Burkert Type 8717 - Manual (Page 37)

37
CANopen Start-up
6.1.3. assignment of process data objects
See “6.4. CANopen – Process data Transfer”
predefined iD connection set
CANopen defines a standard identifier allocaton scheme (see table below). These identifiers are available in the
pre-operational state after node initialization.
Object identifier
NMT 0 hex
SYNC 80 hex
EMERGENCY 80 hex + address
1 st TPdO 180 hex + address
1 st RPdO 200 hex + address
2 nd TPdO 280 hex + address
2 nd RPdO 300 hex + address
3 rd TPdO 380 hex + address
3 rd RPdO 400 hex + address
4 th TPdO 480 hex + address
4 th RPdO 500 hex + address
TSdO 580 hex + address
RSdO 600 hex + address
NOdE-GUARdING 700 hex + address
6.1.4. error Control Service
To determine a non-active bus, the master must support one of the two error monitoring types, Node-Guarding or
Heartbeat.
Integration of one of the two error monitoring types, Node-Guarding or Heartbeat, is mandatory.
In error monitoring of a CAN-based network, the NMT object detects local errors within a node. These errors can
result in a reset or change of status, for example. The error definitions are not part of the specification.
Error monitoring occurs periodically during data transfer.
There are two methods of error monitoring:
node-guarding
Error monitoring involves the NMT master sending the Node-Guarding telegram. If the NMT slave does not
respond within a defined time or if the communication status of the NMT slave has changed, the NMT master
reports this to its NMT master application.
english
MFC Family