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0198441113586, V2.01, 11.2008
IL•1F CANopen DS301 3 Basics
Fieldbus interface 21
3.2.2 Communication objects
Overview The communication objects are standardized with the DS301 CANopen
communication profile. The objects can be classified into 4 groups ac-
cording to their tasks.
Figure 3.4 Communication objects; the following applies to the perspective
of the network device: T_..: "Transmit", R_..: "Receive"
• PDOs (process data objects) for real-time transmission of process
data
• SDOs (service data object) for read and write access to the object
dictionary
• Objects for controlling CAN messages:
– SYNC object (synchronization object) for synchronization of net-
work devices
– EMCY object (emergency object), for signaling errors of a device
or its peripherals.
• Network management services:
– NMT services for initialization and network control (NMT: net-
work management)
– NMT Node Guarding for monitoring the network devices
– NMT Heartbeat for monitoring the network devices
Communication
objects
PDO
SYNC
EMCY
NMT Services
NMT Node guarding
T_PDO1 R_PDO1
T_PDO2 R_PDO2
T_PDO3 R_PDO3
T_PDO4 R_PDO4
SDO
Special objects
Network
management
T_SDO
R_SDO
NMT Heartbeat