CANopen device profile 1.1 Device 1 1 CANopen NodeSlave 0 0 0 * bit 16-31: Additional information * bit 0-15: Device profile number * bit 7: manufacturer specific * bit 6: Reserved (always 0) * bit 5: device profile specific * bit 4: communication error (overrun, error state) * bit 3: temperature * bit 2: voltage * bit 1: current * bit 0: generic error * Sub Index 0: Contains number of actual errors. 0 can be written to clear error history. * sub-index 1 and above: * bit 16-31: Manufacturer specific additional information * bit 0-15: Error code as transmited in the Emergency object * bit 31: set to 0 * bit 30: If set, CANopen device generates SYNC object * bit 11-29: set to 0 * bit 0-10: 11-bit CAN-ID Period of SYNC transmission in µs (0 = transmission disabled). Synchronous window leghth in µs (0 = not used). All synchronous PDOs must be transmitted within this time window. Sub-indexes 1 and above: * Reading provides information about its storage functionality: * bit 1: If set, CANopen device saves parameters autonomously * bit 0: If set, CANopen device saves parameters on command * Writing value 0x65766173 ('s','a','v','e' from LSB to MSB) stores corresponding data. Sub-indexes 1 and above: * Reading provides information about its restoring capability: * bit 0: If set, CANopen device restores parameters * Writing value 0x64616F6C ('l','o','a','d' from LSB to MSB) restores corresponding data. * bit 31: If set, CANopen device consumes TIME message * bit 30: If set, CANopen device produces TIME message * bit 11-29: set to 0 * bit 0-10: 11-bit CAN-ID * bit 31: If set, EMCY does NOT exist / is NOT valid * bit 11-30: set to 0 * bit 0-10: 11-bit CAN-ID Inhibit time of emergency message in multiples of 100µs. The value 0 disables the inhibit time. Consumer Heartbeat Time: * bit 24-31: set to 0 * bit 16-23: Node ID of the monitored node. If 0 or greater than 127, sub-entry is not used. * bit 0-15: Heartbeat time in ms (if 0, sub-intry is not used). Value should be higher than the corresponding producer heartbeat time. Heartbeat producer time in ms (0 = disable transmission). * Vendor-ID, assigned by CiA * Product code, manufacturer specific * Revision number: * bit 16-31: Major revision number (CANopen behavior has changed) * bit 0-15: Minor revision num. (CANopen behavior has not changed) * Serial number, manufacturer specific * Value 0: SYNC message is transmitted with data length 0. * Value 1: reserved. * Value 2-240: SYNC message has one data byte, which contains the counter. * Value 241-255: reserved. Emergency consumer 1 to 127: * bit 31: If set, EMCY consumer does NOT exist / is NOT valid * bit 11-30: set to 0 * bit 0-10: 11-bit CAN-ID Sub-indexes 1 and above: * Value 0x00: on error change to NMT state Pre-operational (only if currently in NMT state Operational) * Value 0x01: on error do nothing * Value 0x02: on error change to NMT state Stopped Sub-indexes 1 and 2: * bit 11-31: set to 0 * bit 0-10: 11-bit CAN-ID * Sub-indexes 1 and 2: * bit 31: If set, SDO does NOT exist / is NOT valid * bit 30: If set, value is assigned dynamically * bit 11-29: set to 0 * bit 0-10: 11-bit CAN-ID * Node-ID of the SDO client, 0x01 to 0x7F * Sub-indexes 1 and 2: * bit 31: If set, SDO does NOT exist / is NOT valid * bit 30: If set, value is assigned dynamically * bit 11-29: set to 0 * bit 0-10: 11-bit CAN-ID * Node-ID of the SDO server, 0x01 to 0x7F * COB-ID used by RPDO: * bit 31: If set, PDO does not exist / is not valid * bit 11-30: set to 0 * bit 0-10: 11-bit CAN-ID * Transmission type: * Value 0-240: synchronous, processed after next reception of SYNC object * Value 241-253: not used * Value 254: event-driven (manufacturer-specific) * Value 255: event-driven (device profile and application profile specific) * Event timer in ms (0 = disabled) for deadline monitoring. * COB-ID used by RPDO: * bit 31: If set, PDO does not exist / is not valid * bit 11-30: set to 0 * bit 0-10: 11-bit CAN-ID * Transmission type: * Value 0-240: synchronous, processed after next reception of SYNC object * Value 241-253: not used * Value 254: event-driven (manufacturer-specific) * Value 255: event-driven (device profile and application profile specific) * Event timer in ms (0 = disabled) for deadline monitoring. * COB-ID used by RPDO: * bit 31: If set, PDO does not exist / is not valid * bit 11-30: set to 0 * bit 0-10: 11-bit CAN-ID * Transmission type: * Value 0-240: synchronous, processed after next reception of SYNC object * Value 241-253: not used * Value 254: event-driven (manufacturer-specific) * Value 255: event-driven (device profile and application profile specific) * Event timer in ms (0 = disabled) for deadline monitoring. * COB-ID used by RPDO: * bit 31: If set, PDO does not exist / is not valid * bit 11-30: set to 0 * bit 0-10: 11-bit CAN-ID * Transmission type: * Value 0-240: synchronous, processed after next reception of SYNC object * Value 241-253: not used * Value 254: event-driven (manufacturer-specific) * Value 255: event-driven (device profile and application profile specific) * Event timer in ms (0 = disabled) for deadline monitoring. * Number of mapped application objects in PDO: * Value 0: mapping is disabled. * Value 1: sub-index 0x01 is valid. * Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid. * Application object 1-8: * bit 16-31: index * bit 8-15: sub-index * bit 