 160 3hInhibitreversed --- --- --- 4htimer UNSIGNED 160Event5hTable 3-5Note: x is Node-ID of the moduleTxPDO Mapping Communication EntryIdx Sidx Description Type Attr Default1A00h 0h Numberofentries UNSIGNED 8RO 1 1h DI channel 0 ~ 7 UNSIGNED 32RW 6000 0108hTable 3-6Digital Input FunctionIdx Sidx Description Type Attr Default 6000h 0h Number of Input 8-Bit UNSIGNED 8 RO 1 1h DI value of ch0 ~ ch7 UNSIGNED 8 RO 0 6002h 0h Number of Input 8-Bit UNSIGNED 8 RO 1 1h Change polarity DI ch0 ~ ch7 UNSIGNED 8 RW 0Table 3-7Digital Output FunctionIdx Sidx Description Type Attr Default 6200h 0h Number of Output 8-Bit UNSIGNED 8 RO 1 1h DO value of ch0 ~ ch7 UNSIGNED 8 RW 0 6202h 0h Number of Output 8-Bit UNSIGNED 8 RO 1 1h Change polarity DO ch0 ~ ch7 UNSIGNED 8 RW 0 6206h 0h Number of Output 8-Bit UNSIGNED 8 RO 2 1h Error mode DO ch0 ~ ch7 UNSIGNED 8 RW 0xFF 6207h 0h Number of Output 8-Bit UNSIGNED 8 RO 2 1h Error value DO ch0 ~ ch7 UNSIGNED 8 RW 0Table 3-8Power On Value FunctionIdx Sidx Description Type Attr Default 2010h 0h Number of Output 8-Bit UNSIGNED 8 RO 11h Set DO power on value of ch0 ~ ch7 UNSIGNED 8RW 0Table 3-93.2 Store and Restore ObjectUser can write the value 0x65766173 to the object index 0x1010 to save configuration setting, or write the value 0x64616F6C to object index 0x1011 to load the factory default. The following table lists the relative objects which will be stored or restored after writing these two objects. The factory default for these objects is also shown.Store and Restore functions:Index SubindexFunction1010 h 1 Store application and communication setting.1010 h 2 Store communication setting only.1010 h 3 Store application setting only.1011 h 1 Restore application and communication setting. 1011 h 2 Restore communication setting only.1011 h 3 Restore application setting only.Table 3-10Communication Setting:Please refer to above table 3-3, 3-4, 3-5, and 3-6.Application Setting:Index SubIndex Description FactoryDefault2010 h 1 Set digital output power on value for channel 8 ~ 15 0x00 6002 h 1 Change polarity digital input for channel 0 ~ 7 0x00 6202 h 1 Change polarity digital output for channel 0 ~ 7 0x00 6206 h 1 Error mode digital output for channel 0 ~ 7 0xFF 6207 h 1 Error value digital output for channel 0 ~ 7 0x00Table 3-113.3 Application ObjectDigital Input module (0x6000)User can use the object index 0x6000 with subindex 1 to read a group of 8-bit information.For example, if the node id of CAN-2054C is 1, the commands are as below:11-bit COB-ID (bit)Func Code Node