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IO Remote

CANopen CiA 401+

004*h
000A000Ah

, 2015

IO Remote, 000A000Ah. 20 2015 .

1. ..........................................................................................4
1.1 ................................................................................................................4
1.2 ...................................................................................................4
1.2.1 ..............................................................................................................4
1.2.2 CAN .................................................................................................4
1.2.3 CAN ...............................................................................4
1.2.4 ..................................................................5
1.3 CANopen .................................................................................5
1.4 EDS .............................................................5
2. ...................................................................................................7
2.1 .............................................................................................................7
2.2 ...................................................................................8
2.3 .................................................................................................................8
3. ....................................................................................................9
4. ...............................................................................................11
5. CiA 301..................................................................................17
6. IO Remote....................................................................................................30
6.1 .....................................................................................30
6.2 ....................................................................................................31
6.2.1 CiA 401......................................................31
6.3 .............................................................................................33
6.3.1 , ................................................33
6.4 .................................................................................................35
6.4.1 CiA 401......................................................35
6.4.2 , ................................................36
6.4.3 ........................................................................37
6.4.4 ....................................................................37
6.5 16 ............................................................................38
6.5.1 CiA 401......................................................38
6.5.2 , ................................................40
6.6 16 ..........................................................................41
6.6.1 CiA 401......................................................41
6.6.2 , ................................................42
6.6.3 ........................................................................44
6.6.4 ....................................................................44
7. ...........................................................................................45
7.1 ()...............................................................................................45
7.2 ()..................................................................................................45
8. CANopen.............................................................................................................46
8.1 SDO (SDO )...............................................................46
8.2 EMCY...........................................................47
9. ..........................................................49
9.1 ..............................................................................................49
9.2 -- (peer-to-peer)..............................................................49
9.3 .....................................................................................................................50
9.4 ...............................................................50
10. ....................................................................51
10.1 DCF .....................................................51
10.2 - ........................................51
2

IO Remote, 000A000Ah. 20 2015 .

10.3 -...........................................................54

IO Remote, 000A000Ah. 20 2015 .

1. .
1.1 .

--, 8, 16
--, 8, 16

--, 8, 16


()

8
16


()

8
16

CANopen

100 ( 10 ms)

(CiA 303 .3)

1.2 .
1.2.1 .
.

0 (OFF)
1 (ON)

Modbus RTU
CAN / CANopen

1.2.2 CAN .
16- , 4
4 CAN . CAN
.

0
1..127
128..254
255

CAN
,
CAN 1 127
,

1.2.3 CAN .
CAN
. ,
. OFF,
ON.
.

0
1
2
3

CAN
1000 /
800 /
500 /
250 /
4

IO Remote, 000A000Ah. 20 2015 .

4
6
7
8
15

125 /
50 /
20 /
10 /

1.2.4 .

CAN 255 (FFh) CAN 15 (Fh).

Status.
( ).

1.3 CANopen .

SDO

, .

PDO
PDO RTR

;
;
;
;
.

SYNC

SYNC : SYNC 0 .
SYNC : SYNC
1 (CiA 301 v. 4.2).

EMCY

NMT

;
;
- ;
;
.

;
;
.

1.4 EDS .

EDS

: 16

IOremote_R2DIO_16in_16counters.eds

: 16

IOremote_R2DIO_16out.eds

-: 8 , 8

IOremote_R2DIO_8in_8counters_8out.eds

: 8 16

IOremote_R2AIO_16bit_8in.eds
5

IO Remote, 000A000Ah. 20 2015 .

: 8 16

IOremote_R2AIO_16bit_8out.eds

IO Remote, 000A000Ah. 20 2015 .

2. .
IO Remote CANopen
- CiA 401 .
CAN in Automation:
CiA 301

v. 4.2
CAN, CANopen .

CiA 303 . 3 v. 1.4 .


CiA 306

v. 1.3 (EDS,
DCF), .

CiA 401

v. 3.0 CANopen / .
/.


: CAN in Automation (CiA) e. V., .
CiA - .

2.1 .
CiA

CAN in Automation - "CAN ".

CAN-ID

CAN .

COB-ID

CANopen.

NMT

: CANopen .

PDO

; ( 8
) .

RTR

SDO

;
.

EDS

DCF

LSB

() .

MSB

() .

RO

WO

RW

RWR

, ( PDO).

RWW

, ( PDO).

CAN
, CAN in Automation (, 2005).
.

IO Remote, 000A000Ah. 20 2015 .

2.2 .
boolean
integer8
unsigned8
integer16
unsigned16
integer32
unsigned32
integer64
unsigned64
real32
real64
vis-string
octet-string

true/false.
8 .
8 .
16 .
16 .
32 .
32 .
64 .
64 .
32- .
64- .
ASCII ( 0 20h..7Eh).
( 0..255).

2.3 .
1. () .

IO Remote, 000A000Ah. 20 2015 .

3. .
, (revision number),
1018hsub3h.
00020001h.
/ CAN
. 1010hsub5h, 1011hsub5h 1010hsub6h, 1011hsub6h.
00020004h.
.
CAN 255 (FFh)
CAN 15 (Fh).
00030005h.
4.2 CiA 301 07 2007 . SYNC
SYNC 0 1 . 1019h
( SYNC ) 6 TPDO (
SYNC ).
(6403h,
642Eh, 642Fh).
00030006h.

.
00040006h.

1 () ( 1001h).
( 1001h)
.
00050007h.
32 .
.
, ,
( 1018hsub2h).
EMCY
.
00060007h.
2.3 CANopen .

IO Remote, 000A000Ah. 20 2015 .

