User Manual
TMCM-1276 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28
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Device control state machine
CANopen Communication Profile CiA DS301
NMT State Machine
Modes of operation:
Profile Position (pp)
Profile Velocity (pv)
Homing (hm)
...
CANopen device profile CiA DSP 402
CAN
Figure 4: Communication Architecture
2.3 Device Model
A CANopen device mainly consists of the following parts:
•
Communication: This function unit provides the communication objects and the appropriate function-
ality to transport data items via the underlying network structure.
•
Object dictionary: The object dictionary is a collection of all the data items which have an influence on
the behavior of the application objects, the communication objects and the state machine used on
this device.
•
Application: The application comprises the functionality of the device with respect to the interaction
with the process environment.
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