Leadshine Technology EM-CAN User manual

EM-CAN
CANopen Protocol Instruction Manual
Revision 1.0
©2016 China Leadshine Technology Co., Ltd.
Address: 15-20/F, Block B, Nanshan I Valley, No.3185, Shahe West Road, Nanshan District,
Shenzhen, Guangdong, 518055, China
Tel: [phone] Fax: [phone]
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Support: [e-mail]

CANopen Protocol Instruction Manual
II
Notice
Read this manual carefully before any assembling and using. Incorrect handling of products in this manual can
result in injury and damage to persons and machinery. Strictly adhere to the technical information regarding
installation requirements.
This manual is not for use or disclosure outside of Leadshine except under permission. All rights are reserved.
No part of this manual shall be reproduced, stored in retrieval form, or transmitted by any means, electronic,
mechanical, photocopying, recording, or otherwise without approval from Leadshine. While every precaution
has been taken in the preparation of the book, Leadshine assumes no responsibility for errors or omissions.
Neither is any liability assumed for damages resulting from the use of the information contained herein.
This document is proprietary information of Leadshine that is furnished for customer use ONLY. Information
in this document is subject to change without notice and does not represent a commitment on the part of
Leadshine. Therefore, information contained in this manual may be updated from time-to-time due to product
improvements, etc., and may not conform in every respect to former issues.
Record of Revisions
Revision
Date
Description of Release
1.0
Mar, 2017
Initial Release

CANopen Protocol Instruction Manual
III
TABLE OF CONTENTS
1 PORT CONNECTION AND SETTINGS..........................................................................................................1
1.1 CAN BUS CONNECTORS................................................................................................................................... 1
1.2 EM556-CAN COMMUNICATION PARAMETER SETTING..................................................................................1
2 CANOPEN COMMUNICATION...................................................................................................................... 2
2.1 CANOPEN PROTOCOL OVERVIEW..................................................................................................................... 2
2.2 CANOPEN COMMUNICATION SERVICES...........................................................................................................3
2.3 CANOPEN PREDEFINED CONNECTIONS SETTING.............................................................................................3
2.4 OBJECT DIRECTORY (OD).................................................................................................................................. 4
2.5 NETWORK MANAGEMENT (NMT).................................................................................................................. 13
2.6 PROCESS DATA OBJECTS (PDO)..................................................................................................................... 15
2.7 SERVICE DATA OBJECTS (SDO).......................................................................................................................17
2.8 EMERGENCY OBJECT........................................................................................................................................ 18
3 DS402 CONTROL OF EM-CAN........................................................................................................................ 20
3.1 BASIC MOVEMENT STEPS FOR EM-CAN DRIVES.............................................................................................20
3.2 402 STATE MACHINE......................................................................................................................................... 21
3.3 DEVICE CONTROL OBJECT DICTIONARY..............................................................................................................24
3.4 OPERATION MODE SETTING...............................................................................................................................24
3.5 COMMON FUNCTIONS IN OPERATION MODE..................................................................................................25
4 OPERATION MODES OF EM-CAN................................................................................................................. 31
4.1 MOTOR ENABLE CONTROL.................................................................................................................................31
4.2 PROFILE POSITION MODE..................................................................................................................................33
4.3 PROFILE VELOCITY MODE.................................................................................................................................. 33
4.4 HOME MODE................................................................................................................................................... 34
APPENDIX A.......................................................................................................................................................... 35
APPENDIX B...........................................................................................................................................................38
APPENDIX C...........................................................................................................................................................39
APPENDIX D.......................................................................................................................................................... 40

