330:, the data link layer of CANopen, can only transmit short packages consisting of an 11-bit id, a remote transmission request (RTR) bit and 0 to 8 bytes of data. The CANopen standard divides the 11-bit CAN frame id into a 4-bit function code and 7-bit CANopen node ID. This limits the number of devices in a CANopen network to 127 (0 being reserved for broadcast). An extension to the CAN bus standard (CAN 2.0 B) allows extended frame ids of 29 bits, but in practice CANopen networks big enough to need the extended id range are rarely seen.
1141:‘error event’, i.e. the emergency messages must not be repeated. As long as no new errors occur on a device no further emergency message must be sent. By means of CANopen Communication Profile defined emergency error codes, the error register and device specific additional information are specified in the device profiles.
1127:
Some time critical applications especially in large networks with reduced transmission rates require very accurate synchronization; it may be necessary to synchronize the local clocks with an accuracy in the order of microseconds. This is achieved by using the optional high resolution synchronization
931:
The SDO protocol is used for setting and for reading values from the object dictionary of a remote device. The device whose object dictionary is accessed is the SDO server and the device accessing the remote device is the SDO client. The communication is always initiated by the SDO client. In CANopen
1096:
PDOs can be sent synchronously or asynchronously. Synchronous PDOs are sent after the SYNC message whereas asynchronous messages are sent after internal or external trigger. For example, you can make a request to a device to transmit TPDO that contains data you need by sending an empty TPDO with the
1088:
The
Process Data Object protocol is used to process real time data among various nodes. You can transfer up to 8 bytes (64 bits) of data per one PDO either from or to the device. One PDO can contain multiple object dictionary entries and the objects within one PDO are configurable using the mapping
754:
is used by the NMT master to change the state of the devices. The CAN-frame COB-ID of this protocol is always 0, meaning that it has a function code 0 and node ID 0, which means that every node in the network will process this message. The actual node ID, to which the command is meant to,
1140:
Emergency messages are triggered by the occurrence of a device internal fatal error situation and are transmitted from the concerned application device to the other devices with high priority. This makes them suitable for interrupt type error alerts. An
Emergency Telegram may be sent only once per
1092:
There are two kinds of PDOs: transmit and receive PDOs (TPDO and RPDO). The former is for data coming from the device (the device is a data producer) and the latter is for data going to the device (the device is a data consumer); that is, with RPDO you can send data to the device and with TPDO you
840:
is used to monitor the nodes in the network and verify that they are alive. A heartbeat producer (usually a slave device) periodically sends a message with the binary function code of 1110 and its node ID (COB-ID19 = 0x700 + node ID). The data part of the frame contains a byte indicating
187:
are defined in the standard (their size in bits is optionally stored in the related type definition, index range 0x0001–0x001F), as well as composite datatypes such as strings, arrays and records (defined in index range 0x0040–0x025F). The composite datatypes can be subindexed with an 8-bit index;
939:
The COB-IDs of the respective SDO transfer messages from client to server and server to client can be set in the object dictionary. Up to 128 SDO servers can be set up in the object dictionary at addresses 0x1200 - 0x127F. Similarly, the SDO client connections of the device can be configured with
333:
In CANopen the 11-bit id of a CAN-frame is known as communication object identifier, or COB-ID. In case of a transmission collision, the bus arbitration used in the CAN bus allows the frame with the smallest id to be transmitted first and without a delay. Using a low code number for time critical
935:
Because the object dictionary values can be larger than the eight bytes limit of a CAN frame, the SDO protocol implements segmentation and desegmentation of longer messages. Actually, there are two of these protocols: SDO download/upload and SDO Block download/upload. The SDO block transfer is a
380:
The default CAN-ID mapping sorts frames by attributing a function code (NMT, SYNC, EMCY, PDO, SDO...) to the first 4 bits, so that critical functions are given priority. This mapping can however be customized for special purposes (except for NMT and SDO, required for basic communication).
1111:
In general, the fixing of the transmission time of synchronous PDO messages coupled with the periodicity of transmission of the Sync Object guarantees that sensor devices may arrange to sample process variables and that actuator devices may apply their actuation in a coordinated fashion.
309:
Given suitable tools, the content of the object dictionary of a device, based on an electronic data sheet (EDS), can be customized to a device configuration file (DCF) to integrate the device into a specific CANopen network. According to CiA 306, the format of the EDS-file is the
1233:
Electronic Data Sheet (EDS) is a file format, defined in CiA306, that describes the communication behaviour and the object dictionary entries of a device. This allows tools such as service tools, configuration tools, development tools, and others to handle the devices properly.
