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CANopen device and application profiles and the PDO communication options

Zeltwanger H.

Szybkobieżne Pojazdy Gąsienicowe

2011

nr 1 (27)

115--120

In CANopen there are two general approaches to standardize the PDO communication. The device profile approach is based on the pre-defined set of CAN-IDs including for PDOs. This approach provides four pre-defined PDOs to be transmitted and four pre-defined PDOs to be received. In opposite, the application profile approach allows a total number of 512 pre-defined PDOs in the system. This approach supports a pre-defined PDO cross-communication independent of node-IDs. In those application profiles often the PDO communication and mapping parameters are constant. They could not be configured, which provides an off-the-shelf plug-and-play functionality. The paper discusses the two different approaches on the example of the CiA 417 application profile for lift control systems, and the CiA 401/402 profiles (I/O modules respectively motion control). Another topic in the presentation will be the new feature of the SYNC messages with sync counter. This feature allows using virtually several synchronization signals.