CANopen Protocol Instruction Manual
1
1 Port Connection and Settings
1.1 CAN Bus Connectors
EM556-CAN's CAN port adopt double couplet belt shielded RJ45 terminal (Adopt standard
RJ45 norm).
RJ45 port PIN sequence
definition
PIN No.
Signal
Function
description
1
CAN_H
CAN signal high
2
CAN_L
CAN signal low
3
CAN_GND
CAN signal
earth
4-5
NC
6
NC
7
CAN_SHLD
Reserved GND
8
NC
1.2 EM556-CAN Communication Parameter Setting
For different types of drives, the communication parameter setting is not the same, please
refer to the product manual for details, take EM556-CAN for example.
Setting range of drive's communication address is 1-127 (Drive's communication address must
set to be other value because of some master stations also need to set communication
address ), EM556-CAN's CAN address have 7 bits in total, low 5 bits address are defined
bySW1-SW5, high 2 bits address are defined bySW1-SW5, specific definition of low 5 bits CAN
address :
CAN address ID（Low 5
bits）
SW1
SW2
SW3
SW4
SW5
1
off
on
on
on
on
2
on
off
on
on
on
3
off
off
on
on
on
4
on
on
off
on
on
5
off
on
off
on
on
6
on
off
off
on
on
7
off
off
off
on
on
8
on
on
on
off
on
9
off
on
on
off
on
10
on
off
on
off
on
11
off
off
on
off
on
12
on
on
off
off
on
13
off
on
off
off
on
14
on
off
off
off
on
15
off
off
off
off
on
16
on
on
on
on
off
17
off
on
on
on
off

CANopen Protocol Instruction Manual
2
18
on
off
on
on
off
19
off
off
on
on
off
20
on
on
off
on
off
21
off
on
off
on
off
22
on
off
off
on
off
23
off
off
off
on
off
24
on
on
on
off
off
25
off
on
on
off
off
26
on
off
on
off
off
27
off
off
on
off
off
28
on
on
off
off
off
29
off
on
off
off
off
30
on
off
off
off
off
31
off
off
off
off
off
Baud rate can be set by external DIP switch, specific settings as below:
EM556-CAN adopt built-in terminal resistance, can select by SW8, the SW8 of the drive which
is at the end of bus must be switch to "on".
2 CANopen Communication
This chapter mainly introduce CANopen protocol and Leadshine CANopen drive's
communication function
2.1 CANopen Protocol Overview
CAN(Controller Area Network) fieldbus only define physical layer, data link layer, but not
application layer; It is not complete. Need a high-level protocol to define specific function of
different data bits in the packet. Meanwhile, along with more and more widely useing of CAN
bus in industrial automation. Even more urgent needs an open, standardized, high-level
protocol. CANopen is a high-level protocol which is based on CAN. Is a standard protocol
which defined by CiA(CAN-in-Automation), accepted widely in a short time after released.
Depend on support of CANopen protocol, different factory's devices which follow CANopen
standard can be network connection through CAN bus.
In the OSI mode, relationship between CAN standard and CANopen protocol as follow:
Baud Rate
SW6
SW7
Communica
tion range
Default(100K, can use upper computer to
preset value)
on
on
550m
250K
off
on
250m
500K
on
off
100m
1M(factory setting)
off
off
25m

CANopen Protocol Instruction Manual
3
CANopen protocol provides a standard group of communication object: contains
PDO(Process Data Objects), SDO(Service Data Objects) and some specific function Time
Stamp, synchronous information (Sync message), E mergency message ； also formulate
network management data, such as Boot-up message, network management information
(NMT message) and Error Control message.
2.2 CANopen Communication Services
EM556-CAN follow CANopen norm:
◊ Fellow CAN 2.0A standard
◊ Conform to CANopen standard protocol DS 301 V4.02
◊ Conform to CANopen standard protocol DSP 402 V2.01
Leadshine's CANopen drive support service :
◊ Support NMT Slave service
◊ Equipment monitoring: Support the heartbeat packets, node guarding
◊ Support PDO service: Each slave station can configure maximum 3 TxPDO and 3 RxPDO
◊ PDO Transmission type: Support the event-trigger, time-trigger, synchronizing cycle,
Synchronous acyclic
◊ Support SDO service
◊ Support Emergency Protocol
2.3 CANopen Predefined Connections Setting
In order to reduce simple network configuration work, CANopen defined compulsory default
identifier distribution list. These identifier are available in pre-operational status, modifiable
by dynamic assignment. CANopen device must provide identifier to its supported
communication object.

