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CiA 301 – CANopen application layer and communication profile(IGCO_301_v04000202)(英文原版协议).pdf
© CAN in Automation e. V.
CANopen
Application Layer and Communication Profile
CiA Draft Standard 301
Version 4.02
Date: 13 February 2002
CANopen
CiA
Changes
Document completely revised;
Summary of major changes:
• Object Dictionary structure reviewed
• Object services and NMT services included (former in CiA DS-201 .. CiA DS-207
specified)
• Data type definitions included (former in CiA DS-201 .. CiA DS-207 specified) and
extended
HISTORY
HISTORY
Date
June 1999
June 2000
February 2002
• Boot Up Message specified
• Optional Heartbeat specified
• Additional Emergency error codes specified
• Additional SDO abort codes specified
• Timer-driven PDO transmission specified
• PDO Communication parameter enhanced
• PDO Mapping procedure clarified
• SDO Block transfer specified
• Pre-defined Identifier set extended
•
•
•
Device configuration
correction of some typing errors
clarification of some descriptions
Appendix:
•
• OS command and prompt
• Multiplexed PDOs
• Modular CANopen devices
•
Error behaviour
errata sheet included
chapter '11.6.2. Error behaviour object' – wrong reference changed
default value changed from 'No' to '(device profile dependent)' for inhibit time and
event timer at definition of TPDO
chapter '9.4.4. Restricted COB-Ids' added
default value changed from 'No' to 'disabled' for COB-ID Client -> Server and COB-
ID Server -> Client at definition of Server SDO Parameter for Index 1201h – 127Fh
default value changed from 'No' to 'disabled' for COB-ID Client -> Server and COB-
ID Server -> Client at definition of Client SDO Parameter
'All client SDOs are invalid by default (invalid bit – see …)' added
'A000h – BFFFh – Standardised Interface Profile Area' added at table 1
figure 49 changed – structure of the Initialisation state.
annex A edited
•
•
•
•
•
•
•
•
•
•
General information on licensing and patents
CAN in AUTOMATION (CiA) calls attention to the possibility that some of the elements of this CiA specification may be subject
of patent rights. CiA shall not be responsible for identifying any or all such patent rights.
© CiA 2005-01-01
All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized in any form or by any
means, electronic or mechanical, including photocopying and microfilm, without permission in writing from CiA at the address
below.
CAN in Automation e. V.
Kontumazgarten 3
DE – 90429 Nuremberg, Germany
Tel.: +49-911-928819-0
Fax: +49-911-928819-79
Url: www.can-cia.org
Email: headquarters@can-cia.org
2
CONTENTS
CANopen
CiA
CONTENTS
1 TABLES .................................................................................................................................. 6
2 FIGURES................................................................................................................................. 8
3 SCOPE .................................................................................................................................. 10
4 REFERENCES...................................................................................................................... 11
4.1 Normative references ................................................................................................... 11
Informative references ................................................................................................. 11
4.2
5 DEFINITIONS AND ABBREVIATIONS.......................................................................... 12
5.1 Abbreviations ................................................................................................................ 12
6 MODELING ........................................................................................................................... 14
6.1 Reference Model .......................................................................................................... 14
6.2 Device Model ............................................................................................................... 15
6.2.1 General ................................................................................................................. 15
6.2.2 The Object Dictionary .......................................................................................... 16
6.3 Communication Model ................................................................................................ 17
6.3.1 Master/Slave relationship .................................................................................... 18
6.3.2 Client/Server relationship .................................................................................... 19
6.3.3 Producer/Consumer relationship - Pull/Push model ......................................... 19
7 PHYSICAL LAYER ............................................................................................................ 20
7.1 Transceiver ................................................................................................................... 20
7.2 Bit rates and timing....................................................................................................... 20
8 DATA LINK LAYER ......................................................................................................... 22
8.1 CAN Frame Type.......................................................................................................... 22
9 APPLICATION LAYER ...................................................................................................... 23
9.1 Data Types and Encoding Rules................................................................................. 23
9.1.1 General Description of Data Types and Encoding Rules ................................. 23
9.1.2 Data Type Definitions .......................................................................................... 23
9.1.3 Bit Sequences ...................................................................................................... 24
3
CONTENTS
CANopen
CiA
9.1.4 Basic Data Types................................................................................................. 25
9.1.5 Compound Data Types........................................................................................ 28
9.1.6 Extended Data Types .......................................................................................... 28
9.2 Communication Objects ............................................................................................... 29
9.2.1 Process Data Object (PDO) ................................................................................ 29
9.2.2 Service Data Object (SDO) ................................................................................. 33
9.2.3 Synchronisation Object (SYNC).......................................................................... 58
9.2.4 Time Stamp Object (TIME).................................................................................. 59
9.2.5 Emergency Object (EMCY)................................................................................. 60
9.2.6 Network Management Objects............................................................................ 63
9.3 Synchronisation of the SYNC Consumer.................................................................... 71
9.3.1 Transmission of Synchronous PDO Messages ................................................. 71
9.3.2 Optional High Resolution Synchronisation Protocol.......................................... 72
9.4 Network Initialisation and System Boot-Up ................................................................ 74
9.4.1
Initialisation Procedure ........................................................................................ 74
9.4.2 NMT State Machine ............................................................................................. 74
9.4.3 Pre-Defined Connection Set ............................................................................... 77
9.5 Object Dictionary .......................................................................................................... 79
9.5.1 General Structure of the Object Dictionary ........................................................ 79
9.5.2 Dictionary Components ....................................................................................... 80
9.5.3 Data Type Entry Specification............................................................................. 80
