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CANopen Network Interface
1606218 02 08/2006 51
CAN Standards CANopen specifications are defined by the CiA group and can be accessed (subject
to some restrictions) on the group site at www.can-cia.de. The source codes for
master and slave devices are available from the various suppliers.
Communication
on a CANopen
Network
The communication profile is based on CAL (CAN Application Layer) services and
protocols.
It provides the user with access to two types of exchange: SDO and PDO.
On power up, the device enters an initialization phase then goes into "Pre-
operational" state. At this stage, only SDO communication is authorized. After
receiving a startup command, the device switches to the "Operational" state. PDO
and SDO communications are both authorized when the device is in the
"Operational" state.
Note: To find out more about CANopen standard specifications and mechanisms,
please visit the CiA home page (http//www.can-cia.de).