00070008h.
2011 h (
). 2012h,
EMCY .
/ 2000 h
( ). 2001h 2002h.
2018 h ( )
2019h ( ).
201Ah 201Bh, EMCY
.
00080009h.
3.0 CiA 401.
0080h: NMT
( 6423h, 2423h)
.
( 6208h) ,
.
00090009h.
PDO ( / )
NMT CAN .
0009000Ah.
.
000A000Ah.
( 0001h..00FFh)
( 1003h).
6443h ( )
.
.

10

IO Remote, 000A000Ah. 20 2015 .

4. .
,
(EDS ).
.

(hex)

(hex)

0002

0003
0004
0005
0006
0007
1000
1001
1002
1003
1003
1003
1005

integer8
PDO
integer16
PDO
integer32
PDO
unsigned8
PDO
unsigned16
PDO
unsigned32
PDO



---
0

1 - 8
COB-ID SYNC

1006
1007
1008
1009
100A
100
100D
1010
1010
1010
1010
1010
1010
1010
1010
1011
1011
1011
1011

--0
1
2
3
4
5
6
--0
1
2

1011

1011

1011

1011




B








-- CAN




:
1005h, 1014h,
1400hsub1h, 1401hsub1h, 1402hsub1h, 1403hsub1h,
1800hsub1h, 1801hsub1h, 1802hsub1h, 1803hsub1h
CAN

PDO

---

---

---

---

---

---

unsigned32
unsigned8
unsigned32

0-8
unsigned32
unsigned32

RWR
RWW
RWR
RWW
RWR
RWW
RWR
RWW
RWR
RWW
RWR
RWW
RO
RO
RO
--RW
RO
RW

---

unsigned32
unsigned32
vis-string
vis-string
vis-string
unsigned16
unsigned8

6
unsigned32
unsigned32
unsigned32
unsigned32
unsigned32
unsigned32

6
unsigned32
unsigned32

RW
RW
RO
RO
RO
RW
RW
--RO
RW
RW
RW
RW
RW
RW
--RO
RW
RW

-----

--com
*
com
com
com
com
-----

unsigned32 RW

unsigned32 RW

unsigned32 RW

unsigned32 RW

integer8
integer16
integer32
unsigned8
unsigned16
unsigned32

11

.
1014

1015
1017
1018
1018
1018
1018
1018
1018
1019
1029
1029
1029
1200
1200
1200
1200
1400
1400
1400

IO Remote, 000A000Ah. 20 2015 .

COB-ID EMCY

unsigned32 RW

--0
1
2
3
4
--0
1
--0
1
2
--0
1

EMCY, 100
()


,
,
,
,
SYNC
CAN


SDO
SDO
COB-ID > ()
COB-ID > ()
PDO 1 (RPDO 1)
RPDO
COB-ID RPDO 1

unsigned16
unsigned16

4
unsigned32
unsigned32
unsigned32
unsigned32
unsigned8

1
unsigned8

2
unsigned32
unsigned32

5
unsigned32

RW
RW
--RO
RO
RO
RO
RO
RW
--RO
RW
--RO
RO
RO
--RO
RW

---------

1400
1400
1400
1400
1401
1401
1401

2
3
4
5
--0
1

RPDO
PDO . RPDO.


PDO 2 (RPDO 2)
RPDO
COB-ID RPDO 2

unsigned8
unsigned16
unsigned8
unsigned16

5
unsigned32

RW
RW
RW
RW
--RO
RW

---

1401
1401
1401
1401
1402
1402
1402

2
3
4
5
--0
1

RPDO
PDO . RPDO.


PDO 3 (RPDO 3)
RPDO
COB-ID RPDO 3

unsigned8
unsigned16
unsigned8
unsigned16

5
unsigned32

RW
RW
RW
RW
--RO
RW

---

1402
1402
1402
1402
1403
1403
1403

2
3
4
5
--0
1

RPDO
PDO . RPDO.


PDO 4 (RPDO 4)
RPDO
COB-ID RPDO 4

unsigned8
unsigned16
unsigned8
unsigned16

5
unsigned32

RW
RW
RW
RW
--RO
RW

---

1403
1403
1403
1403
1600
1600
1600
1601
1601
1601
1602
1602
1602
1603
1603

2
3
4
5
--0
1-8
--0
1-8
--0
1-8
--0

RPDO
PDO . RPDO.


RPDO 1

RPDO
RPDO 2

RPDO
RPDO 3

RPDO
RPDO 4

unsigned8
unsigned16
unsigned8
unsigned16

0-8
unsigned32

0-8
unsigned32

0-8
unsigned32

0-8

RW
RW
RW
RW
--RW
RW
--RW
RW
--RW
RW
--RW

---------

com
*
com
com
--com
--com
----com
*
com
com
--com
*
com
com
--com
*
com
com
--com
*
com
com
--com
com
--com
--com
---

12

IO Remote, 000A000Ah. 20 2015 .

