CANopen Topological Addressing
(Original Document)
About us
At a Glance
Topological addressing (which depends on the geographical position of the element to be addressed) is available on CANopen buses.
However, this differs slightly from Fipio topological addressing.
Illustration
Addressing is defined in the following way:
Syntax
The table below describes the different elements that make up addressing.
Family
Element
Values
Meaning
Symbol
%
-
Indicates an IEC object
Object type
I
Q
-
-
Input objects.
Output objects.
This information is exchanged automatically at each cycle of the task with which the CANopen card is associated (MAST or FAST).
Format (size)
W
16 bit
16 bit WORD-type word.
Module/channel address and connection point
b
3 to 999
Bus number.
e
1 to 127
Connection point number (CANopen slave number).
Rack No.
r
0
Virtual rack number, always 0.
Module No.
m
0
Virtual module number, always 0.
Channel No.
c
0
Virtual channel number, always 0.
Channel data No.
d
0 to 59
Slave data number. Maximum 59, as a slave can only have a maximum of 60 input and output words (the sum of all input/output words must be less than 60).