841:
the node status. The heartbeat consumer reads these messages. If the messages fail to arrive within a certain time limit (defined in the object dictionary of the devices) the consumer can take action to, for example, reset the device or indicate an error. The frame format is:
718:
relationship is implemented in the SDO protocol, where the SDO client sends data (the object dictionary index and subindex) to an SDO server, which replies with one or more SDO packages containing the requested data (the contents of the object dictionary at the given index).
119:
part of the device actually performs the desired function of the device, after the state machine is set to the operational state. The application is configured by variables in the object dictionary and the data are sent and received through the communication
1123:
Usually the Time-Stamp object represents a time as a 6-byte field: a count of milliseconds after midnight (at most 27 bits, stored in a 32-bit field), and an unsigned 16-bit number of days since
January 1, 1984. (This will overflow on 7 June 2163.)
1036:
is the client command specifier of the SDO transfer, this is 0 for SDO segment download, 1 for initiating download, 2 for initiating upload, 3 for SDO segment upload, 4 for aborting an SDO transfer, 5 for SDO block upload and 6 for SDO block
1049:, if set, indicates an expedited transfer, i.e. all data exchanged are contained within the message. If this bit is cleared then the message is a segmented transfer where the data does not fit into one message and multiple messages are used.
1131:
The high-resolution timestamp is encoded as unsigned32 with a resolution of 1 microsecond which means that the time counter restarts every 72 minutes. It is configured by mapping the high resolution time-stamp (object 1013h) into a PDO.
944:
defines an SDO channel which can be used even just after bootup (in the Pre-operational state) to configure the device. The COB-IDs of this channel are 0x600 + node ID for receiving and 0x580 + node ID for transmitting.
409:
The standard reserves certain CAN-IDs to network management and SDO transfers. Some function codes and CAN-IDs have to be mapped to standard functionality after device initialization, but can be configured for other uses later.
191:
For example, the device communication parameters, standardized in the basic device profile CiA 301 are mapped in the index range 0x1000–0x1FFF ("communication profile area"). The first few entries in this area are as follows:
81:. Profiles for more specialized devices are built on top of this basic profile, and are specified in numerous other standards released by CAN in Automation, such as CiA 401 for I/O-modules and CiA 402 for motion control.
908:
CANopen devices are required to make the transition from the state
Initializing to Pre-operational automatically during bootup. When this transition is made, a single heartbeat message is sent to the bus. This is the
111:
is an array of variables with a 16-bit index. Additionally, each variable can have an 8-bit subindex. The variables can be used to configure the device and reflect its environment, i.e. contain measurement
104:. It must contain the states Initialization, Pre-operational, Operational and Stopped. The transitions between states are made by issuing a network management (NMT) communication object to the device.
1100:
With RPDOs you can, for example, start two devices simultaneously. You only need to map the same RPDO into two or more different devices and make sure those RPDOs are mapped with the same COB-ID.
932:
terminology, communication is viewed from the SDO server, so that a read from an object dictionary results in an SDO upload and a write to a dictionary entry is an SDO download.
711:
relationship, one CANopen node is designated as the master, which sends or requests data from the slaves. The NMT protocol is an example of a master/slave communication model.
1093:
can read data from the device. In the pre-defined connection set there are identifiers for four TPDOs and four RPDOs available. With configuration, 512 PDOs are possible.
1108:
The Sync-Producer provides the synchronization-signal for the Sync-Consumer. When the Sync-Consumer receive the signal they start carrying out their synchronous tasks.
432:
The transmit and receive directions are from the device's point of view. So a query to a device on the network would send a 0x600+nodeid and get back a 0x580+nodeid.
46:
defined by a device profile. The communication protocols have support for network management, device monitoring and communication between nodes, including a simple
1076:
contains the data to be uploaded in the case of an expedited transfer (e is set), or the size of the data to be uploaded (s is set, e is not set), often encoded in
129:
CANopen devices must have an object dictionary, which is used for configuration and communication with the device. An entry in the object dictionary is defined by:
755:
is given in the data part of the message (at the second byte). This can also be 0, meaning that all the devices on the bus should go to the indicated state.
1496:
747:
The NMT protocols are used to issue state machine change commands (e.g. to start and stop the devices), detect remote device bootups and error conditions.
1471:
1426:
1362:
1650:
1523:
1245:
2033:
188:
the value in subindex 0 of an array or record indicates the number of elements in the data structure, and is of type UNSIGNED8.