1603
1800
1800
1800

1-8
--0
1

RPDO
PDO 1 (TPDO 1)
TPDO
COB-ID TPDO 1

unsigned32

6
unsigned32

RW
--RO
RW

---

1800
1800
1800
1800
1800
1801
1801
1801

2
3
4
5
6
--0
1

TPDO
PDO , 100


SYNC
PDO 2 (TPDO 2)
TPDO
COB-ID TPDO 2

unsigned8
unsigned16
unsigned8
unsigned16
unsigned8

6
unsigned32

RW
RW
RW
RW
RW
--RO
RW

---

1801
1801
1801
1801
1801
1802
1802
1802

2
3
4
5
6
--0
1

TPDO
PDO , 100


SYNC
PDO 3 (TPDO3)
TPDO
COB-ID TPDO3

unsigned8
unsigned16
unsigned8
unsigned16
unsigned8

6
unsigned32

RW
RW
RW
RW
RW
--RO
RW

---

1802
1802
1802
1802
1802
1803
1803
1803

2
3
4
5
6
--0
1

TPDO
PDO , 100


SYNC
PDO 4 (TPDO 4)
TPDO
COB-ID TPDO 4

unsigned8
unsigned16
unsigned8
unsigned16
unsigned8

6
unsigned32

RW
RW
RW
RW
RW
--RO
RW

---

1803
1803
1803
1803
1803
1A00
1A00
1A00
1A01
1A01
1A01
1A02
1A02
1A02
1A03
1A03
1A03

2
3
4
5
6
--0
1-8
--0
1-8
--0
1-8
--0
1-8

TPDO
PDO , 100


SYNC
TPDO 1

TPDO
TPDO 2

TPDO
TPDO 3

TPDO
TPDO 4

TPDO

unsigned8
unsigned16
unsigned8
unsigned16
unsigned8

0-8
unsigned32

0-8
unsigned32

0-8
unsigned32

0-8
unsigned32

RW
RW
RW
RW
RW
--RW
RW
--RW
RW
--RW
RW
--RW
RW

---------

com
--com
*
com
com
com
com
--com
*
com
com
com
com
--com
*
com
com
com
com
--com
*
com
com
com
com
--com
--com
--com
--com

2000
2000
2000
2000
2000
2000
2000
2000
2001
2001
2001

--0
1
2
3
4
5
6
--0
1-8



8
8


/
/
/
/
/ 1 - 8

4-6
unsigned8
unsigned8
unsigned8
unsigned8
unsigned8
unsigned8

8
unsigned8

--RO
RO
RO
RO
RO
RO
RO
--RO
RO

-----

-----

13

.
2002

---

2002
2002
2010
2010
2010
2011

0
1-8
--0
1-2
-

2012

---

2012
2012
2018
2019

0
1-2
-

201A

---

201B

---

2020
2020
2020
2021
2021
2021
2022
2030
2030
2030

--0
1-6
--0
1-6
--0
1-8

2031
2031
2031

--0
1-8

2402
--2402
0
2402 1 - 16
2421
--2421
0
2421 1 - 16
2422
--2422
0
2422
1
2423
2424
--2424
0
2424 1 - 16
2426
--2426
0
2426 1 - 16
6000
6000
6000
6002
6002
6002

--0
1-2
--0
1-2

IO Remote, 000A000Ah. 20 2015 .

()


1 - 8
8
8




8
8












()



1 - 8



1 - 8


1 - 16


1 - 16
.
.
32-
1 - 16



1 - 16

.


1 - 16

---

---

---

8
unsigned8

1-2
unsigned8
unsigned16

RO
RO
--RO
RO
RW

---

--com

---

---

---

1-2
unsigned8
unsigned8
unsigned16

RO
RW
RO
RW

com
com

unsigned8

RW

com

unsigned8

RW

com

6
unsigned8

6
unsigned32
unsigned16

8
unsigned8

--RO
RW
--RO
RO
WO
--RO
RW

----

---

------app

8
unsigned8

--RO
RW

---

--app

8, 16
unsigned32

8, 16
unsigned8

--RO
RW
--RO
RW
---

-------

----app
---

1
unsigned32
boolean

8, 16
unsigned32

RO
RO
RW
--RO
RW
---

-----

com
--app
---

app

8
8
, 16
8
8
, 16

1-2
unsigned8

1-2
unsigned8

--
---

----app

8, 16
RO
unsigned32 RW
--RO
RO
--RO
RW

14

.
6005
6006

---

6006
6006
6007

0
1-2
---

6007
6007
6008

0
1-2
---

6008
6008
6200
6200
6200
6202
6202
6202
6206
6206
6206
6207
6207
6207
6208
6208
6208
6401
6401
6401
6403
6403
6403
6411
6411
6411
6421
6421
6421
6422

0
1-2
--0
1-2
--0
1-2
--0
1-2
--0
1-2
--0
1-2
--0
1-8
--0
1-8
--0
1-8
--0
1-8
---

6422
6422
6423
6424

0
1
---

6424
6424
6425

0
1-8
---

6425
6425
6426

0
1-8
---

6426
6426
642E

0
1-8
---

642E
642E

0
1-8

IO Remote, 000A000Ah. 20 2015 .


8

8
, 16
8 c

8
0 > 1, 16
8 c

8
1 > 0, 16
8
8
, 16
8
8
, 16
8
8
, 16
8
8
, 16
8
8
, 16
16-

16- 1 - 8


1 - 8
16-

16- 1 - 8


1 - 8
, .
.
32-
1 - 8




1 - 8



1 - 8
-


1 - 8



1 - 8

boolean

RW
---

---

com
---

1-2
unsigned8

RO
RW
---

---

app
---

1-2
unsigned8

RO
RW
---

---

app
---

1-2
unsigned8

1-2
unsigned8

1-2
unsigned8

1-2
unsigned8

1-2
unsigned8

1-2
unsigned8

8
integer16

8
real32

8
integer16

8
unsigned8

RO
RW
--RO
RWW
--RO
RW
--RO
RW
--RO
RW
--RO
RW
--RO
RO
--RO
RO
--RO
RWW
--RO
RW
---

--
----------
--
--
-----

app
--app
--app
--app
--app
--------app
--app
---

1
unsigned32
boolean

RO
RO
RW
---

---

com
---

8
integer32

RO
RW
---

---

app
---

8
integer32

RO
RW
---

---

app
---

8
RO
unsigned32 RW

---

---

app
---

app

8
real32

RO
RW

15

.
642F
642F
642F
6443
6443
6443
6444
6444
6444

---

IO Remote, 000A000Ah. 20 2015 .