0-7: data length in bits * Number of mapped application objects in PDO: * Value 0: mapping is disabled. * Value 1: sub-index 0x01 is valid. * Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid. * Application object 1-8: * bit 16-31: index * bit 8-15: sub-index * bit 0-7: data length in bits * Number of mapped application objects in PDO: * Value 0: mapping is disabled. * Value 1: sub-index 0x01 is valid. * Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid. * Application object 1-8: * bit 16-31: index * bit 8-15: sub-index * bit 0-7: data length in bits * Number of mapped application objects in PDO: * Value 0: mapping is disabled. * Value 1: sub-index 0x01 is valid. * Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid. * Application object 1-8: * bit 16-31: index * bit 8-15: sub-index * bit 0-7: data length in bits * COB-ID used by RPDO: * bit 31: If set, PDO does not exist / is not valid * bit 30: If set, NO RTR is allowed on this PDO * bit 11-29: set to 0 * bit 0-10: 11-bit CAN-ID * Transmission type: * Value 0: synchronous (acyclic) * Value 1-240: synchronous (cyclic every (1-240)-th sync) * Value 241-253: not used * Value 254: event-driven (manufacturer-specific) * Value 255: event-driven (device profile and application profile specific) * Inhibit time in multiple of 100µs, if the transmission type is set to 254 or 255 (0 = disabled). * Event timer interval in ms, if the transmission type is set to 254 or 255 (0 = disabled). * SYNC start value * Value 0: Counter of the SYNC message shall not be processed. * Value 1-240: The SYNC message with the counter value equal to this value shall be regarded as the first received SYNC message. * COB-ID used by RPDO: * bit 31: If set, PDO does not exist / is not valid * bit 30: If set, NO RTR is allowed on this PDO * bit 11-29: set to 0 * bit 0-10: 11-bit CAN-ID * Transmission type: * Value 0: synchronous (acyclic) * Value 1-240: synchronous (cyclic every (1-240)-th sync) * Value 241-253: not used * Value 254: event-driven (manufacturer-specific) * Value 255: event-driven (device profile and application profile specific) * Inhibit time in multiple of 100µs, if the transmission type is set to 254 or 255 (0 = disabled). * Event timer interval in ms, if the transmission type is set to 254 or 255 (0 = disabled). * SYNC start value * Value 0: Counter of the SYNC message shall not be processed. * Value 1-240: The SYNC message with the counter value equal to this value shall be regarded as the first received SYNC message. * COB-ID used by RPDO: * bit 31: If set, PDO does not exist / is not valid * bit 30: If set, NO RTR is allowed on this PDO * bit 11-29: set to 0 * bit 0-10: 11-bit CAN-ID * Transmission type: * Value 0: synchronous (acyclic) * Value 1-240: synchronous (cyclic every (1-240)-th sync) * Value 241-253: not used * Value 254: event-driven (manufacturer-specific) * Value 255: event-driven (device profile and application profile specific) * Inhibit time in multiple of 100µs, if the transmission type is set to 254 or 255 (0 = disabled). * Event timer interval in ms, if the transmission type is set to 254 or 255 (0 = disabled). * SYNC start value * Value 0: Counter of the SYNC message shall not be processed. * Value 1-240: The SYNC message with the counter value equal to this value shall be regarded as the first received SYNC message. * COB-ID used by RPDO: * bit 31: If set, PDO does not exist / is not valid * bit 30: If set, NO RTR is allowed on this PDO * bit 11-29: set to 0 * bit 0-10: 11-bit CAN-ID * Transmission type: * Value 0: synchronous (acyclic) * Value 1-240: synchronous (cyclic every (1-240)-th sync) * Value 241-253: not used * Value 254: event-driven (manufacturer-specific) * Value 255: event-driven (device profile and application profile specific) * Inhibit time in multiple of 100µs, if the transmission type is set to 254 or 255 (0 = disabled). * Event timer interval in ms, if the transmission type is set to 254 or 255 (0 = disabled). * SYNC start value * Value 0: Counter of the SYNC message shall not be processed. * Value 1-240: The SYNC message with the counter value equal to this value shall be regarded as the first received SYNC message. * Number of mapped application objects in PDO: * Value 0: mapping is disabled. * Value 1: sub-index 0x01 is valid. * Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid. * Application object 1-8: * bit 16-31: index * bit 8-15: sub-index * bit 0-7: data length in bits * Number of mapped application objects in PDO: * Value 0: mapping is disabled. * Value 1: sub-index 0x01 is valid. * Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid. * Application object 1-8: * bit 16-31: index * bit 8-15: sub-index * bit 0-7: data length in bits * Number of mapped application objects in PDO: * Value 0: mapping is disabled. * Value 1: sub-index 0x01 is valid. * Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid. * Application object 1-8: * bit 16-31: index * bit 8-15: sub-index * bit 0-7: data length in bits * Number of mapped application objects in PDO: * Value 0: mapping is disabled. * Value 1: sub-index 0x01 is valid. * Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid. * Application object 1-8: * bit 16-31: index * bit 8-15: sub-index * bit 0-7: data length in bits 跟随误差窗口/阈值 CANopen communication network profile 1.1 CommunicationNetwork 1 1 CANopen