ID 8-byte Data (byte) 10 9 8 7 6 5 4 3 2 10RTRData Length 012 3 4 5 6 71 1 0 0 0 00 0 0 010 840006001 00 00 0000SDO clientSDO server (CAN-2054C)11-bit COB-ID (bit)Func Code Node ID 8-byte Data (byte) 10 9 8 7 6 5 4 3 2 10RTRData Length 012 3 4 5 6 71 0 1 1 0 00 0 0 010 44F006001 0F -- -- --SDO clientSDO server(CAN-2054C)Read the object index 0x6000 with subindex 1, and the digital value 0x0F will be responded by CAN-2054C module. The DI channels of DI3, DI2, DI1 and DI0 are turn on and others are turn off.Change Input Polarity (0x6002)User can configure the object index 0x6002 with subindex 1 to set the polarity of DI channels.This object 0x6002 with subindex 1 defines the polarity of a group of 8 input lines. Input polarity can be inverted individually. 1 = input inverted. 0 = input not inverted.For example, if the node id of CAN-2054C is 1, the commands are as below:11-bit COB-ID (bit)Func Code Node ID 8-byte Data (byte) 10 9 8 7 6 5 4 3 2 10RTRData Length 012 3 4 5 6 71 1 0 0 0 00 0 0 010 82F026001 F0 00 0000SDO clientSDO server (CAN-2054C)Func Code Node ID 8-byte Data (byte) 10 9 8 7 6 5 4 3 2 10RTRData Length 012 3 4 5 6 71 0 1 1 0 00 0 0 010 460026001 -- -- -- --SDO clientSDO server(CAN-2054C)Write object index 0x6002 with subindex 1 to 0xF0 means that set the Ch0 ~ Ch3 of DI channels to normal, and set the Ch4 ~ Ch7 to be inverted.Digital Output module (0x6200)User can set a group of 8 output lines as a byte of information and sent it into the object index 0x6200 with subindex 1 of CAN-2054C . For example, if the node id of CAN-2054C is 1, the commands are as below:11-bit COB-ID (bit)Func Code Node ID 8-byte Data (byte) 10 9 8 7 6 5 4 3 2 10RTRData Length 012 3 4 5 6 71 1 0 0 0 00 0 0 010 82F006201 0F 00 0000SDO clientSDO server (CAN-2054C)11-bit COB-ID (bit)Func Code Node ID 8-byte Data (byte) 10 9 8 7 6 5 4 3 2 10RTRData Length 012 3 4 5 6 71 0 1 1 0 00 0 0 010 460006201 -- -- -- --SDO clientSDO server(CAN-2054C)Write the 0x0F of digital output value into the object index 0x6200 with subindex 1, and its response success by CAN-2054C.Change Output Polarity (0x6202)This object 0x6202 with subindex 1 defines the polarity of a group of 8 output lines. Output polarity can be inverted individually.1 = output inverted. 