0

1 - 8 1 - 8
---
0

1 - 8 1 - 8
---
0

1 - 8 1 - 8

---

---

---

8
real32

8
unsigned8

8
integer32

RO
RW
--RO
RW
--RO
RW

-----

app
--app
--app

.
1. .
.
2.
com, - app.
* ,
.

16

IO Remote, 000A000Ah. 20 2015 .

5. CiA 301.
0002h - 0007h
.
0002h 0005h 1 ; 0003h 0006h - 2 , 0004h 0007h - 4
. dummy () PDO.
, .
- , .
1000h
.
: 00%%0191h.
:

/
00h
0/1
01h - 0Fh
0191h = 401d
31
24 23 22
16 15

-:
16: ,
17: ,
18: ,
19: .
23, PDO :
0 PDO CiA 401.
1 PDO ().
1 (PDO ).
1001h
.

0
1
2
3
4
5
6
7



( 0)

( )
( 1029h) NMT Reset Node.
1 ()
, .
1002h
.
: 00000000h.
, .
17

IO Remote, 000A000Ah. 20 2015 .

1003h
.
. CAN
EMCY.
0 (0..8). 0
. .
1, .
.
16 16
, :

31


16 15

1005h
COB-ID SYNC.
: 80h.
X

0/1

31

30

31
30

X
0
1
29
0
1
28 - 0
X
10 - 0
X

0
1
29

000000000000000000
11-
29-
28-11
10-0


SYNC
SYNC
11- CAN-ID
29- CAN-ID
29- CAN-ID
11- CAN-ID

29 1 . SDO
0609 0030h ( ). SYNC
30 1 CANopen
. , SYNC ( 1019h),
. 0-28 ,
SYNC ( 30 = 1). SDO
0601 0000h ( ).
1006h
SYNC .
: 0.
SYNC ( 30 1005h 0):
SYNC .
SYNC ,
. SYNC .
SYNC ( 30 1005h 1):
(SYNC ).
SYNC SYNC ( 1019h)
. , ,
SYNC CANopen .

18

IO Remote, 000A000Ah. 20 2015 .


CANopen . , ,
, SYNC .
,
.
1007h
.
: 0 ( ).
PDO.
.
(1006h),
PDO.
SYNC PDO
:
1. () ,
RPDO SYNC .
2. TPDO CAN .
3. RPDO SYNC .
- PDO
, PDO . . 2
TPDO CANopen .
PDO CAN ,
CANopen .
CANopen
. SYNC ,
.
1008h
.
: .
1009h
B .
: .
100Ah
.
: .
100h
.
: 0.
( 100Dh)
. 0 ,
.
CANopen
.

19

IO Remote, 000A000Ah. 20 2015 .

100Dh
.
: 0.
( 100Ch)
. 0 ,
.
1010h
.
1:
.
: 00000001h ( ).
, 2, 3, 5, 6.
2:
.
: 00000001h ( ).
3:
.
: 00000001h ( ).
4:
--: 00000000h ( ).
SDO
0606 0000h ( - ).
5:
CAN .
: 00000001h ( ).
CAN ,
CAN .
6:
.
: 00000001h ( ).
,
CAN .
, ,
(
). ASCII save, 32- :
e
65h
MSB

v
76h

a
61h

s
73h
LSB


, .
, SDO 0606 0000h ( - ).
,
0800 0020h ( ).

20

IO Remote, 000A000Ah. 20 2015 .


:

31 - 2
0
.
1
0
.
1
.
0
0
.
1
.

NMT Reset Node, Reset
Communication ( 2, 4, 5, 6) .
CAN-IDs,
, , CAN
.
( 1011sub4).
1011h
.
1:
.
: 00000001h ( ).
,
2, 3, 5, 6.
2:
.
: 00000001h ( ).
3:
.
: 00000001h ( ).
4:
:
1005h,
1014h,
1400hsub1h, 1401hsub1h, 1402hsub1h, 1403hsub1h,
1800hsub1h, 1801hsub1h, 1802hsub1h, 1803hsub1h.

.
CAN .
: 00000001h ( ).
5:
CAN .
: 00000001h ( ).
6:
.
: 00000001h ( ).

21

IO Remote, 000A000Ah. 20 2015 .

, ,

( ). ASCII load, 32 :
d
64h
MSB

a
61h

o
6Fh

l
6Ch
LSB


, .
, SDO 0606 0000h ( -
). , 0800 0020h
( ).

NMT Reset Node, Reset Communication ( 2, 4, 5, 6)
.

:

31 - 1
0
.
0
0
.
1
.
1014h
COB-ID EMCY.
: 80h + ( CAN ).
0/1

31

30

31

0
1
30
0
29
0
1
28 - 0
X
10 - 0
X

0
1
29

000000000000000000
11-
29-
28-11
10-0

EMCY /
EMCY /
( 0)
11- CAN-ID ( )
29- CAN-ID ( )
29- CAN-ID
11- CAN-ID

29 1 . SDO
0609 0030h ( ). 0-28
EMCY ( 31 = 0). SDO 0601 0000h
( ).
1015h
EMCY.
: 0.
100 .

22

IO Remote, 000A000Ah. 20 2015 .

, EMCY, CAN
. , ,
( 1001h) ( 1003h).
CANopen .
EMCY
, .
1017h
().
: 0.
.