9.5.4 Specification of Predefined Complex Data Types ............................................. 82
9.6 Communication Profile Specification .......................................................................... 84
9.6.1 Detailed Object Specification .............................................................................. 84
9.6.2 Overview Object Dictionary Entries for Communication ................................... 84
9.6.3 Detailed Specification of Communication Profile specific Objects ................... 86
10
IMPLEMENTATION RECOMMENDATIONS............................................................... 114
11 ANNEX A (NORMATIVE) ................................................................................................ 115
11.1 Additional object dictionary entries.......................................................................... 116
11.2 Device configuration................................................................................................. 117
11.2.1 Boot-up configuration process ........................................................................ 117
4
CONTENTS
CANopen
CiA
11.2.2 EDS storage ..................................................................................................... 118
11.3 OS command and prompt........................................................................................ 120
11.3.1 OS command ................................................................................................... 120
11.3.2 OS debugger interface .................................................................................... 122
11.3.3 OS prompt ........................................................................................................ 124
11.4 Multiplexed PDOs..................................................................................................... 126
11.4.1 MPDO Protocol ................................................................................................ 126
11.4.2 Object dictionary entries.................................................................................. 127
11.4.3
Implementing MPDOs ..................................................................................... 129
11.4.4 Groups, security and network configuration tools ......................................... 129
Indication of MPDO capability in the EDS...................................................... 129
11.4.5
11.5 Additional functionality for modular CANopen devices.......................................... 130
11.5.1 Background ...................................................................................................... 130
11.5.2 Modular Devices .............................................................................................. 130
11.6 Additional communication objects........................................................................... 132
11.6.1 Emergency consumer object .......................................................................... 132
11.6.2 Error behaviour object ..................................................................................... 133
12
INDEX................................................................................................................................ 135
5
CiA
CANopen
TABLES
1 TABLES
Table 1: Object Dictionary Structure .......................................................................................................... 16
Table 2: Recommended Bit Timing Settings ............................................................................................. 20
Table 3: Write PDO ..................................................................................................................................... 31
Table 4: Read PDO ..................................................................................................................................... 31
Table 5: SDO Download ............................................................................................................................. 35
Table 6: Initiate SDO Download ................................................................................................................. 35
Table 7: Download SDO Segment ............................................................................................................. 36
Table 8: SDO Upload .................................................................................................................................. 36
Table 9: Initiate SDO Upload ...................................................................................................................... 37
Table 10: Upload SDO Segment ................................................................................................................ 37
Table 11: Abort SDO Transfer.................................................................................................................... 37
Table 12: SDO Block Download ................................................................................................................. 38
Table 13: Initiate SDO Block Download..................................................................................................... 38
Table 14: Download SDO Block ................................................................................................................. 39
Table 15: End SDO Block Download ......................................................................................................... 39
Table 16: SDO Block Upload...................................................................................................................... 40
Table 17: Initiate SDO Block Upload.......................................................................................................... 40
Table 18: Upload SDO Block...................................................................................................................... 41
Table 19: End SDO Block Upload .............................................................................................................. 41
Table 20: SDO abort codes ........................................................................................................................ 48
Table 21: Emergency Error Codes............................................................................................................. 60
Table 22: Start Remote Node ..................................................................................................................... 63
Table 23: Stop Remote Node ..................................................................................................................... 63
Table 24: Enter Pre-Operational................................................................................................................. 63
Table 25: Reset Node ................................................................................................................................. 64
Table 26: Reset Communication ................................................................................................................ 64
Table 27: Node Guarding Event ................................................................................................................. 65
Table 28: Life Guarding Event.................................................................................................................... 65
Table 29: Heartbeat Event .......................................................................................................................... 65
Table 30: Bootup Event............................................................................................................................... 65
Table 31: Trigger for State Transition ........................................................................................................ 75
Table 32: States and Communication Objects .......................................................................................... 77
Table 33: Broadcast Objects of the Pre-defined Connection Set ............................................................ 78
Table 34: Peer-to-Peer Objects of the Pre-defined Connection Set........................................................ 78
Table 35: Restricted COB-IDs .................................................................................................................... 78
Table 36: Format of Object Dictionary Headings ...................................................................................... 79