2018:
1811:
1551:
948:
To initiate a download, the SDO client sends the following data in a CAN message with the 'receive' COB-ID of the SDO channel.
1149:
Sample trace of communications between a master and two pressure transducer slaves configured for id 1 and node ID 2.
1645:
1516:
1260:: Process Data Object - Inputs and outputs. Values of type rotational speed, voltage, frequency, electric current, etc.
936:
newer addition to standard, which allows large amounts of data to be transferred with slightly less protocol overhead.
1422:
CANopen
Origins - Esprit project ASPIC 1993 (Bosch, Newcastle University, University of Applied Science in Reutlingen)
1278:: CAN Identifier. This is the 11-bit CAN message identifier which is at the beginning of every CAN message on the bus.
1623:
2055:
1936:
1841:
1618:
1393:
2142:
1831:
1128:
protocol which employs a special form of timestamp message to adjust the inevitable drift of the local clocks.
1043:
is the number of bytes in the data part of the message which do not contain data, only valid if e and s are set
167:
field (M/O) defines whether a device conforming to the device specification has to implement this object or not
160:, which gives information on the access rights for this entry, this can be read/write, read-only or write-only
1603:
1509:
142:(Object Type/Size), a symbolic type of the object in the entry, such as an array, record, or simple variable
1881:
1871:
1532:
2085:
1556:
1055:, if set, indicates that the data size is specified in n (if e is set) or in the data part of the message
730:
of producer/consumer, the producer sends data to the consumer without a specific request, whereas in the
2137:
2090:
1763:
1561:
180:
1290:: Device Configuration File. This is a modified EDS file with settings for node ID and baud rate.
42:. The CANopen standard consists of an addressing scheme, several small communication protocols and an
1836:
1745:
1266:: Service Data Object - Configuration settings, possibly node ID, baud rate, offset, gain, etc.
1816:
1768:
2048:
1966:
1906:
1876:
916:
A response/reply-style (pull model) protocol, called node guarding, exists for slave monitoring.
1476:
1421:
429:
For simple network structures, CANopen supports a predefined allocation of message identifiers.
1633:
1431:
1380:
CiA 402 CANopen device profile for motion controllers and drives (same as IEC 61800-7-201/301)
2080:
1638:
1370:
CiA 401 CANopen device profile specification for generic I/O modules, free downloadable from
89:
Every CANopen device has to implement certain standard features in its controlling software.
2106:
925:
101:
8:
1778:
1628:
704:
Different kinds of communication models are used in the messaging between CANopen nodes.
1608:
1593:
63:
1486:
1660:
176:
78:
74:
43:
2132:
1979:
1974:
1801:
1715:
154:, gives the datatype of the variable (or the datatype of all variables of an array)
50:
for message segmentation/desegmentation. The lower level protocol implementing the
2100:
1758:
51:
47:
27:
1457:
CANopen Stack
Project - A flexible open source CANopen stack for microcontroller
1461:
1451:
184:
55:
23:
2126:
1588:
1442:
CanOpenNode - An open source CANopen framework for microcontrollers and Linux
1441:
1206:
377:
The data frame with an 11-bit identifier is also called "base frame format".
314:
format. There is an upcoming XML-style format, that is described in CiA 311.
39:
1237:
Those EDS files are mandatory for passing the CiA CANopen conformance test.
1886:
1675:
1655:
1546:
1321:
97:
implements the protocols for messaging with the other nodes in the network.
1284:: Electronic Data Sheet. This is an INI style or XML style formatted file.
2010:
1924:
1919:
1613:
62:(CAN), although devices using some other means of communication (such as
1337:
CiA 301 CANopen application layer specification, free downloadable from
1735:
1720:
1583:
1501:
1446:
1222:
Node at ID 2 (CID-0x180), reading pressure of 0x0183E5 (99301) pascals
1077:
1062:
31:
1061:
is the object dictionary index of the data to be accessed, encoded in
2075:
2070:
2043:
2038:
2023:
1989:
1984:
1946:
1941:
1914:
1861:
1753:
1680:
1576:
1316:
1311:
73:
The basic CANopen device and communication profiles are given in the
35:
1447:
Lely CANopen - An open source CANopen library for masters and slaves
2095:
1956:
1725:
1710:
1705:
1700:
1665:
1598:
1477:
Introduction to CANopen
Fundamentals (in www.canopen-solutions.com)
1466:
1244:
based format called XDD is defined in CiA311. XDD is conformant to
726:
model is used in the
Heartbeat and Node Guarding protocols. In the
311:
172:
67:
2060:
2028:
1851:
1826:
1796:
1730:
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1566:
1491:
1300:
1191:
Master sends a SYNC message, which triggers devices to send data
327:
59:
1097:
RTR flag (if the device is configured to accept TPDO requests).
