值得收藏:德国工程师的CANopen备忘录
德国的CAN-bus总线工程师为了方便学习和记忆CANopen协议,随身携带一本“CANopen备忘录”,在研发和现场测试时快速查找。春节期间,广州太阳集团见好就收9728有限公司将其翻译成中文,推动国内CANopen发展。值得收藏!
Object dictionary(OD)对象字典
Overview概述
![](/tpl/zlg/Public/faq_img/canbus/37.jpg)
Communication profile area通讯对象子协议区
![](/tpl/zlg/Public/faq_img/canbus/38.jpg)
General communication objects通用通讯对象
![](/tpl/zlg/Public/faq_img/canbus/39.jpg)
Pre-defined CAN-IDs预定义CAN标识符
![](/tpl/zlg/Public/faq_img/canbus/40.jpg)
![](/tpl/zlg/Public/faq_img/canbus/41.jpg)
Network management(NMT)网络管理
![](/tpl/zlg/Public/faq_img/canbus/42.jpg)
![](/tpl/zlg/Public/faq_img/canbus/43.jpg)
Service data object(SDO)服务数据对象
communication principle(通讯原则)
![](/tpl/zlg/Public/faq_img/canbus/44.jpg)
Expedited SDO protocol(快速SDO协议)
![](/tpl/zlg/Public/faq_img/canbus/45.jpg)
Normal SDO protocol(普通SDO协议)
下载协议download protocol
![](/tpl/zlg/Public/faq_img/canbus/46.jpg)
2.上传协议upload protocol
![](/tpl/zlg/Public/faq_img/canbus/47.jpg)
Process data object(PDO)过程数据对象
![](/tpl/zlg/Public/faq_img/canbus/49.jpg)
![](/tpl/zlg/Public/faq_img/canbus/50.jpg)
RPDO通讯参数1400h to 15FFh映射参数1600h to 17FFh数据存放为2000h 之后厂商自定义。
TPDO通讯参数1800h to 19FFh映射参数1A00h to 1BFFh数据存放为2000h 之后厂商自定义。
![](/tpl/zlg/Public/faq_img/canbus/51.jpg)
CAN transmission( CAN发送报文)
TPDO1(CAN-ID see 1800h 01h) Data field:数据域
![](/tpl/zlg/Public/faq_img/canbus/52.jpg)
Special protocols(特殊协议)
同步协议Sync protocol
![](/tpl/zlg/Public/faq_img/canbus/53.jpg)
Time-stamp protocol(时间戳协议)
![](/tpl/zlg/Public/faq_img/canbus/54.jpg)
Emergency protocol(紧急报文协议)
![](/tpl/zlg/Public/faq_img/canbus/55.jpg)
Emergency error codes(紧急报文错误代码)
![](/tpl/zlg/Public/faq_img/canbus/56.jpg)