Table 37: Object Dictionary Object Definitions.......................................................................................... 79
Table 38: Access Attributes for Data Objects............................................................................................ 80
Table 39: Object Dictionary Data Types .................................................................................................... 80
Table 40: complex data type example ....................................................................................................... 82
6
CANopen
TABLES
CiA
Table 41: PDO Communication Parameter Record.................................................................................. 83
Table 42: PDO Mapping Parameter Record.............................................................................................. 83
Table 43: SDO Parameter Record ............................................................................................................. 83
Table 44: Identity Record ............................................................................................................................ 83
Table 45: Format of an Object Description ................................................................................................ 84
Table 46: Object Value Description Format............................................................................................... 84
Table 47: Standard Objects ........................................................................................................................ 84
Table 48: Structure of the Error Register................................................................................................... 87
Table 49: Description of SYNC COB-ID entry ........................................................................................... 89
Table 50: Structure of read access ............................................................................................................ 93
Table 51: Structure of restore read access................................................................................................ 96
Table 52: Description of TIME COB-ID entry ............................................................................................ 97
Table 53: Description of EMCY COB-ID entry .......................................................................................... 99
Table 54: Description of SDO COB-ID entry ........................................................................................... 103
Table 55: Description of PDO COB-ID entry ........................................................................................... 106
Table 56: Description of transmission type.............................................................................................. 106
7
CiA
CANopen
FIGURES
2 FIGURES
Figure 1: Reference Model ......................................................................................................................... 14
Figure 2: Service Types .............................................................................................................................. 15
Figure 3: Device Model ............................................................................................................................... 16
Figure 4: Unconfirmed Master Slave Communication .............................................................................. 18
Figure 5: Confirmed Master Slave Communication .................................................................................. 18
Figure 6: Client/Server Communication ..................................................................................................... 19
Figure 7: Push model .................................................................................................................................. 19
Figure 8: Pull model..................................................................................................................................... 19
Figure 9: Transfer Syntax for Bit Sequences............................................................................................. 25
Figure 10: Transfer syntax for data type UNSIGNEDn............................................................................. 26
Figure 11: Transfer syntax for data type INTEGERn ................................................................................ 26
Figure 12: Transfer syntax of data type REAL32 ...................................................................................... 27
Figure 13: Synchronous and Asynchronous Transmission ...................................................................... 30
Figure 14: Write PDO Protocol ................................................................................................................... 32
Figure 15: Read PDO Protocol................................................................................................................... 32
Figure 16: Download SDO Protocol ........................................................................................................... 42
Figure 17: Initiate SDO Download Protocol............................................................................................... 43
Figure 18: Download SDO Segment Protocol........................................................................................... 44
Figure 19: Upload SDO Protocol ................................................................................................................ 45
Figure 20: Initiate SDO Upload Protocol.................................................................................................... 46
Figure 21: Upload SDO Segment Protocol................................................................................................ 47
Figure 22: Abort SDO Transfer Protocol.................................................................................................... 48
Figure 23: SDO Block Download Protocol................................................................................................. 50
Figure 24: Initiate SDO Block Download Protocol..................................................................................... 51
Figure 25: Download SDO Block Segment................................................................................................ 52
Figure 26: End SDO Block Download Protocol ......................................................................................... 53
Figure 27: Upload SDO Block Protocol...................................................................................................... 54
Figure 28: Initiate SDO Block Upload Protocol ......................................................................................... 55
Figure 29: Upload SDO Block Segment Protocol ..................................................................................... 56
Figure 30: End SDO Block Upload Protocol.............................................................................................. 57
Figure 31: SYNC Protocol........................................................................................................................... 58
Figure 32: TIME Protocol ............................................................................................................................ 59
Figure 33: Emergency State Transition Diagram ...................................................................................... 61
Figure 34: Emergency Object Data ............................................................................................................ 61
Figure 35: Emergency Object Protocol ...................................................................................................... 62
Figure 36: Start Remote Node Protocol..................................................................................................... 66
Figure 37: Stop Remote Node Protocol ..................................................................................................... 66
Figure 38: Enter Pre-Operational Protocol ................................................................................................ 67
Figure 39: Reset Node Protocol ................................................................................................................. 67
Figure 40: Reset Communication Protocol ................................................................................................ 68
8
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