CANopen Protocol Instruction Manual
4
11bits CAN－ID, contains 4 bits function code and 7 bits Node-ID , as shown below:
Function code
Node ID
10
9
8
7
6
5
4
3
2
1
0
Node-ID range is 1-127(0 are not allowed to be used).
Predefined connection group defines 3 receive PDO(RXPDO), 1transmit PDO(TXPDO), 1 SDO
(occupy 2 CAN-ID), 1 emergency object and 1 node error control ID. Also support don't need
to be confirmed NMT Module Control service and synchronization object broadcast.
Definitions are shown in table below.
CANopen predefine broadcast object of master/slave connection group
Object
Function code
COB-ID
Object dictionary
index
NMT modular control
0000
0x000
—
Synchronization
0001
0x080
1005H,1006H,1007H
CANopen Master/slave connection group equivalent object
Object
Fuction code
COB-ID
Object dictionary
index
Emergency
0001
0x081-0x0FF
1024H,1015H
TXPDO1(Transmit)
0011
0x181-0x1FF
1800H
RXPDO1(Receive)
0100
0x201-0x27F
1400H
TXPDO3(Transmit)
0111
0x381-0x3FF
1802H
RXPDO3(Receive)
1000
0x401-0x47F
1402H
TXPDO4(Transmit)
1001
0x481-0x4FF
1803H
RXPDO4(Receive)
1010
0x501-0x57F
1403H
SDO(Server transmit)
1011
0x581-0x5FF
1200H
SDO(Client transmit)
1100
0x601-0x67F
1200H
NMT Error control
1110
0x701-0x77F
1016H-1017H
Remarks:
⊙ PDO/SDO transmit/receive is relative to the side of the (slave)CAN node.
⊙ NMT error control contains node guarding, heartbeat and Boot-up protocol.
ID address distribution list corresponds to predefined master-slave connection group,
because all the peer to peer ID is different, therefore, only one master device(know all the
connection node ID) can communicate with every connected slave node in peer-to-peer
manner. Two connected slave node can not communicate.
2.4 Object Directory (OD)
2.4.1 Object Dictionary Overview
Object dictionary is a well-organized object group. Each object adopt a 16 bits index to
addressing, In order to allow access to single element of the data structure, at the same time
defines a 8 bits sub index, the structure of the object dictionary in the following table:
Index
Object

CANopen Protocol Instruction Manual
5
0000H
Unused
0001H——001FH
The standard data type, such as Bool, Integer16 etc.
0020H——003FH
Complex data type, such as PDO Communication
Parameters (PDOCommpar) etc.
0040H——005FH
Manufacturer defined responsible data type
0060H——007FH
Standard data type regulated by device profile
0080H——009FH
Complex data type regulated by device profile
00A0H——0FFFH
Reserved area
1000H——1FFFH
Communication protocol area, such as equipment types,
PDO quantity etc.
2000H——5FFFH
Manufacturer specific profile area
6000H——9FFFH
Standard device profile area, such as DSP 402 object
dictionary area
A000H——FFFFH
Reserved area
Every CANopen node in the network has object dictionary——Contains device and its
network behavior description the all parameters of the r.
Node's object dictionary is described in EDS: Electronic Data Sheet. If the node describe its
action strictly according to EDS, also ok. Actually, node only need to provide necessary
object in the object dictionary (there are rarely required items in CANopen regulation). And
other selectable, form the node part which is functional configurable object.
CANopen contains lots of profiles；Among them, communication profile, describes chief
modality of object dictionary and communication profile area's object/communication
parameters of object dictionary. At the same time describes the CANopen communication
object, this protocol applies to all CANopen equipment. Besides, there are lots of device
profile, define the object in the object dictionary for a variety of different types of equipment.
Device profile describes function/name/index/sub-index for each object which is in the object
dictionary. And whether this object is necessary or selectable, this object is read only, write
only or read/write, and so on. Device profile defines which object is required or selectable in
the object dictionary. If the required items exceed those which can provided by device profile.
Already reserved sufficient space which can provide to manufacturer in device profile.
Communication parameters parts which described in object dictionary is the same to all
CANopen device(such as object is the same in object dictionary, object value does not need to
keep the same). Device related parts which described in the object dictionary is different to
different kinds of devices.
2.4.2 Object Dictionary Structure
DS 301 specifies the basic structure of the object dictionary, as below:
Index
Object
Name
type
Property
Required
/Closeable
2.4.3 Object Type
The corresponding "object " CANopen object code in above table as follow:
Object name
Object
code
Specification
NULL
0
No data
DOMAIN
2
a mass of data, Such as executable code segment