2111:
1999:
1994:
1951:
1896:
1891:
1856:
1791:
1786:
1685:
1205:
Node at ID 1 (CID-0x180), reading pressure of 0x0182CD (99021)
1115:
The identifier of the Sync Object is available at index 1005h.
1481:
1436:
2065:
1821:
1806:
1497:
CANopen - Application layer and general communication profile
1456:
1306:
1437:
CanFestival - An open source CANopen multiplatform framework
1931:
1866:
1695:
734:, the consumer has to request the data from the producer.
1846:
1371:
1347:
CiA 306 CANopen
Electronic Data Sheet (EDS) specification
1338:
1241:
1178:
Master puts all devices on the bus into operational mode
1103:
38:, CANopen implements the layers above and including the
100:
Starting and resetting the device is controlled via a
1083:
919:
742:
1357:
1118:
136:, the 16-bit address of the object in the dictionary
1467:
CANnewsletter-Information on CAN, CANopen and J1939
1135:
1070:is the subindex of the object dictionary variable
70:) can also implement the CANopen device profile.
2124:
1361:Predefined Connection Set from CANopen Basics
1517:
666:NMT node monitoring (node guarding/heartbeat)
334:functions ensures the lowest possible delay.
1251:
413:
1452:openCANopen - An open source CANopen master
1524:
1510:
940:variables at 0x1280 - 0x12FF. However the
1089:and parameter object dictionary entries.
1531:
1228:
322:
699:
2125:
1394:"SDO - Service Data Objects - CanOpen"
1104:Synchronization Object (SYNC) protocol
1505:
1487:CANeds: Free editor EDA and XDD files
1354:CiA 311 CANopen XML-EDS specification
175:for object dictionary values such as
26:and device profile specification for
1432:Identifier usage in CANopen networks
1427:About CANopen (canopensolutions.com)
124:
1376:
1366:
1350:
1343:
1333:
1084:Process Data Object (PDO) protocol
13:
1492:Online portal by CAN in Automation
1482:Wiki of the CANopen-Lift Community
928:, a data-as-a-service abstraction.
920:Service Data Object (SDO) protocol
743:Network management (NMT) protocols
14:
2154:
1415:
1272:: Communication object identifier
1144:
1119:Time Stamp Object (TIME) protocol
2056:Factory Instrumentation Protocol
1937:Factory Instrumentation Protocol
1619:Factory Instrumentation Protocol
1136:Emergency Object (EMCY) protocol
317:
148:, a string describing the entry
84:
1386:
77:301 specification released by
1:
1327:
1303:is an article on the CAN bus.
337:Contents of a CANopen frame:
830:Go to 'reset communication'
737:
550:Safety-relevant data objects
7:
2086:Unified Diagnostic Services
1557:CC-Link Industrial Networks
1294:
10:
2159:
1604:Ethernet Global Data (EGD)
942:pre-defined connection set
923:
2008:
1965:
1905:
1777:
1746:Industrial control system
1744:
1539:
1472:CANopen educational pages
1252:Glossary of CANopen terms
956:
494:Indicate active interface
414:Predefined Connection Set
279:manufacturer device name
16:Computer network protocol
1240:Since end of 2007 a new
924:Not to be confused with
814:Go to 'pre-operational'
1967:Automatic meter reading
1907:Power-system automation
1301:Controller area network
878:Boot up (Initialising)
752:Module control protocol
652:Node claiming procedure
638:Node claiming procedure
466:Global failsafe command
60:Controller Area Network
2143:Industrial automation
2081:Keyword Protocol 2000
1229:Electronic Data Sheet
323:Communication objects
1533:Automation protocols
926:Service Data Objects
855:0x700 + node ID
798:Go to 'operational'
700:Communication models
438:Communication object
1779:Building automation
1629:FOUNDATION fieldbus
822:Go to 'reset node'
624:Dynamic SDO request
22:is a communication
1609:Ethernet Powerlink
1540:Process automation
1462:CANopen for Python
870:Represented state
838:Heartbeat protocol
165:Mandatory/Optional
95:communication unit
64:Ethernet Powerlink
34:. In terms of the
2138:Network protocols
2120:
2119:
1372:CAN in Automation
1339:CAN in Automation
1226:
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906:
905:
862:
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833:
782:
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724:producer/consumer
697:
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306:
125:Object dictionary
109:object dictionary
79:CAN in Automation
44:application layer
2150:
1716:SERCOS interface
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1336:
1248:standard 15745.
