📄 can in automation (cia) - canopen protocol - device model.htm
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<TD class=path><A
href="http://www.can-cia.org/">home</A> > <A
href="http://www.can-cia.org/canopen/">canopen</A> >
<A
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<TD class=modify
style="TEXT-ALIGN: right; align: right"><SPAN
id=pingu><A title="Thilo Schumann"
href="http://www.pingu.info/">Pingu</A></SPAN>Last
modified: 2003-12-23</TD></TR></TBODY></TABLE></TD></TR>
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<H2>CANopen protocol - Device Model</H2>
<P><IMG height=336
src="CAN in Automation (CiA) - CANopen protocol - Device Model.files/device.gif"
width=163 align=left border=0>Any CANopen device can be
seen as a generic device. This generic device is
connected to CAN on one side and connected to
application specific I/O data on the other side. The
application is the key knowledge of the device
manufacturer. The interface between the application and
CAN is realized by an object dictionary. The object
dictionary is unique for any CANopen device and
represents the whole access to its implemented
application in terms of data as well as in terms of
configuration. To gain access to the object dictionary
each CANopen device has to realize a CANopen protocol
stack. This CANopen protocol stack is a piece of
software, which normally is implemented on the same
controller that is used by the application software.</P>
<P>The CANopen protocol stack consits of different
functions for different purposes.</P>
<P><A
href="http://www.can-cia.org/canopen/protocol/pdo.html">Process
Data Object (PDO)</A> is used to transmit the
application data. The application data is transmitted
without any protocol overhead in broadcast.</P>
<P><A
href="http://www.can-cia.org/canopen/protocol/sdo.html">Service
Data Object (SDO)</A> is used to gain access to all
device parameters. SDO is used for direct device to
device communication.</P>
<P><A
href="http://www.can-cia.org/canopen/protocol/errorcontrol.html">Error
Control</A> is used to validate that any device is
working proper in terms of CANopen communication.</P>
<P><A
href="http://www.can-cia.org/canopen/protocol/nmt.html">Network
Management</A> is used to control the network in terms
of CANopen communication and indirectly in terms of
system behavior.<BR clear=all></P>
<H3><A name=guarding></A>Object dictionary</H3>
<P>The object dictionary represents the complete access
to the application program of the device in terms of
application data as well as in term of configuration
parameters. The object dictionary gain access</P>
<UL>
<LI>to all data types used in the device,
<LI>to the communication parameters (to configure the
device in terms of communication), and
<LI>to the application data and configuration
parameters. </LI></UL>
<P><IMG height=163
src="CAN in Automation (CiA) - CANopen protocol - Device Model.files/od-small.gif"
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<TD style="FONT-WEIGHT: bold; COLOR: white"
bgColor=#009966 color="white">Direct
links</TD></TR>
<TR vAlign=top align=justify>
<TD><IMG height=8
src="CAN in Automation (CiA) - CANopen protocol - Device Model.files/link.gif"
width=8 border=0> <A
href="http://www.can-cia.org/canopen/protocol/index.html">Introduction</A>
<P><IMG height=8
src="CAN in Automation (CiA) - CANopen protocol - Device Model.files/link.gif"
width=8 border=0> <A
href="http://www.can-cia.org/canopen/protocol/pdo.html">Process
Data Objects (PDO)</A></P>
<P><IMG height=8
src="CAN in Automation (CiA) - CANopen protocol - Device Model.files/link.gif"
width=8 border=0> <A
href="http://www.can-cia.org/canopen/protocol/sdo.html">Service
Data Objects (SDO)</A></P>
<P><IMG height=8
src="CAN in Automation (CiA) - CANopen protocol - Device Model.files/link.gif"
width=8 border=0> <A
href="http://www.can-cia.org/canopen/protocol/nmt.html">Network
Managment (NMT)</A></P>
<P><IMG height=8
src="CAN in Automation (CiA) - CANopen protocol - Device Model.files/link.gif"
width=8 border=0> <A
href="http://www.can-cia.org/canopen/protocol/special.html">Special
function objects (Sync, Emcy, Time)</A></P>
<P><IMG height=8
src="CAN in Automation (CiA) - CANopen protocol - Device Model.files/link.gif"
width=8 border=0> <A
href="http://www.can-cia.org/canopen/protocol/errorcontrol.html">Error
control: Heartbeat</A></P>
<P><IMG height=8
src="CAN in Automation (CiA) - CANopen protocol - Device Model.files/link.gif"
width=8 border=0> <A
href="http://www.can-cia.org/canopen/protocol/od.html">Device
model and object dictionary</A></P>
<P><IMG height=8
src="CAN in Automation (CiA) - CANopen protocol - Device Model.files/link.gif"
width=8 border=0> <A
href="http://www.can-cia.org/canopen/protocol/bittiming.html">Bit
timing</A></P>
<UL></UL>
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