包米勒拥有CAN master和CAN slave，其中CAN slave又分为for controlle和for bmxx PLC。

前天的调试实现了CAN slave for controller 与beckhoff PLC+CAN master的通讯，遵从DSP402行规。也就是说可以驱动电机旋转了，但是还不会自己设定通讯参数。

我的目的是实现beckhoff PLC与bmaxx PLC之间的数据传输，前天调试没有成功，但是找出了原因，因为我拿了一块老版本的CAN slave模块，换了块新版本的，应该可以调试成功了。

这几天找了个bmaxx controller PLC＋CAN master（和beckhoff类似），正好可以自己试试CAN master和slave之间的通讯了。

DS 301 通讯规则
DS 401 I/O行规
DSP 402 驱动行规
DS 405 for IEC61131-3 行规

These definitions are recorded in the device profiles, for I/Os this is e. g. profile DS 401
and for drives profile DSP 402. Objects in devices programmable according to IEC 61131-3 are defined by the device profile DS 405.

To enable establishment of peer-to-peer communication between the master and the other
network nodes (slaves) directly after a boot-up, there is a predefined identifier assignment
for the message frames. This identifier assignment can be reconfigured by the user.
An identifier (according to CAN definition) is divided into function code and module ID.

The module ID is synonymous with the node number in the network. From the 7 bits for the module IDs, a maximum number of 127 nodes results per CANopen network. For physical reasons, a maximum of 32 nodes can be operated in one network with the CANopen Slave option module. The COB ID (Communication Object Identifier) results from the total of 11 bits. The following objects are predefined.

TX stands for transmit (send) and RX for receive.

Process data objects (PDOs): Real time data exchange with high-priority identifiers and up to 8 bytes per message. The CANopen Slave option module can receive a maximum
of 4 PDOs and send a maximum of 4 PDOs.
Service data objects (SDOs): Parameter data exchange with low priority identifiers and through index/subindex addressable data. The transfer type for the CANopen Slave option module is "expedited", i.?e. up to 4 bytes can be transferred per message. The CANopen Slave option module can receive or send a maximum of 1 SDOs simultaneously.
Network management (NMT) Special object type for implementation of network communication
functions such as e.g. Start, Stop and ResetCommunication of network nodes. The CANopen Slave option module converts the commands sent by a CANopen Master.
Synchronization (SYNC): Special object type for synchronization of real time data exchange
with PDOs. The CANopen Slave option module synchronizes its data exchange
(via PDO) with the SYNC command sent by a CANopen Master.
Error handling (EMERGENCY): Special object type for the detection of errors in a network
node. The CANopen Slave option module sends an emergency message frame in the event of an error.
Network monitoring (NODE GUARDING): Special object type for failure monitoring of network nodes. The CANopen Slave option module cyclically sends a message frame upon request of the CANopen Master. It also monitors the request of this message frame and thus detects failure of the NMT Master (the CANopen Master).