CANopen . , ,
, .

, .
1018h
.
1:
, CAN in
Automation: 000000BEh.
2:
, .
:

31

0041h
0042h


16 15

, R2DIO
- R2AIO 16

3:
, .
:

31

16 15

16 - 31 . CANopen
. CANopen ,
.
0 - 15 . CANopen
.
.
.
4:
, .

23

IO Remote, 000A000Ah. 20 2015 .

1019h
SYNC .
: 0.
SYNC :

0
1
2..240
241..255

SYNC 0 .
SYNC .
.
SYNC 1 .
SYNC . .
.

1, SYNC
1 . ,
, SYNC
EMCY 8240h ( SYNC ).
1019h , 1006h
. SDO 0800 0022h (
).
1029h
.
: 0.

. .
1:
.
:
CAN (bus-off).
.
CANopen ( CiA 301).
( ) :
0 - ( ).
1 .
2 .
CANopen
, ,
CAN . , ,
CAN . CAN
NMT .
1200h
SDO .
1:
COB-ID > ().
: 600h + ( CAN ).
2:
COB-ID > ().
: 580h + ( CAN ).
24

IO Remote, 000A000Ah. 20 2015 .

:
0/1

31

30

31

0
1
30
0
1
29
0
1
28 - 0
X
10 - 0
X

0
1
29

000000000000000000
11-
29-
28-11
10-0

SDO /
SDO /
CAN-ID
CAN-ID
11- CAN-ID ( )
29- CAN-ID ( )
29- CAN-ID
11- CAN-ID

SDO , 31 1, 2.
SDO ,
.
.
1400h 1403h
PDO (RPDO 1 RPDO 4).
1800h 1803h
PDO (TPDO 1 TPDO 4).
1:
PDO COB-ID.
PDO:
1400h (RPDO 1): 200h + ( CAN );
1401h (RPDO 2): 300h + ( CAN );
1402h (RPDO 3): 400h + ( CAN );
1403h (RPDO 4): 500h + ( CAN ).
1800h (TPDO 1): 180h + ( CAN );
1801h (TPDO 2): 280h + ( CAN );
1802h (TPDO 3): 380h + ( CAN );
1803h (TPDO 4): 480h + ( CAN ).
0/1

0/1

31

30

31

0
1
30
0
1
29
0
1
28 - 0
X
10 - 0
X

0
1
29

000000000000000000
11-
29-
28-11
10-0

PDO /
PDO /
PDO (RTR)
PDO (RTR)
11- CAN-ID ( )
29- CAN-ID ( )
29- CAN-ID
11- CAN-ID

29 1 . SDO
0609 0030h ( ). 0-28 30
25

IO Remote, 000A000Ah. 20 2015 .

PDO ( 31 = 0). SDO


0601 0000h ( ).
2:
PDO.
: 255.
/

PDO

0
1-240
241-251
252
253
254
255

X
X
X
X

RTR

X
X

RPDO ( 0-240) ( )
SYNC RPDO. RPDO 254 255
() .
TPDO ( 0-240 252) PDO
SYNC. .
0 , PDO ,
SYNC . 1-240 ,
SYNC ,
() TPDO.
TPDO. 252 253 , PDO
(RTR). PDO 252
- RTR - SYNC .
TPDO. 254 TPDO ,
, , . 255
, .
, ,
SDO - 0609 0030h ( ).
3:
TPDO.
: 0 ( ).
TPDO 254 255. ()
100 .
TPDO ( 31 COB-ID = 0).
SDO - 0601 0000h ( ).
CANopen .
TPDO
, .
RPDO
- , .
4:
.
- ,
.

26

IO Remote, 000A000Ah. 20 2015 .

5:
.
: 0 ( ).
TPDO 254 255.
TPDO ,
TPDO.
CANopen .
, ,
, TPDO CANopen .

CANopen , .
TPDO , TPDO
.
RPDO
RPDO.
RPDO, .
RPDO
( RPDO).
RPDO
. -, RPDO
SYNC RPDO,
SYNC. -,
PDO ( 1007h) , RPDO,
, .
CANopen
. RPDO ,
.
6:
SYNC .
: 0.
PDO.
, SYNC TPDO.
1 240 , TPDO SYNC
. SYNC ( 1019h),
. SYNC SYNC ,
.
TPDO.
TPDO ( 31 COB-ID = 0).
SDO - 0601 0000h ( ).
1600h 1603h
PDO (RPDO 1 RPDO 4).
1A00h 1A03h
PDO (TPDO 1 TPDO 4).
0 PDO ,
, PDO.
PDO , .
1h PDO
:
27

IO Remote, 000A000Ah. 20 2015 .

31

16 15

()
8 7

SDO .

, ,
PDO. 8 (64 ).
PDO 0002h..0007h.
PDO.
PDO -,
. :
1. PDO , 1 31 PDO COB-ID
PDO.
2. PDO , 0 0.
3. PDO , .
4. PDO , 0 .
5. PDO , 0 31 PDO COB-ID
PDO.
. 2 . 1 .
, . 5 . . 3 ,
, SDO
0604 0041h ( PDO).
. 4, SDO 0604 0042h (
PDO).
RPDO, PDO
, RPDO.
PDO , ,
EMCY 8210h (PDO
- ).
.
RPDO1 ( ):

(hex)

-
(hex)

1600

0
1
2


, 1 - 8
, 9 - 16


(hex)

1 2
6200 01 08
6200 02 08

TPDO1 ( ):

(hex)

-
(hex)

1A00

0
1
2


, 1 - 8
, 9 - 16


(hex)

1 2
6000 01 08
6000 02 08

RPDO2 ( ):

(hex)

-
(hex)

1601

0
1


1 - 16


(hex)

1
2022 00 10

28

IO Remote, 000A000Ah. 20 2015 .

