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S300 - S600 - S700 - CAN Protocol Quick Reference

The document provides a quick reference sheet for CANOpen that outlines the structure of CAN messages and describes common network objects like NMT, SYNC, PDOs and SDOs. It explains the meaning of the bits in the COB-ID and provides examples of common command codes for objects like NMT and SDO read/writes.

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21 views1 page

S300 - S600 - S700 - CAN Protocol Quick Reference

The document provides a quick reference sheet for CANOpen that outlines the structure of CAN messages and describes common network objects like NMT, SYNC, PDOs and SDOs. It explains the meaning of the bits in the COB-ID and provides examples of common command codes for objects like NMT and SDO read/writes.

Uploaded by

Mohammad
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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CANOpen Quick Reference Sheet – Jimmy Coleman

SOM COB-ID RTR CTRL Data Segment CRC ACK EOM

SOM Start of message


COB-ID Communication Object Identifier (11-bit)
RTR Remote Transmission Request
CTRL Control Field (e.g. Data Length Code)
Data Segment 0 ... 8 byte (Data-COB) 0 byte (Remote-COB)
CRC Cyclic Redundancy Check
ACK Acknowledge slot
EOM End of message

COB-ID Function-Code Module-ID


Bit 10 9 8 7 6543210

Object Function code(bin) Resulting COB-Ids Communication parameters at index


NMT 0000 0 0h —
SYNC 0001 128 80h (1005h)
TIME 0010 256 100h not supported
EMERGENCY 0001 129..255 81h..FFh —
TPDO 1 0011 385..511 181h..1FFh 1800h
RPDO 1 0100 513..639 201h..27Fh 1400h
TPDO 2 0101 641..767 281h..2FFh 1801h
RPDO 2 0110 769..895 301h..37Fh 1401h
TPDO 3 0110 897..1023 381h..3FFh 1802h
RPDO 3 1000 1025..1151 401h..47Fh 1402h
TPDO 4 1001 1153..1279 481h..4FFh 1803h
RPDO 4 1010 1281..1407 501h..57Fh 1403h
SDO (tx*) 1011 1409..1535 581h..5FFh
SDO (rx*) 1100 1537..1663 601h..67Fh
Nodeguard 1110 1793..1919 701h..77Fh (100Eh)

SDO = Service Data Object


PDO = Process Data Object

Network Management Objects (NMT)


COB-ID = 0
Telegram bytes: cs, Node ID (Address)
cs = 129, reset node: causes a cold-start of the drive. This deletes all parameters saved in the RAM and loads the
values stored in the EEPROM.
cs = 130, reset communication node: causes a stop of PDO-communication, gives a new bootup-message
cs = 1, start remote node: starts the CAN node. I.e. the PDOs of the drive are enabled for operation. From this
moment, transmit-PDOs will be transmitted under eventcontrol, and cyclical process data operation can commence.
cs = 2, stop remote node: stops the CAN node, I.e. the drive no longer responds to any received PDOs or transmits any
PDOs.

SDO Read/Write Byte:


Read: 0x40
Read Successful: 0x43 - 4 bytes – 32 bit
0x47 - 3 bytes
0x4B - 2 bytes – 16 bit
0x4F - 1 byte

Write: 0x23 for a 4-byte access – 32 bit


0x27 for a 3-byte access
0x2B for a 2-byte access – 16 bit
0x2F for a 1-byte access – 8 bit
Write Successful: 0x60
Write Unsuccessful: 0x80

PDO: 1005 Sync Message


1006 Sync Time Period
SDO 1400 – 1403 = RPDO1 – RPDO4 Communication Parameter
SDO 1600 – 1603 = RPDO1 – RPDO4 Mapping Parameter
SDO 1800 – 1803 = TPDO1 – TPDO4 Communication Parameter
SDO 1A00 – 1A03 = TPDO1 – TPDO4 Mapping Parameter

ID Data Size r/w Size Object # (little Endian) Index Data


Hex digits 3 1 2 4 2 2x #bytes

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