1152:
1151:
951:
950:
902:Pre-operational
864:
863:
844:
843:
806:Go to 'stopped'
787:NMT command code
784:
783:
758:
757:
452:NMT node control
435:
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384:
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340:
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28:embedded systems
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911:bootup protocol
778:Addressed node
775:Requested state
745:
740:
702:
689:
684:
615:
610:
597:
596:4. Transmit PDO
595:
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592:3. Transmit PDO
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588:2. Transmit PDO
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584:1. Transmit PDO
580:
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427:
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325:
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244:error register
127:
87:
56:physical layers
48:transport layer
17:
12:
11:
5:
2156:
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1985:DLMS/IEC 62056
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1416:External links
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1145:Initialization
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867:NMT state code
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617:
612:
607:
603:
602:
599:
598:4. Receive PDO
594:3. Receive PDO
590:2. Receive PDO
586:1. Receive PDO
582:
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447:Specification
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389:Function code
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373:
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169:
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155:
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137:
126:
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113:
105:
98:
86:
83:
24:protocol stack
15:
9:
6:
4:
3:
2:
2155:
2144:
2141:
2139:
2136:
2134:
2131:
2130:
2128:
2113:
2110:
2108:
2105:
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2099:
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2079:
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2027:
2025:
2022:
2020:
2017:
2016:
2014:
2012:
2009:Automobile /
2007:
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1998:
1996:
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1664:
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1659:
1657:
1656:Honeywell SDS
1654:
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1651:HART Protocol
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1008:reserved(=0)
1007:
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1002:
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716:client/server
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480:Flying master
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441:COB-ID(s) hex
440:
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411:
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392:Node ID
391:
388:
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318:Communication
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118:
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106:
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102:state machine
99:
96:
92:
91:
90:
82:
80:
76:
71:
69:
65:
61:
57:
53:
49:
45:
41:
40:network layer
37:
33:
29:
25:
21:
1676:MECHATROLINK
1571:
1401:. Retrieved
1397:
1388:
1377:
1367:
1358:
1351:
1344:
1334:
1322:TransducerML
1287:
1281:
1275:
1269:
1263:
1257:
1239:
1236:
1232:
1219:E5 83 01 00
1202:CD 82 01 00
1164:Description
1158:DATA LENGTH
1148:
1139:
1130:
1126:
1122:
1114:
1110:
1107:
1099:
1095:
1091:
1087:
1073:
1067:
1058:
1052:
1046:
1040:
1033:
1000:
947:
941:
938:
934:
930:
915:
910:
907:
894:Operational
850:Data Byte 0
837:
835:
