Re: CAN implementation extra
Heinz-Jürgen Oertel <[email protected]>
| Newsgroups | gmane.comp.hardware.bus.can |
|---|---|
| Organization | privat |
| Message-ID | <1614430.WkMP9NQVm1@heinz> |
Am Freitag, 9. Januar 2015, 13:53:51 schrieb Arun kumar:
> Hi all,
>
> I have implemented a system with 1 master and 3 slaves but now i want to add
> another slave which can access object dictionary of other existing slaves for
> recording the data, is it possible ?, if yes then how ?. i have heard of SDO
> channel sharing but i am not sure in what way that might help.
> Any help is appreciated.
> Thank you.
CANopen does not differentiate between master and slave in the communication between nodes. Only for the network management it is relevant.
To access a nodes object dictionary, you need a SDO client, the owner of the object dictionary is the SDO server.
With only 5 CANopen nodes it is possible to implement 5 SDO server channels on each node. Every node can access the other nodes object dictionary with this configuration. It's a matter of configuring the client and server SDOs.
The other method is using an SDO manager assigning dynamic SDO channels.
In any of the above cases, you might need to to change the firmware of your nodes. The first case is easy if you have a CANopen stack allowing you to implement more than one SDO server.
--
mit freundlichen Grüßen
Heinz-Jürgen Oertel
emtas GmbH
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