User`s manual

IA261/262 WinCE User’s Manual CANopen Library
B-4
PDO COMMUNICATION
The PDO (Process Data Object) communications path is linked directly to the applicable
application object or objects. Thus the path is assumed by the device and no path information is
contained within the communication. Essentially the data is mapped internally to one or more
objects. Data is either statically mapped (compiled) or dynamically mapped (set at runtime). One
message can contain data from more than one object.
The protocol provided with this application note supports the four PDOs.
NETWORK MANAGEMENT CONSUMER
A Network Management (NMT) slave is provided as required by the specification. The NMT
Object receives commands to change the state of the device or reset the device’s application and/or
communications.
NODE GUARD/HEARTBEAT
There is a single Node Guard or Heartbeat endpoint as required by the CANopen specifications.
They both exist in our protocol.
SYNCHRONIZATION CONSUMER
One synchronization consumer (SYNC) is provided. The SYNC message is simply an event to the
application to generate any synchronized PDO messages.
Using Dictionary Editor GUI
The object dictionary functions as a central information database for the device. Every object
within the device is represented within the dictionary by an index, subindex, and some access
information. An object can be as simple as a single byte of data or a more complex data structure.
Table 1 shows the basic areas of the dictionary that are defined by index in the CANopen
specification.
Table 1. Location Ranges Within The Object Dictionary
Index Object
0001-001F Static Data Type
0020-003F Complex Data Types
0040-005F Manufacturer Specific Data Types
0060-007F Device Profile Static Data Types
0080-009F Device Profile Complex Data Types
00A0-0FFF Reserved
1000-1FFF Communication Profile Area
2000-5FFF Manufacturer Specific Profile Area
6000-9FFF Standardized Profile Area
A000-FFFF Reserved