0 = output not inverted.For example, if the node id of CAN-2054C is 1, the commands are as below:Func Code Node ID 8-byte Data (byte) 10 9 8 7 6 5 4 3 2 10RTRData Length 012 3 4 5 6 71 1 0 0 0 00 0 0 010 82F026201 F0 00 0000SDO clientSDO server (CAN-2054C)11-bit COB-ID (bit)Func Code Node ID 8-byte Data (byte) 10 9 8 7 6 5 4 3 2 10RTRData Length 012 3 4 5 6 71 0 1 1 0 00 0 0 010 460026201 -- -- -- --SDO clientSDO server (CAN-2054C)Write object index 0x6202 with subindex 1 to 0xF0 means that set the Ch0 ~ Ch3 of DO channels to normal, and set the Ch4 ~ Ch7 to be inverted.Error Mode and Error Value (0x6206, 0x6207)The object 0x6206 and 0x6207 are used to control the safe value when error happens. When some error event of this module happens such as node guarding failure, the module will check the value of the object 0x6206. If some bits of this value are set to 1, the corresponding DO channels will be into the error mode output. The error mode output values are concerned to the object 0x6207. For example, if the subindex 01 in the object with 0x6206 and 0x6207 are 0x31 and 0xF8 respectively, when some error event occurs, only the DO5, DO4, DO0 will be changed to error mode output because the bit 5, bit 4, and bit 0 of the value 0x31 is 1. The others channels keeps the status as the error event is not happened. The bit 5, bit 4, and bit 0 of the value 0xF8 are 1, 1 and 0, therefore the error mode output value of DO5, DO4 and DO0 are active, active, and inactive respectively.11-bit COB-ID (bit)Func Code Node ID 8-byte Data (byte) 10 9 8 7 6 5 4 3 2 10RTRData Length 012 3 4 5 6 71 1 0 0 0 00 0 0 010 82F066201 31 00 0000SDO clientSDO server(CAN-2054C)Func Code Node ID 8-byte Data (byte) 10 9 8 7 6 5 4 3 2 10RTRData Length 012 3 4 5 6 71 0 1 1 0 00 0 0 010 860066201 -- -- -- --SDO clientSDO server(CAN-2054C)Write object index 0x6206 and subindex 1 to 0x31 means set the error mode to 0x31 for enabling the error mode output of DO 0, DO 4 and DO5.11-bit COB-ID (bit)Func Code Node ID 8-byte Data (byte) 10 9 8 7 6 5 4 3 2 10RTRData Length 012 3 4 5 6 71 1 0 0 0 00 0 0 010 82F076201 F8 00 0000SDO clientSDO server (CAN-2054C)11-bit COB-ID (bit)Func Code Node ID 8-byte Data (byte) 10 9 8 7 6 5 4 3 2 10RTRData Length 012 3 4 5 6 71 0 1 1 0 00 0 0 010 860076201 -- -- -- --SDO clientSDO server (CAN-2054C)Write object index 0x6207 and subindex 1 to 0xF8 means set the error value to 0xF8 for activating the error mode output value of DO 3 ~ DO 7. If the error event in this module, the module will output the safe value 0x30 (0x31 & 0xF8 = 0x30) corresponding the object 0x6206 and 0x6207.Set Power On Value (0x2010)This object 0x2010 with subindex 1 defines the power on value of a group of 8 output lines. Power on value can be set individually.For example, if the node id of CAN-2054C