767:Data Byte 1
751:
749:
746:
731:
727:
723:
721:
715:
713:
709:master/slave
708:
706:
703:
669:700 + NodeID
611:600 + NodeID
609:580 + NodeID
581:500 + NodeID
579:480 + NodeID
577:400 + NodeID
575:380 + NodeID
573:300 + NodeID
571:280 + NodeID
569:200 + NodeID
567:180 + NodeID
542:Receive only
525:080 + NodeID
514:Receive only
458:Receive only
431:
428:
408:
379:
376:
351:Data length
336:
332:
326:
308:
224:device type
201:Object name
190:
170:
164:
157:
151:
145:
139:
133:
128:
116:
108:
94:
88:
85:Device model
72:
19:
18:
2103:(SAE J2716)
1975:ANSI C12.18
1925:IEC 60870-6
1920:IEC 60870-5
1614:EtherNet/IP
764:Data Byte 0
444:Slave nodes
282:Vis-String
227:UNSIGNED32
140:Object name
117:application
58:is usually
2127:Categories
1736:TTEthernet
1721:SERCOS III
1584:ControlNet
1328:References
1078:big endian
1063:big endian
732:pull model
728:push-model
661:CiA 416-1
655:6F0 to 6FF
647:CiA 416-1
641:6E1 to 6E3
633:CiA 302-5
553:101 to 180
503:CiA 302-6
489:CiA 302-2
483:071 to 076
371:0-8 bytes
247:UNSIGNED8
210:Attribute
171:The basic
32:automation
2044:NMEA 2000
2039:SAE J1939
2034:ARINC 825
2024:ARINC 429
1980:IEC 61107
1947:IEC 62351
1942:IEC 61850
1915:IEC 60870
1862:OpenTherm
1754:MTConnect
1681:MelsecNet
1594:DirectNET
1577:DeviceNet
1317:IEEE 1451
1312:DeviceNet
1023:subindex
966:Byte 4-7
960:Byte 1-2
954:Byte Nr:
738:Protocols
536:TimeStamp
522:Emergency
173:datatypes
158:Attribute
52:data link
36:OSI model
1957:PROFIBUS
1726:Sinec H1
1711:RAPIEnet
1706:PROFINET
1701:PROFIBUS
1666:INTERBUS
1661:HostLink
1599:EtherCAT
1295:See also
1068:subindex
1037:download
1001:Meaning:
995:4 bytes
989:2 bytes
971:Length:
886:Stopped
790:Meaning
693:CiA 305
688:Transmit
675:CiA 301
672:Transmit
619:CiA 301
614:Transmit
601:CiA 301
559:CiA 301
545:CiA 301
531:CiA 301
528:Transmit
517:CiA 301
475:CiA 304
461:CiA 301
362:11 bits
312:INI file
181:integers
177:booleans
68:EtherCAT
30:used in
2133:CAN bus
2061:FlexRay
2029:CAN bus
2011:Vehicle
1852:LonTalk
1827:EnOcean
1797:BatiBUS
1764:OPC HDA
1731:SynqNet
1691:Optomux
1671:IO-Link
1646:GE SRTP
1572:CANopen
1567:CAN bus
1207:pascals
1155:CAN ID
992:1 byte
980:2 bits
974:3 bits
963:Byte 3
957:Byte 0
690:Receive
616:Receive
403:7 bits
400:4 bits
397:Length
368:4 bits
359:Length
345:CAN-ID
328:CAN bus
273:0x1008
238:0x1001
218:0x1000
20:CANopen
2112:Cyphal
2000:Zigbee
1995:Modbus
1952:Modbus
1897:Zigbee
1892:Z-Wave
1857:Modbus
1792:BACnet
1787:1-Wire
1769:OPC UA
1759:OPC DA
1686:Modbus
1403:7 June
1398:ByteMe
1276:CAN ID
1270:COB-ID
1213:0x182
1196:0x181
1175:01 00
1020:index
1005:ccs=1
986:1 bit
983:1 bit
977:1 bit
858:State
847:COB-ID
761:COB-ID
418:": -->
365:1 bit
285:const
198:Index
185:floats
120:layer.
2076:J1708
2071:J1587
2066:IEBus
1990:M-Bus
1822:DyNet
1807:CEBus
1802:C-Bus
1307:J1939
1183:0x80
1161:DATA
1059:index
1026:data
772:0x000
707:In a
354:Data
207:Type
204:Name
134:Index
112:data.
2101:SENT
2096:MOST
2019:AFDX
1932:DNP3
1872:VSCP
1867:oBIX
1812:DALI
1696:PieP
1624:FINS
1589:DF-1
1552:BSAP
1547:AS-i
1405:2023
1169:0x0
1074:data
899:0x7f
891:0x05
883:0x04
875:0x00
836:The
827:0x82
819:0x81
811:0x80
803:0x02
795:0x01
750:The
508:Sync
420:edit
348:RTR
293:...
276:VAR
258:...
241:VAR
221:VAR
213:M/O
183:and
163:The
152:Type
146:Name
115:The
107:The
54:and
2107:VAN
2091:LIN
2049:FMS
1887:xPL
1882:xAP
1877:X10
1847:KNX
1842:FIP
1837:EIB
1832:EHS
1817:DSI
1639:HSE
1562:CIP
1288:DCF
1282:EDS
1264:SDO
1258:PDO
1246:ISO
1242:XML
1034:ccs
685:7E5
683:7E4
680:LSS
627:6E0
606:SDO
564:PDO
539:100
511:080
497:07F
469:001
455:000
250:ro
230:ro
75:CiA
2129::
1634:H1
1396:.
1216:4
1199:4
1186:0
1172:2
1017:s
1014:e
1011:n
913:.
722:A
714:A
288:O
253:M
233:M
179:,
93:A
66:,
1525:e
1518:t
1511:v
1407:.
1053:s
1047:e
1041:n
658:?
644:?
630:?
556:?
500:?
486:?
472:?
424:]
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