Rockwell Automation 20-COMM-K CANopen Adapter - Manual (Page 39)

Configuring the CANopen Network 4-3
20-COMM-K CANopen Adapter User Manual
Publication 20COMM-UM012B-EN-P
Operational State
All communication objects are active in the Operational state. This means
there is PDO communication, SDO communication, synchronization, and
error control, and emergency messages allowed. The adapter will enter the
Stopped state when receiving a Stop_Remote_Node message (7).
Stopped State
All communications, except NMT and heartbeat for error control, are
stopped when the adapter is switched into the Stopped state. The adapter
can be switched back to the Pre-Operational state by receiving a
“Enter_PRE-OPERATIONAL_State” message.
A Reset_Node message (10) from an NMT master will reset the adapter. A
Reset_Communication message (11) will reset the CANopen
communication parameters within the adapter.
CANopen Object Dictionary On CANopen, the interface between the application and CAN is achieved
by an Object Dictionary. The Object Dictionary is unique for any CANopen
device and represents complete access to the application in terms of the
communication parameters, the application data, and the configuration
parameters.
To configure the CANopen network it is necessary to access the Object
Dictionary. However, some configuration tools allow network configuration
directly on the application level and hide all CANopen configuration data,
such as PDO mapping, or the assignment of CAN identifier.
To gain access to the Object Dictionary, Process Data Objects (PDOs) and
Service Data Objects (SDOs) are used.
Refer to Table C.A (Communication Profile Area) and Table C.B
(Manufacturer Specific Area) for more information about CANopen
objects.
Index Description
0000h Reserved
0001h - 025Fh Data types
0260h - 0FFFh Reserved
1000h - 1FFFh Communication profile area
2000h - 5FFFh Manufacturer specific area
6000h - 9FFFh Device profile specific area
A000h - BFFFh Interface profile specific area
C000h - FFFFh Reserved