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                        The definition of Canopen solder with M12Acoded

CanOpen contains: application, object dictionary, communication interface.

The communication interface protocol includes:
I. NMT Grid Management:
1.NMT node state
2.NMT node on-line message
3.NMT node status and heartbeat message
4.NMT node guard
5.NMT node state switch command

SDO Service Data Objects
1. Communication principles of SDO
2.SDO fast protocol
3.SDO General Protocol

PDO process data object
1. Can-ID definition of PDO
2. Transmission form of PDO
3. Communication parameters of PDO
4. Mapping parameters of PDO

Special Agreement
1. Sync special protocol
2.TS timestamp protocol
3.EMCY Emergency Message Protocol

Definition of communication protocol:
1. The signal/canopen/DeviceNET, M12 connector 5 core, A - coded
M12          wire colors          signal/canopen
1             Shield                   Drain
2              RD                       V+
3              BK                       V-
4              WH                      CAN_H
5              BU                      CAN_L

The characteristics of communication interface protocol:
1. CANopen network is generally a local area network with one master station and several slave stations
2.NMT node has six states: initialization, application layer reset, communication reset, pre-operation state, operation state, and stop state.You can switch states by yourself or by the master station
3. Boot-up message is sent after any CANopen slave station goes online.
4.SDO is the request reply mode
5. Sending Party (Client), Receiving Party (Server)
6. Usually the slave node is the SDO server and the master node is the client
7. Two protocols: fast, plain SDO protocols
8.PDO is used to transmit real-time data and belongs to the "production and consumption" model;
9. The cob-id definition is only predefined, TPDO5, 6, 7 can also exist.The cob-id of PDO is not necessarily related to the node-id
10. There are two transmission modes of PDO: synchronous transmission and asynchronous transmission
11. The communication parameters of PDO can be configured using the Object Dictionary tool
12. There are three common ones listed: synchronization protocol, timestamp protocol, and emergency message protocol