TPDO2 TPDO4 ( 32 ):

(hex)

-
(hex)


(hex)

1A01

0
1
2


1
2

2
2021 01 20
2021 02 20

1A02

0
1
2


3
4

2
2021 03 20
2021 04 20

1A03

0
1
2


5
6

2
2021 05 20
2021 06 20

RPDO2, RPDO3 ( 16 ):

(hex)

-
(hex)


(hex)

1601

0
1
2
3
4


1
2
3
4

4
6411 01 10
6411 02 10
6411 03 10
6411 04 10

1602

0
1
2
3
4


5
6
7
8

4
6411 05 10
6411 06 10
6411 07 10
6411 08 10

TPDO2, TPDO3 ( 16 ):

(hex)

-
(hex)


(hex)

1A01

0
1
2
3
4


1
2
3
4

4
6401 01 10
6401 02 10
6401 03 10
6401 04 10

1A02

0
1
2
3
4


5
6
7
8

4
6401 05 10
6401 06 10
6401 07 10
6401 08 10

PDO .

29

IO Remote, 000A000Ah. 20 2015 .

6. IO Remote.
6.1 .
2000h
.
1:
8 : 0 2.
2:
8 : 0 2.
3:
: 0 8.
4:
: 0 8.
5, /:
/.
6, /:
/, .

30

IO Remote, 000A000Ah. 20 2015 .

6.2 .

6.2.1 CiA 401.


6000h
8 .
: .
8 8- ().
16 (2 ),
. TPDO 1.
6002h
8 .
: 0h.
= 1 .
= 0 .
6005h
.
: TRUE.
( TPDO),
( 6006h, 6007h, 6008h).
= TRUE .
= FALSE .

31

IO Remote, 000A000Ah. 20 2015 .

6006h
8 .
: FFh.
= 1 .
= 0 .
6007h
8 c
( ).
6006h.
6002h,
.
: 0h.
= 1 .
= 0 .
6008h
8 c
( ).
6006h.
6002h,
.
: 0h.
= 1 .
= 0 .

32

IO Remote, 000A000Ah. 20 2015 .

6.3 .

2402h

32

sub 1..16

2424h
sub 1..16

PDO

1..16
1..6

1A01..3h

1801..3h

2020h
2021h


TPDO2..4

TPDO2..4

sub 1..6

{ 8 }

2426h
sub 1..16

{TPDO2..4}

{T,F}

unsigned32


CAN

{T,F}

{T,F}

E =
D =
T =TRUE
F = FALSE

TRUE
{E,D}

2423h

6.3.1 , .
2020h
.
: 1..6 1..6 .
,
TPDO PDO .
2021h
32- .
: .
,
2020h. TPDO.
2022h
.
.
0..15 1..16.
() .
RPDO.
2402h
32- .
: .

33

IO Remote, 000A000Ah. 20 2015 .

(0, 8 16).
TPDO ( 2020h).
.
2421h
.
: 7h ( ).
, ( TPDO)
.

5-7
3,4
2
1
0

----0/1
0/1
0/1

.
.
(2426h).
.
(2424h).

2422h
, .
.
: 0.
= 1 ( TPDO).
= 0 .
( ).
2423h
.
: FALSE.
( TPDO),
( 2421h).
= TRUE .
= FALSE .
2424h
.
: 0.
( TPDO) ,
. ,
,
( 2426h).
2426h
.
: 0.
(
TPDO) , 2424h.
. TPDO
, . 2426h
, 2
( 2421h).

34

IO Remote, 000A000Ah. 20 2015 .

6.4 .

6.4.1 CiA 401.


6200h
8 .
: 0h.
8 8- ().
16 (2 ), ,
. RPDO 1.
6202h
8 .
: 0h.
= 1 .
= 0 .
6206h
8 .
: FFh.
.
= 1 , 6207h.
= 0 .
6207h
8 .
: 0h.

35

IO Remote, 000A000Ah. 20 2015 .

,
, 6206h.
= 0 0 6206h.
= 1 1 6206h.
6208h
8 .
: FFh.
.
= 1 CAN .
= 0 .

6.4.2 , .
2010h
8 .

( 2011h, 2012h).
: .
( ):
= 1 () .
= 0 .
2011h
.
: 10000.
: 1000.
: 65535.
100 .
: 0.

2320h .
1 () ( 1001h).
,
( 2010h). ,
, EMCY
2011h 1015h.
R2DIO
. 3 EMCY -
1..8, 4 - 9..16.
2012h
8 .
: FFh.
= 1 CAN .
= 0 ( 1003h) EMCY.

36

IO Remote, 000A000Ah. 20 2015 .

6.4.3 .
, ,
:
.
,
, ( 1011 h
1 3).
6200h, .
,
( 1010h 1 3).

6.4.4 .
:
CAN NMT Stop Remote Node;
, 1029h (
).

(NMT Start Remote Node)
(NMT Reset Node). -
(NMT Enter Pre-Operational),
(NMT Reset Communication) .
6200h, 6202h, 6206h, 6207h 6208h
SDO 0800 0022h (
). ,
NMT ,
FF80h ( ). 6200h
PDO , RPDO
.
( 1001h) .

37

IO Remote, 000A000Ah. 20 2015 .

6.5 16 .

