Document Outline

• Chapter 1: Introduction
  • 1.1 Relevant Documentation
    • 1.1.1 Elmo Documentation
    • 1.1.2 CAN Documentation
  • 1.2 Terms and Abbreviations
  • 1.3 SimplIQ Communication
• Chapter 2: CANopen Basics
  • 2.1 Physical Layer
  • 2.2 Standard vs. Extended Addressing
  • 2.3 Client - Server Relations
  • 2.4 Inhibit Times
  • 2.5 RTR – Remote Transmission Request
  • 2.6 Object Dictionary
  • 2.7 Communication Objects
  • 2.8 Object Dictionary - Data Types
  • 2.9 Representation of Numbers
• Chapter 3: The Object Dictionary
• Chapter 4: Service Data Objects (SDOs)
  • 4.1 Initiate SDO Download Protocol
  • 4.2 Download SDO Protocol
  • 4.3 Initiate SDO Upload Protocol
  • 4.4 Upload SDO Segment Protocol
  • 4.5 Abort SDO Transfer Protocol
  • 4.6 Uploading Data Using an SDO
  • 4.7 Downloading Data Using an SDO
  • 4.8 Error Correction
• Chapter 5: Process Data Objects (PDOs)
  • 5.1 Receive PDOs
  • 5.2 Transmit PDOs
  • 5.3 PDO Mapping
    • 5.3.1 The Mapping Trigger – Transmission Type
    • 5.3.2 The Synchronous Trigger
    • 5.3.3 The Asynchronous Trigger
    • 5.3.4 RPDO Error Handling
    • 5.3.5 Mapping Parameter Objects
    • 5.3.6 Default Values
• Chapter 6: Emergency (EMCY)
  • 6.1 Emergency Configuration
  • 6.2 Emergency Codes Related to Failure
  • 6.3 Emergency Codes for Motor Faults
  • 6.4 Emergency Codes Related to PVT/PT Motion
• Chapter 7: Network Management (NMT)
• Chapter 8: SYNC and Time Stamp
• Chapter 9: Binary Interpreter Commands
  • 9.1 Binary Interpreter Commands and Results
    • 9.1.1 Set and Query Commands
      • 9.1.1.1 RPDO2 Structure
      • 9.1.1.1 TPDO2 Structure
    • 9.1.2 Execute Command
  • 9.2 ASCII Interpreter Commands not Supportedby Binary Interpreter
• Chapter 10: The OS Interpreter
• Chapter 11: The EDS
• Chapter 12: Communication Profile
  • Object 0x1000: Device type
  • Object 0x1001: Error register
  • Object 0x1002: Manufacturer status register
  • Object 0x1003: Pre-defined error field
  • Object 0x1005: COB-ID SYNC message
  • Object 0x1008: Manufacturer device name
  • Object 0x1009: Manufacturer hardware version
  • Object 0x100A: Manufacturer software version
  • Object 0x100B: Node ID
  • Object 0x1010: Save parameters
  • Object 0x1011: Restore parameters
  • Object 0x1012: COB-ID time stamp
  • Object 0x1013: High-resolution time stamp
  • Object 0x1014: COB-ID emergency object
  • Object 0x1016: Consumer heartbeat time
  • Object 0x1017: Producer heartbeat time
  • Object 0x1018: Identity object
  • Object 0x1023: OS command and prompt
  • Object 0x1024: OS command mode
  • Object 0x1029: Error behavior
  • Object 0x1200: SDO server parameter
  • Objects 0x1400 - 0x1403: Receive PDO communication parameter
  • Objects 0x1800 - 0x1803: Transmit PDO communication parameter
  • Objects 0x1A00 - 0x1A03: Transmit PDO mapping
• Chapter 13: Manufacturer-specific Objects
  • Object 0x2001: PVT data
  • Object 0x2002: PT data
  • Object 0x2004: ECAM data
  • Object 0x2012: Binary interpreter input
  • Object 0x2013: Binary interpreter output
  • Object 0x2030: Recorder data
  • Object 0x2040: Coordinate system group ID
  • Object 0x2041: Amplifier-free running timer
  • Object 0x2082: CAN controller status
  • Object 0x2090: Firmware download
  • Object 0x20A0: Auxiliary position actual value
  • Object 0x20A1: Main position error
  • Object 0x2200: Digital input
  • Object 0x2201: Digital input low byte
  • Object 0x2205: Analog Input Object
  • Object 0x2F00: User Integer
  • Object 0x2F01: User Float Array
  • Object 0x2F02: ET Array
  • Object 0x2F11: PVT head pointer
  • Object 0x2F12: PVT tail pointer
  • Object 0x2F15: Profile position remaining points
  • Object 0x2F20: PDO events
  • Object 0x2F21: Emergency events
  • Object 0x2F22: Bus off time out
  • Object 0x2F23: Digital input TPDO event parameters
  • Object 0x2F30: Last time stamp correction
  • Object 0x2F31: Last SYNC time
  • Object 0x2F40: Configuration object
  • Object 0x2F41: DS402 Configuration object
  • Object 0x2F60 – Zero torque threshold
  • Object 0x2F70 – CAN Encoder Range
• Chapter 14: Error Control Protocol
• Chapter 15: Downloading Firmware
• Chapter 16: Initial CAN Communication Setup
  • 16.1 Setup Using RS-232
  • 16.2 Bootup Protocol
    • Appendix A: Little and Big Endians