is 1, the commands are as below:Func Code Node ID 8-byte Data (byte) 10 9 8 7 6 5 4 3 2 10RTRData Length 012 3 4 5 6 71 1 0 0 0 00 0 0 010 82F102001 F0 00 0000SDO clientSDO server (CAN-2054C)11-bit COB-ID (bit)Func Code Node ID 8-byte Data (byte) 10 9 8 7 6 5 4 3 2 10RTRData Length 012 3 4 5 6 71 0 1 1 0 00 0 0 010 460102001 -- -- -- --SDO clientSDO server (CAN-2054C)Write object index 0x2010 with subindex 1 to 0xF0 means that set the Ch0 ~ Ch3 of DO channels to 0, and set the Ch4 ~ Ch7 to 1 when the CAN-2054C power on.3.4 Default PDO MappingRxPDO mapping list:ID Len D 0 200h + x1DO 0 ~ DO 7Table 3-12 Default RxPDO list Note: x is Node-ID of the moduleTxPDO mapping list:ID Len D 0 180h + x1DI 0 ~ DI 7Table 3-13 Default TxPDO list Note: x is Node-ID of the module。
通过CANoe实现CANopen网络的仿真.doc
通过CANoe实现CANopen网络的仿真【摘要】：CAN总线在自动化领域的应用越来越广泛，其特点是结构简单、成本低，但速度高、实时性和可靠性好。
但是CAN协议是一个非常简单的协议，它只定义了物理层和数据链路层，本身并不完整，只要涉及具体的应用问题就需要一个更高层次的协议一应用层协议来实现。
CANopen是基于CAN总线的应用层协议，由欧洲CiA组织发表和维护。
1 引言CAN总线在自动化领域的应用越来越广泛，其特点是结构简单、成本低，但速度高、实时性和可靠性好。
但是CAN协议是一个非常简单的协议，它只定义了物理层和数据链路层，本身并不完整，只要涉及具体的应用问题就需要一个更高层次的协议一应用层协议来实现。
CANopen是基于CAN总线的应用层协议，由欧洲CiA组织发表和维护。
CANopen的一个最重要的应用领域就是自动化机器的嵌入式控制系统，在许多大型设备，如印刷机、工业缝纫机、喷射模塑机、包装机、木材加工机以及机器人等内部嵌入式网络已经实现了CANopen；同样，在医疗设备和电梯系统中，CANopen也得到广泛的应用。
V ector公司是德国一家专门从事CAN总线的研究、开发和应用的高科技公司，该公司的CANoe是专门对CAN控制网络进行仿真的工具，只要安装Option．CANopen附件之后，就可以仿真CANopen网络。
2 CANopen协议的基本概念由CiA组织发表的有关CANopen的协议超过40个，其中最重要的协议有3个：DS301、DS302以及DS401。
DS301定义了应用层和通讯规范，DS302定义了CANopen 管理节点以及可编程设备的框架结构，DS401定义了通用I／O模块的设备规范。
2．1 DS301协议DS301是CANopen协议中最基本的协议，其全名是DS30 1 CANopen application layer and corn• munication profile。
CAN和CANopen简介
标签：CAN,CANopenCAN和CANopen简介一、CAN和CANopen简介CAN总线全称为Controller Area Network即控制器局域网是国际上应用最广泛的现场总线之一，已经在汽车制造、机械制造、包装机械、烟草等行业得到了广泛的应用。
CAN总线是德国BOSCH公司从80年代初为解决现代汽车中众多的控制与测试仪器之间的数据交换而开发的一种串行数据通信协议，它是一种多主总线，通信介质可以是双绞线、同轴电缆或光导纤维。
通信速率可达1MBPS。
CAN总线通信接口中集成了CAN协议的物理层和数据链路层功能，可完成对通信数据的成帧处理，包括位填充、数据块编码、循环冗余检验、优先级判别等项工作。
CAN协议的一个最大特点是废除了传统的站地址编码，而代之以对通信数据块进行编码。
采用这种方法的优点可使网络内的节点个数在理论上不受限制，数据块的标识码可由11位或29位二进制数组成，因此可以定义211或229个不同的数据块，这种按数据块编码的方式，还可使不同的节点同时接收到相同的数据，这一点在分布式控制系统中非常有用。
数据段长度最多为8个字节，可满足通常工业领域中控制命令、工作状态及测试数据的一般要求。
同时，8个字节不会占用总线时间过长，从而保证了通信的实时性。
CAN协议采用CR C检验并可提供相应的错误处理功能，保证了数据通信的可靠性。
CAN卓越的特性、极高的可靠性和独特的设计，特别适合工业过程监控设备的互连，因此，越来越受到工业界的重视，并已公认为最有前途的现场总线之一。
另外，CAN总线采用了多主竞争式总线结构，具有多主站运行和分散仲裁的串行总线以及广播通信的特点。
CAN总线上任意节点可在任意时刻主动地向网络上其它节点发送信息而不分主次，因此可在各节点之间实现自由通信。
CAN总线协议已被国际标准化组织认证，技术比较成熟，控制的芯片已经商品化，性价比高，特别适用于分布式测控系统之间的数通讯。
CAN总线插卡可以任意插在PC、AT、XT兼容机上，方便地构成分布式监控系统。
CANopen协议讲解