6.5.1 CiA 401.


6401h
16- .
: .
16 .
( ) 1 8. 4
TPDO ( 1-4 TPDO2, 5-8 TPDO3).
16 , ,
.
6403h
16- (real32).
: .
6403h :
( 6403h) = ( 6401h) * ( 642Fh) + ( 642Eh)
6421h
.
: 7h ( ).
, ( TPDO)
.
38

5-7
3,4
2
1
0

0
0/1
0/1
0/1
0/1

IO Remote, 000A000Ah. 20 2015 .

.
.
(6426h).
(6425h).
(6424h).

6422h
, .
.
: 0.
= 1 ( TPDO).
= 0 .
( ).
6423h
.
: FALSE.
( TPDO),
( 6421h).
= TRUE .
= FALSE .
6424h
.
: 0.
( TPDO) , (
) .
, ,
( 6426h).
642Eh 642Fh.
6425h
.
: 0.
( TPDO) , (
) . ,
,
( 6426h).
642Eh 642Fh.
6426h
-
.
: 0.
(
TPDO) , 6424h 6425h.
.
TPDO , .
642Eh 642Fh.

39

IO Remote, 000A000Ah. 20 2015 .

642Eh
( 6403h).
: 0.0
6403h :
( 6403h) = ( 6401h) * ( 642Fh) + ( 642Eh)
642Fh

( 6403h).
: 1.0
6403h :
( 6403h) = ( 6401h) * ( 642Fh) + ( 642Eh)

6.5.2 , .
2001h
1..8.
.

(hex)

0
1
2
8
9
A

0..+10
0..+5
0..+2,5
4 20
4 20
4 20

2002h
() 1..8.
.

(hex)

0
1
2
3
4
5
6
7

2,5
5
10
25
30
50
100
500

40

IO Remote, 000A000Ah. 20 2015 .

6.6 16 .

6.6.1 CiA 401.


6411h
16- .
: 0.
16 .
( ) 1 8. 4
RPDO ( 1-4 RPDO2, 5-8 RPDO3).
16 , ,
.
6443h
.
: 1.
.
= 1 , 6444h.
= 0 .
6444h
.
: 0.
,
, 6443h.

41

IO Remote, 000A000Ah. 20 2015 .

6.6.2 , .
2001h
1..8.
().

(hex)

0
1
2
3
4

0..+5
0..+10
-5..+5
-10..+10
4 20

2018h
1..8.

( 2019h, 201Ah, 201Bh).
: .
:
= 1 (
).
= 0 .
2019h
.
: 10000.
: 1000.
: 65535.
100 .
: 0.
2320h
() 2330h ( ).
1 () .
,
( 2018h). ,
, EMCY
2019h 1015h.
R2AIO
. 3 EMCY -
1..8.
201Ah
.
: FFh.
= 1 CAN .
= 0 ( 1003h) EMCY.

42

IO Remote, 000A000Ah. 20 2015 .

201Bh
.
: FFh.
= 1 CAN .
= 0 ( 1003h) EMCY.
2030h
.
: 0.
2031h
.
, ( 1002h)
00000001h .


(hex) ()

0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F

65000
32500
16250
8125
4060
2030
1015
500
250
125
64
32
16
8
4
0.5

2031h
.
: 0.
2030h
.
, ( 1002h)
00000001h .

(hex)


(LSB)

0
1
2
3
4
5
6
7

1
2
4
16
32
64
128
256

43

IO Remote, 000A000Ah. 20 2015 .

6.6.3 .
, ,
:
.
,
, ( 1011 h
1 3).
6411h, .
,
( 1010h 1 3).

6.6.4 .
:
CAN NMT Stop Remote Node;
, 1029h (
).

(NMT Start Remote Node)
(NMT Reset Node). -
(NMT Enter Pre-Operational),
(NMT Reset Communication) .
6411h, 6443h 6444h
SDO 0800 0022h (
). ,
NMT , FF80h
( ). 6411h
PDO , RPDO
.
( 1001h) .

44

IO Remote, 000A000Ah. 20 2015 .

7. .

(CiA 303 3 v. 1.4).
- Status.
.

7.1 ().

.

NMT
CAN .

2.5 .

200 () CAN ()
1 .
(
).
200
200 1 .

200
200 1 .

SYNC
( 1006h).

200 RPDO
200 1 .
.
.

( busoff).

CAN .

7.2 ().

2.5 .


- NMT

200 (NMT
1 .
).
.

NMT .

, , CAN
CAN ( ).
, CAN
NMT . NMT .

45

IO Remote, 000A000Ah. 20 2015 .

8. CANopen.
8.1 SDO (SDO ).

0503 0000h

(toggle) .

0504 0000h

- SDO .

0504 0001h

0504 0002h

( ).

0504 0003h

( ).

0504 0004h

CRC ( ).

0504 0005h

0601 0000h

0601 0001h

(WO) .

0601 0002h

(RO) .

0602 0000h

0604 0041h

PDO.

0604 0042h


PDO (64 ).

0604 0043h

0604 0047h

0606 0000h

- .

0607 0010h

0607 0012h

, .

0607 0013h

, .

0609 0011h

0609 0030h

( ).

0609 0031h

0609 0032h

0609 0036h

060A 0023h

: SDO .

0800 0000h

0800 0020h

0800 0021h

-
.

0800 0022h

46

IO Remote, 000A000Ah. 20 2015 .

0800 0023h

0800 0024h

8.2 EMCY.
(hex)
0000
0080

.
NMT
( 6423h,
2423h) .

1000

2000

- .

2100

CANopen - .

2200

CANopen - .

2300

CANopen - .

2320

2330

3000

- .

3100

- .

3200

CANopen - .

3300

- .

4000

- .

4100

- .

4200

CANopen - .

5000

- .

6000

- .

6100

- .