CANopen Protocol Instruction Manual
6
VAR
7
variable, such as Bool, Integer 8 bits etc
ARRAY
8
Array, lots of the same type of data
RECORD
9
Record, can be a lot of different types of data
2.4.4 Accessing Properties
Property
Specification
RW
read-write
WO
write only
RO
read only
CONST
Constant, read only
2.4.5 Communication Object Dictionary
EM556-CAN Communication object dictionary list as follows:
Index
Object type
Name
Data type
Accessing
Properties
1000H
VAR
Device type
Integer 32 bits
RO
1001H
VAR
Error Register
Integer 8 bits
RO
1003H
ARRAY
Predefined error area
Integer 32 bits
RO
1005H
VAR
PDO synchronization ID
Integer 32 bits
RW
1006H
VAR
Communication cycle
Integer 32 bits
RW
1007H
VAR
PDO time window
Integer 32 bits
RW
1008H
DOMAIN
Device name
character string
CONST
1009H
VAR
Hardware Version
character string
CONST
100AH
VAR
Software Version
character string
CONST
1014H
VAR
Emergency message
Integer 32 bits
RW
1017H
VAR
Producer heartbeat time
Integer 16 bits
RW
1018H
RECORD
Identity object
Integer 32 bits
RO
1200H
RECORD
Server SDO parameters
SDO parameters
RO
1400H
RECORD
Transmit PDO parameters
PDO parameters
RW
1402H
RECORD
Receive PDO parameters
PDO parameters
RW
1403H
RECORD
Receive PDO parameters
PDO parameters
RW
1404H
RECORD
Receive PDO parameters
PDO parameters
RW
1405H
RECORD
Receive PDO parameters
PDO parameters
RW
1600H
RECORD
Receive PDO mapping
PDO mapping
RW
1602H
RECORD
Receive PDO mapping
PDO mapping
RW
1603H
RECORD
Receive PDO mapping
PDO mapping
RW
1604H
RECORD
Receive PDO mapping
PDO mapping
RW
1605H
RECORD
Receive PDO mapping
PDO mapping
RW
1800H
RECORD
Transmit PDO parameters
PDO parameters
RW
1802H
RECORD
Transmit PDO parameters
PDO parameters
RW
1803H
RECORD
Transmit PDO parameters
PDO parameters
RW
1804H
RECORD
Transmit PDO parameters
PDO parameters
RW
1805H
RECORD
Transmit PDO parameters
PDO parameters
RW
1A00H
RECORD
Transmit PDO mapping
PDO mapping
RW
1A02H
RECORD
Transmit PDO mapping
PDO mapping
RW
1A03H
RECORD
Transmit PDO mapping
PDO mapping
RW
1A04H
RECORD
Transmit PDO mapping
PDO mapping
RW
1A05H
RECORD
Transmit PDO mapping
PDO mapping
RW
DS 301 Communication object dictionary details
1000H: device type
Index
1000H
Name
device type
Object type
VAR

