CANopen协议包括SDO、PDO、NMT等五种通信模式，用于设备间的数据交互。SDO提供对象字典访问，支持下载/上传数据；PDO用于广播高优先级控制和状态信息，分为发送PDO和接收PDO；NMT是网络管理协议，所有设备都必须支持其奴隶状态机。此外，还有同步、紧急、时间戳等特殊功能协议和心跳、启动、节点/生存监护等错误控制协议。
Three types of communication relationships：
1. Master/Slave relationship
2. Client/Server relationship
3. Producer/Consumer
以上三种模式彼此独立，不同协议采用不同模式对应。并且C/S需要应答机制保证数据传输的可靠性。即After finishing the task the server answers the request
The CANopen protocols comprise:
1. SDO protocol ——Service data objects
Enable access to all entries of a CANopen object dictionary
As these entries may contain data of arbitrary size and data type SDOs can be used to transfer multiple data sets (each containing an arbitrary large block of data) from a client to a server and vice versa
Direction of SDO:
a. write data to server using download
b. read data from server using upload
The indices of the corresponding Object
Dictionary entries are computed by the following formulas:
• SSDO communication parameter index = 1200h + SSDO-number -1
• CSDO communication parameter i
最低0.47元/天 解锁文章
1万+
被折叠的 条评论
为什么被折叠?
到【灌水乐园】发言