6180

CANopen .

6190

CANopen .

6191

CANopen .

61A0

61A1

6200

- .

6300

- .

7000

- .

8000

- .

8100

- .
47

IO Remote, 000A000Ah. 20 2015 .

8110

CAN ( ).

8120

CAN .

8130

8140

(bus-off).

8150

(CAN-ID).

8180

C CAN hardware overrun.

8181

C CAN software overrun.

8182

C CAN error warning limit.

8183

C CAN write timeout.

8200

- .

8210

PDO - .

8220

PDO (64 ).

8230

PDO
(DAM): .

8240

SYNC .

8250

RPDO.

9000

- .

F000

- .

FF00

CANopen - .

FF80

.
6180h, 6190h, 61A0h 61A1h ( 1003h)
, EMCY
( ) CAN .

48

IO Remote, 000A000Ah. 20 2015 .

9. .
9.1 .
CAN .
CAN-ID

NMT .

128 (80h)

SYNC.

1005h

256 (100h)

Time Stamp.

1012h

9.2 -- (peer-to-peer).
-- CAN .
CAN-ID

129 (81h) 255 (FFh)

(EMCY)
1 127.

1014h

385 (181h) 511 (1FFh)

PDO (TPDO1)
1 127.

1800h

513 (201h) 639 (27Fh)

PDO (RPDO1)
1 127.

1400h

641 (281h) 767 (2FFh)

PDO (TPDO2)
1 127.

1801h

769 (301h) 895 (37Fh)

PDO (RPDO2)
1 127.

1401h

897 (381h) 1023 (3FFh)

PDO (TPDO3)
1 127.

1802h

1025 (401h) 1151 (47Fh)

PDO (RPDO3)
1 127.

1402h

1153 (481h) 1279 (4FFh)

PDO (TPDO4)
1 127.

1803h

1281 (501h) 1407 (57Fh)

PDO (RPDO4)
1 127.

1403h

1409 (581h) 1535 (5FFh)

SDO,
1 127.

1200h

1537 (601h) 1663 (67Fh)

SDO,
1 127.

1200h

1793 (701h) 1919 (77Fh)


( )
1 127.

1016h, 1017h

49

IO Remote, 000A000Ah. 20 2015 .

9.3 .
CANID

2020 (7E4h)

LSS slave ( ).

2021 (7E5h)

LSS master ( ).

9.4 .

, SYNC, TIME-STAMP, EMCY, PDO
SDO.
CANIDs

NMT .

1 (001h) 127 (07Fh)

257 (101h) 384 (180h)

1409 (581h) 1535 (5FFh)

SDO , .

1537 (601h) 1663 (67Fh)

SDO , .

1760 (6E0h) 1791 (6FFh)

1793 (701h) 1919 (77Fh)

1920 (780h) 2047 (7FFh)

50

IO Remote, 000A000Ah. 20 2015 .

10. .
IO Remote
CANwise.

10.1 DCF .
: CANopenDCF.dll
: Device Configuration Manager
: CANopen_DCF.pdf

10.2 - .
: CANopenR2DIO.dll
: R2DIO digital I/O toolkit
1.8.x
:

,
.
.

CANwise :
CAN ;
CANwise Start;

CAN
"R2DIO node". R2DIO
CAN .
.
( 2423h).
51

IO Remote, 000A000Ah. 20 2015 .

:
(OFF) (ON). : (OFF),
(ON) ().
(ON).
.

Reset all
counters
Clear Errors
NMT

.
CANopen PDO .
.
. CAN NMT
. R2DIO.

Restore defaults .

.
ALL ;
Communication
;
Application ;
predefined COBID ;
NODE ID CAN ;
BIT RATE ;
R2DIO node

R2AIO. CAN
.

Assign

.
.

Read all (SDO) :


;
;
;
;
(, ) .
CANopen SDO .
OUTs Off

(OFF)
. CANopen PDO .

OUTs Inv


. CANopen PDO .

Write OUTs
(SDO)

.
CANopen SDO .


PDO ,
. "Read all (SDO)" "Write OUTs (SDO)"
. SDO , NMT R2DIO.

52

IO Remote, 000A000Ah. 20 2015 .

, :

. 1..8 9..16.
Bit

State

ON/OFF.

INP

LC

Counter
R

() .
SDO .
.

Rst

. CANopen PDO
.
. 1..8 9..16.

Bit

State

ON/OFF.

OUT

,
.

Sw

ON/OFF. CANopen PDO


.

NMT .

(EMCY, PDO .).

( .).

(, , .).

() ().

53

IO Remote, 000A000Ah. 20 2015 .

10.3 -.
: CANopenR2AIO_16.dll
: R2AIO 16 bit toolkit
1.9.x
:

(
) .
.

CANwise :
CAN ;
CANwise Start;

CAN
"R2AIO node". R2AIO
CAN .
. .
,
- 16 .
R2AIO.

. ,
.
.

Read (SDO)

:
;
54

IO Remote, 000A000Ah. 20 2015 .

;
(, , ) .
CANopen SDO .
Write (SDO)

.
CANopen SDO .

Enable TPDO / (
Disable TPDO 6423h).
Clear Errors

NMT

. CAN NMT
. R2AIO.

Restore
defaults

.

.
ALL ;
Communication
;
Application ;
predefined COBID ;
NODE ID CAN ;
BIT RATE ;

R2AIO node
Range

R2AIO. CAN
.
.
.
R2AIO
Actual range.


PDO ,
. "Read (SDO)" "Write (SDO)"
. SDO , -
NMT R2AIO.
.

NMT .

(EMCY, PDO .).

( .).

(, , .).

55