CANopen Protocol Instruction Manual
7
Data type
Integer 32 bits
Accessing Properties
RO
PDO mapping
Cannot mapping
Value range
0-232-1
Default Values
0x20192
1001H: Error Register
Index
1001H
Name
error register
Object Type
VAR
Data type
Integer 8 bits
Accessing Properties
RO
PDO mapping
Cannot mapping
Value range
0-28-1
Default Values
0x0
1003H: Device type
Index
1003H
Name
Predefined error area
Object Type
ARRAY
Data type
Integer 32 bits
Sub-index
Sub-index
0x0
description
Error quantity
Accessing Properties
RW
PDO mapping
Cannot mapping
Value range
0-28-1
Default Values
0x4
Sub-index
Sub-index
0x1-0x4
description
standard error area
Accessing Properties
RO
PDO mapping
Cannot mapping
Value range
0-232-1
Default Values
0x0
1005H: device type
Index
1005H
name
PDO Synchronization ID
Object Type
VAR
Data type
Integer 32 bits
Accessing Properties
RW
PDO mapping
Cannot mapping
Value range
0-232-1
Default Values
0x80
1006H: Communication cycle
Index
1006H
name
communication cycle
Object Type
VAR
Data type
Integer 32 bits
Accessing Properties
RW
PDO mapping
Cannot mapping

CANopen Protocol Instruction Manual
8
Value range
0-232-1
Default Values
0x0
1007H: PDO Time Window
Index
1007H
Name
PDO Time Window
Object Type
VAR
Data type
Integer 32 bits
Accessing Properties
RW
PDO mapping
Cannot mapping
Value range
0-232-1
Default Values
0x0
1008H: Device name
Index
1008H
Name
Device name
Object type
VAR
Data type
String
Accessing property
CONST
PDO mapping
Cannot mapping
Value range
Unknown
Default value
DS402 Drive-LeadShine
1009H: Hardware version
Index
1009H
Name
Hardware version
Object type
VAR
Data type
String
Accessing property
CONST
PDO mapping
Cannot mapping
Value range
Unknown
Default value
V1.04
100AH: Software version
index
100AH
Name
Software version
Object type
VAR
Data type
String
Accessing property
CONST
PDO mapping
Cannot mapping
Value range
Unknown
Default value
V1.00
1014H: Emergency message
Index
1014H
Name
Emergency message
Object type
VAR
Data type
Integer 32 bits
Accessing property
RW
PDO mapping
Cannot mapping
Value range
0-232-1
Default value
0x80000000
1017H: Producer heartbeat time
Index
1017H
Name
Producer heartbeat time
Object type
VAR

CANopen Protocol Instruction Manual
9
Data type
Integer 16 bits
Accessing property
RW
PDO mapping
Cannot mapping
Value range
0-216-1
Default value
0x0
1018H: Identity object
Index
1018H
Name
Identity object
Object type
RECORD
Data type
Integer 32 bits
Sub-index
Sub-index
0x0
Description
Sub-index quantity
Accessing property
RO
PDO mapping
Cannot mapping
Value range
1-4
Default value
0x4
Sub-index
Sub-index
0x1
Description
Manufacturer ID
Accessing property
R0
PDO mapping
Cannot mapping
Value range
0-232-1
Default value
0x00000331
Sub-index
Sub-index
0x2
Description
Product code
Accessing property
RO
PDO mapping
Cannot mapping
Value range
0-232-1
Default value
0x0
Sub-index
Sub-index
0x3
Description
version number
Accessing property
RO
PDO mapping
Cannot mapping
Value range
0-232-1
Default value
0x100
Sub-index
Sub-index
0x4
Description
Serial number
Accessing property
RO
PDO mapping
Cannot mapping
Value range
0-232-1
Default value
0x1
1200H: Server SDO parameters
Index
1200H
Name
Server SDO parameters
Object type
RECORD
Data type
SDO parameters
Sub-index