.依据 DS301 的内容进行介绍1、 CAN 总线CAN 标准报文.2、 CANopen应用层协议CANopen 协议不针对某种特其余应用对象，拥有较高的配置灵巧性，高数据传输能力，较低的实现复杂度。
同时，CANopen 完好基于 CAN 标准报文格式，而无需扩展报文的支持，最多支持127 个节点，而且协议开源。
一个标准的 CANopen 节点（以下图），在数据链路层之上，增添了应用层。
该应用层一般由软件实现，和控制算法共同运转在及时办理单元内。
一个标准的 CANopen 节点CANopen 应用层协议细化了 CAN 总线协议中关于表记符的定义。
定义标准报文的 11 比特表记符中高 4 比特为功能码，后 7 比特为节点号，重命名为通信对象表记符（ COB-ID ）。
功能码将全部的报文分为 7个优先级，依据优先级从高至低挨次为：网络命令报文（ NMT ）同步报文（ SYNC）紧迫报文（ EMERGENCY ）时间戳（ TIME ）过程数据对象（ PDO）服务数据对象（ SDO）节点状态报文（ NMT Err Control ）7 位的节点号则表示 CANopen 网络最多可支持 127个节点共存（ 0 号节点为主站）。
下表给出了各报文的 COB-ID 范围。
NMT 命令为最高优先级报文，由CANopen 主站发出，用以改正从节点的运转状态。
SYNC 报文按期由CANopen主站发出，全部的同步PDO依据SYNC报文发送。
EMERGENCY 报文由出现紧迫状态的从节点发出，任何具备紧迫事件监控与办理能力的节点会接收并办理紧迫报文。
TIME 报文由CANopen主站发出，用于同步全部从站的内部时钟。
PDO 分为 4 对发送和接收 PDO，每一个节点默认拥有 4对发送 PDO 和接收 PDO，用于过程数据的传达。
SDO分为发送 SDO 和接收 SDO，用于读写对象字典。
MT Error Control 报文由从节点发出，用以监测从节点的运转状态。
sick 拉线式编码器 canopen eds 使用例程 -回复
sick 拉线式编码器canopen eds 使用例程-回复Sick拉线式编码器是一种用于测量旋转或线性运动的装置，通常用于工业自动化领域。
CanOpen是一种用于控制和通信的网络协议，而EDS 是CanOpen设备描述文件。
在本文中，我们将详细介绍Sick拉线式编码器与CanOpen和EDS的使用实例。
第一步：了解Sick拉线式编码器Sick拉线式编码器是一种高精度的运动测量设备，可用于测量旋转、线性运动和位置。
它由一个固定的位置参考点和一个可移动的测量元件组成。
拉线式编码器可以在各种工业应用中使用，包括机械制造、自动化装置和机器人。
Sick拉线式编码器的工作原理基于光电和传感技术。
当测量元件相对于位置参考点移动时，光电传感器会检测到这个移动，并将其转换为电信号。
通过测量电信号的特征，可以确定测量元件的位置、运动和速度。
第二步：了解CanOpenCanOpen是一种用于控制和通信的开放型网络协议。
它基于CAN总线，并支持分布式控制系统。
CanOpen提供了一种标准化的方法来管理网络中的节点和设备，并使它们之间进行通信。
CanOpen定义了一组对象字典和通信机制，使得节点可以共享和访问设备的状态和功能。
CanOpen协议使用了一种基于消息的通信模型。
节点之间通过发送和接收消息来进行通信。
每个节点都有一个唯一的标识符，称为节点ID，用于区分不同的节点。
CanOpen消息包括一个固定格式的帧，其中包含了发送和接收节点的ID、指令和数据。
第三步：了解EDSEDS，全称是Electronic Data Sheet，是CanOpen设备描述文件的一种。
EDS文件用于描述和定义CanOpen设备的功能和特性。
它包含了设备的对象字典、通信参数、数据类型和映射等信息。
EDS文件使得CanOpen主站能够正确地识别和配置CanOpen设备，以实现正确的通信和控制。
EDS文件是一个文本文件，使用XML格式进行描述。
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德国工程师的CANopen备忘录1.1 Object dictionary(OD)对象字典
1.1.1 Overview概述
1.1.2 Communication profile area通讯对象子协议区
1.1.3 General communication objects通用通讯对象
1.2 Pre-defined CAN-IDs预定义CAN标识符
1.3 Network management(NMT)网络管理
1.4 Service data object(SDO)服务数据对象1.4.1 communication principle(通讯原则)
1.4.2 Expedited SDO protocol(快速SDO协议)
1.4.3 Normal SDO protocol(普通SDO协议)
1. 下载协议download protocol
2. 上传协议upload protocol
1.5 Process data object(PDO)过程数据对象
RPDO通讯参数1400h to 15FF h映射参数1600h to 17FF h数据存放为2000h之后厂商自定义TPDO通讯参数1800h to 19FF h映射参数1A00h to 1BFF h数据存放为2000h之后厂商自定义
CAN transmission( CAN发送报文)
TPDO1（CAN-ID see 1800h 01h） Data field：数据域
1.6 Special protocols（特殊协议）
1.6.1 同步协议Sync protocol
1.6.2 Time-stamp protocol（时间戳协议）
1.6.3 Emergency protocol（紧急报文协议）
1.6.4 Emergency error codes（紧急报文错误代码）。