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9 CANopen
9.1 Overview
The ID 40/SLK-CAN is a CANopen slave. The SLK comes with nearly every data
transmission mechanism specified for CANopen and can be activated by any bus
master in compliance with CANopen.
All specifications and guidelines for CANopen can be found in the CiA (CAN in
Automation e.V.) specifications. Literature on CAN can be found under [C.] in
Chapter 16.3 "References".
Data is exchanged between CANopen users exclusively through objects addressed
by a 16-bit index and an 8-bit subindex. These objects are compiled into an object
directory. For example, the data areas described in Chapter 5 "SLK storage" are
also mapped by objects.
CANopen provides communication services (also known as communication
objects) for data exchange. Command-oriented SLK data exchange occurs via SDO
services (Service Data Object), and event-oriented data exchange via PDO services
(Process Data Object).
9.2 Object directory
The object directory contains not only user data, but also CANopen communication
objects, device profiles and even data types. Default values and access rights to the
objects are also set there. See [C17] for reference.
[C17] determines objects that have to be in a CANopen slave and those that are
optional.
Table 26: Distribution of CANopen object directory index ranges as per [C17]
Index
CANopen objects
0000
Not used
0001-001F
Static data types
0020-003F
Complex data types
0040-005F
Manufacturer-specific complex data
types
0060-007F
Device profile-specific static data types
0080-009F
Device profile-specific complex data
types
00A0-0FFF
Reserved
1000-1FFF
Communication profile area
2000-5FFF
Manufacturer-specific profile area
6000-9FFF
Standardized device profile area
A000-FFFF
Reserved
ID 40/SLK-CAN
Not used
All used
0020 - 0023
0040 - 0043
Not used
Not used
Not used
Used in part
Used in part
Not used
Not used
3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG
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CANopen
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