CANopen Protocol Instruction Manual
10
Sub-index
0x0
Description
Sub-index quantity
Accessing property
RO
PDO mapping
Cannot mapping
Value range
0x2
Default value
0x2
Sub-index
Sub-index
0x1
Description
COB-ID(user to server)
Accessing property
RO
PDO mapping
Cannot mapping
Value range
0-232-1
Default value
0x600+Node-ID
Sub-index
Sub-index
0x2
Description
COB-ID(server to user)
Accessing property
RO
PDO mapping
Cannot mapping
Value range
1-27-1
Default value
0x580+ Node-ID
1400H-1405H: Receive PDO parameters
Index
1400H-1405H
Name
Receive PDO parameters
Object type
RECORD
Data type
PDO parameters
Sub-index
Sub-index
0x0
Description
Sub-index quantity
Accessing property
RO
PDO mapping
Cannot mapping
Value range
0x2-0x5
Default value
0x5
Sub-index
Sub-index
0x1
Description
PDO COB-ID
Accessing property
RW
PDO mapping
Cannot mapping
Value range
0-232-1
Default value
0x1400: 0x40000200+ Node-ID
0x1402: 0x40000400+ Node-ID
0x1403: 0x40000500+ Node-ID
0x1404: 0xC0000000
0x1405: 0xC0000000
Sub-index
Sub-index
0x2
Description
Transmit type
Accessing property
RW
PDO mapping
Cannot mapping
Value range
0-28-1
Default value
255(asynchronous mode, refer
to appendix B)
Sub-index
Sub-index
0x3

CANopen Protocol Instruction Manual
11
Description
Forbidden time
Accessing property
RW
PDO mapping
Cannot mapping
Value range
0-216-1
Default value
0
Sub-index
Sub-index
0x4
Description
Event Timer
Accessing property
RW
PDO mapping
Cannot mapping
Value range
0-216-1
Default value
0
1600H-1605H: Receive PDO mapping
Index
1400H-1405H
Name
Receive PDO mapping
Object type
RECORD
Data type
PDO mapping
Sub-index
Sub-index
0x0
Description
Mapping object quantity
Accessing property
RW
PDO mapping
Cannot mapping
Value range
1-64
Default value
0x1
Sub-index
Sub-index
0x1-0x8
Description
PDO mapping object quantity
Accessing property
RW
PDO mapping
Cannot mapping
Value range
0-232-1
Default value
0x0
1800H-1805H: Transmit PDO parameter
Index
1800H-1805H
Name
Transmit PDO parameter
Object type
RECORD
Data type
PDO parameter
Sub-index
Sub-index
0x0
Description
Sub-index quantity
Accessing property
RO
PDO mapping
Cannot mapping
Value range
0x2-0x5
Default value
0x5
Sub-index
Sub-index
0x1
Description
PDO COB-ID
Accessing
property
RW
PDO mapping
Cannot mapping
Value range
0-232-1
Default value
0x1800: 0x00000180+ Node-ID

CANopen Protocol Instruction Manual
12
0x1802: 0x00000380+ Node-ID
0x1803: 0x00000480+ Node-ID
0x1804: 0x80000000
0x1805: 0x80000000
Sub-index
Sub-index
0x2
Description
Transmit type
Accessing property
RW
PDO mapping
Cannot mapping
Value range
0-28-1
Default value
0x1800:255(asynchronou
s mode, refer to
appendix: 1
Sub-index
Sub-index
0x3
Description
Forbidden time
Accessing property
RW
PDO mapping
Cannot mapping
Value range
0-216-1
Default value
0
Sub-index
Sub-index
0x4
Description
Event Timer
Accessing property
RW
PDO mapping
Cannot mapping
Value range
0-216-1
Default value
0
1A00H-1A05H: Transmit PDO mapping
Index
1A00H-1A05H
Name
Transmit PDO mapping
Object type
RECORD
Data type
PDO mapping
Sub-index
Sub-index
0x0
Description
Mapping object quantity
Accessing property
RW
PDO mapping
Cannot mapping
Value range
1-64

