CANopen Programmer's Manual - Maccon.de

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1: Introduction CANopen Programmer’s Manual Accessing the Object Dictionary Two Basic Channels CANopen provides two ways to access a device’s object dictionary: The Service Data Object (SDO) The Process Data Object (PDO) Each can be described as a channel for access to an object dictionary. SDOs and PDOs Here are the basic characteristics of PDOs and SDOs. SDO PDO The SDO protocol allows any object in the object dictionary to be accessed, regardless of the object's size. This comes at the cost of significant protocol overhead. One PDO message can transfer up to eight bytes of data in a CAN message. There is no additional protocol overhead for PDO messages. Transfer is always confirmed. PDO transfers are unconfirmed. Has direct, unlimited access to the object dictionary. Requires prior setup, wherein the CANopen master application uses SDOs to map each byte of the PDO message to one or more objects. Thus, the message itself does not need to identify the objects, leaving more bytes available for data. Employs a client/server communication model, where the CANopen master is the sole client of the device object dictionary being accessed. An SDO has two CAN message identifiers: a transmit identifier for messages from the device to the CANopen master, and a receive identifier for messages from the CANopen master. Employs a peer-to-peer communication model. Any network node can initiate a PDO communication, and multiple nodes can receive it. Transmit PDOs are used to send data from the device, and receive PDOs are used to receive data. SDOs can be used to access the object dictionary directly. A PDO can be used only after it has been configured using SDO transfers. Best suited for device configuration, PDO mapping, and other infrequent, low priority communication between the CANopen master and individual devices. Such transfers tend to involve the setting up of basic node services; thus, the term service data object. For more information about SDOs, see SDOs: Description and Examples, p. 22. Best suited for high-priority transfer of small amounts of data, such as delivery of set points from the CANopen master or broadcast of a device’s status. Such transfers tend to relate directly to the application process; thus, the term process data object. For more information about PDOs, see PDOs: Description and Examples, p. 24. For help deciding whether to use an SDO or a PDO see SDO vs. PDO: Design Considerations, p. 27. 20 Copley Controls
CANopen Programmer’s Manual 1: Introduction Copley SDOs and PDOs The Communication Profile requires the support of at least one SDO per device. (Without an SDO, there would be no way to access the object dictionary.) It also specifies default parameters for four PDOs. Copley Controls CANopen amplifiers each support 1 SDO and 16 PDOs (eight transmit PDOs and eight receive PDOs). CAN Network 1 SDO 8 TxPDO's 8 RxPDO's Object Dictionary AccelNet Amplifier Sensor Motor Copley Controls 21 I/O Feedback Local Control
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CANopen Programmer's Manual - Maccon.de

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