Re: CAN implementation extra

Heinz-Jürgen Oertel <hj.oertel <at> t-online.de> writes:

> 
> 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. 

hello Freitag,

Thank you.

So, how about mapping the PDO then?. For example consider slave node A's 
TPDO1 is already mapped to object index 0x2001 for 8 inputs. Now how can i 
access those same inputs from another slave node B which i am going to add 
to the network.
On slave node A i have already used 4 default PDO's, is that i need to add 
extra PDO as well ?

This extra node is for monitoring my other nodes input/outputs in a network 
and record them real time.

_Arun




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