CANopen Protocol Instruction Manual
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Default value
0x1
Sub-index
Sub-index
0x1-0x8
Description
PDO Mapping object quantity
Accessing property
RW
PDO mapping
Cannot mapping
Value range
0-232-1
Default value
0x0
2.5 Network Management (NMT)
NMT provide network management services. This service is realized by master-slave
communication mode. (have only one NMT master node).
2.5.1 NMT Modular Control
Only NMT master node can transmit NMT modular control packet, all slave node must support
NMT NMT modular controlservice. Module control does not need reply. The message format is as
follows:
NMT Master node NMT Slave node
COB-ID
Byte 0
Byte 1
0x000
CW
Node-ID
When Node-ID=0, all NMT slave node will be addressing. Corresponding relation between
command word's values and service as following table:
CW
NMT service
1(01H)
Activate the remote node
2(02H)
Stop the remote node
128(80H)
Get into pre-operating state
129(81H)
Nodes reset
130(82H)
Communication reset
2.5.2 NMT Node Protection
Through this service, NMT master node can check current status of each node. The master
node send a remote frame format is as follows:
NMT Master node NMT Slave node
COB-ID
0x700+Node-ID
NMT Slave node's response packet format as below:
NMT Slave node NMT Master node
COB-ID
Byte 0

CANopen Protocol Instruction Manual
14
0x700+Node-ID
Bit 6:0 status
The data includes a trigger bit(bit7),.trigger bit must set to be "0" or "1" during each time of Node
protection response alternately. trigger bit must set to be "0" in the first time of node protection
request. bit0-6 shows node status, The corresponding relationship of value and status are shown in
below table:
Value
Status
0(00H)
Initialization
1(01H)
disconnected
2(02H)
connected
3(03H)
Ready
4(04H)
Stop
5(05H)
Operating
127(7FH)
Pre-operating
Remark: State 0 does not appear in node protection response.
A node can be configured as periodic packet which be called as Heartbeat packet.
The heartbeat producers Consumer
COB-ID
Byte 0
0x700+Node-ID
Status
The meaning of its corresponding values shown in the following table:
Status value
meanning
0
Boot-up
4
Stop
5
operating
127
Pre-operating
2.5.3 NMT Boot-up
NMT slave node post a Boot-up packet to inform NMT master node that it have got into the
status from initialization to pre-operating.
NMT Slave node NMT Master node
COB-ID
Byte 0
0x700+Node-ID
0
2.5.4 NMT Communication State Machine
CANopen communication state machine as shown in the figure below:

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(1) After power on, enter into initialized status automatically A: NMT
(2) Automatically enter into pre-operation status B: Node Guard
(3) (6) Activate the remote node C: SDO
(4) (7) Enter into pre-operation status D: Emergency
(5) (8) Stop the remote node E: PDO
(9) (10) (11) Reset the node F: Boot-up
(12) (13) (14) Reset the communication
(15) Enter into reset application status automatically
(16) Enter into reset communication status automatically
Enter into pre-operation status after finish device initialization (Umbrella name of reset
initialization, reset the application and communication). Device who is in this status can set
parameters and distribute ID by SDO(Such as use configuration tool) . Then, node enter into
pre-operation status directly.
2.6 Process Data Objects (PDO)
PDO adopt producer/customer mode, PDO data transmit can be one-on-one or one-to-many
manner. Each PDO packet include transmit PDo(TxPDO) and receive PDO(RxPDO) packet, its
transmit style defined as PDO communication parameter index (First group of receive PDO
packet set in index 1400H, second group of transmit PDO packet set in index 1800H).
All PDO transmit data must be mapped onto the corresponding index area through the object
dictionary. Take 1600H and 1A00H which are defined in DSP 402 for example:
Remark: Value of object dictionary in the figure is only used for illustrating, does not have
practical meaning.
Master station transmit packet to slave station's PDO

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Relationship between PDO parameter(1400H) and PDO mapping(1600), PDO data's
transmit process as below (Take node2 for example) . The direction of the arrow in the figure
shows master station data processing direction.
The master station receive feedback packet which return from slave station:

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Relationship between PDO parameter(1800H) and PDO mapping(1A00H), PDO data's transmit
process as below (Take node2 for example) . The direction of the arrow in the figure shows
slave station data processing direction.
2.7 Service Data Objects (SDO)
SDO is used for accessing a device's object dictionary. The visitor is referred to as a
customer(client), CANopen devices whose object dictionary been accessed and provide