M&M FDT 1.2.1 Online Specification
 FDTCANopenCommunicationSchema definition


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 FDTCANopenCommunicationSchema

FDTCANopenCommunicationSchema

Available since CANOPEN Annex for FDT 1.2.1

Download CANopen Annex from FDT Group Homepage.

Available since FDT 1.2
Available since FDT 1.2.1
Available since FDT 1.2 and modified or extended in FDT 1.2.1
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<Schema name="FDTCANopenCommunicationSchema"   xmlns="urn:schemas-microsoft-com:xml-data" xmlns:dt="urn:schemas-microsoft-com:datatypes" xmlns:fdt="x-schema:FDTDataTypesSchema.xml" >
      <!-- Definition of Attributes -->
     <AttributeType name="schemaVersion" dt:type="number" default="0.90" />
     <AttributeType name="transferType" dt:type="enumeration" dt:values="segment block" />
     <AttributeType name="index" dt:type="ui2" />
     <AttributeType name="subIndex" dt:type="ui1" />
     <AttributeType name="nodeID" dt:type="ui1" />
     <AttributeType name="abortCode" dt:type="ui4" />
     <AttributeType name="communicationReference" dt:type="uuid" />
     <AttributeType name="sequenceTime" dt:type="ui4" />
     <AttributeType name="delayTime" dt:type="ui4" />
     <AttributeType name="sdoTransmitId" dt:type="ui2" />
     <AttributeType name="sdoReceiveId" dt:type="ui2" />
     <AttributeType name="nmtType" dt:type="enumeration" dt:values="startNode stopNode enterPreOperational resetNode resetCommunication" />
     <AttributeType name="emergencyErrorCode" dt:type="ui2" />
     <AttributeType name="errorRegister" dt:type="ui1" />
     <AttributeType name="manufacturerSpecificErrorCode" dt:type="bin.hex" />
     <AttributeType name="emcyCANId" dt:type="ui2" />
      <!-- Definition of Elements -->
      <!-- Connect Request -->
     <ElementType name="ConnectRequest" content="empty" model="closed" >
          <attribute type="fdt:nodeId"   required="no" />
          <attribute type="nodeID"   required="yes" />
           <!-- optional if CAN-ID is not the pre-defined one -->
          <attribute type="sdoTransmitId"   required="no" />
           <!-- optional if CAN-ID is not the pre-defined one -->
          <attribute type="sdoReceiveId"   required="no" />
           <!-- optional if EMCY is communication is needed and CAN-ID is not the pre-defined one -->
          <attribute type="emcyCANId"   required="no" />
     </ElementType>
      <!-- Connect Response -->
     <ElementType name="ConnectResponse" content="empty" model="closed" >
          <attribute type="fdt:nodeId"   required="no" />
          <attribute type="communicationReference"   required="yes" />
     </ElementType>
      <!-- Disconnect Request -->
     <ElementType name="DisconnectRequest" content="empty" model="closed" >
          <attribute type="fdt:nodeId"   required="no" />
          <attribute type="communicationReference"   required="yes" />
     </ElementType>
      <!-- Disconnect Response -->
     <ElementType name="DisconnectResponse" content="empty" model="closed" >
          <attribute type="fdt:nodeId"   required="no" />
          <attribute type="communicationReference"   required="yes" />
     </ElementType>
      <!-- SDOUpload Request -->
     <ElementType name="SDOUploadRequest" content="empty" model="closed" >
          <attribute type="fdt:nodeId"   required="no" />
          <attribute type="communicationReference"   required="yes" />
          <attribute type="index"   required="yes" />
          <attribute type="subIndex"   required="no" />
           <!-- if not provided by the Device DTM the Comm DTM decides -->
          <attribute type="transferType"   required="no" />
     </ElementType>
      <!-- SDOUoload Repsonse -->
     <ElementType name="SDOUploadResponse" content="eltOnly" model="closed" >
          <attribute type="fdt:nodeId"   required="no" />
          <attribute type="communicationReference"   required="yes" />
          <element type="fdt:CommunicationData"   minOccurs="1" maxOccurs="1" />
     </ElementType>
      <!-- SDODownload Request -->
     <ElementType name="SDODownloadRequest" content="eltOnly" model="closed" >
          <attribute type="fdt:nodeId"   required="no" />
          <attribute type="communicationReference"   required="yes" />
          <attribute type="index"   required="yes" />
          <attribute type="subIndex"   required="no" />
           <!-- if not provided by the Device DTM the Comm DTM decides -->
          <attribute type="transferType"   required="no" />
          <element type="fdt:CommunicationData"   minOccurs="1" maxOccurs="1" />
     </ElementType>
      <!-- SDODownload Reponse -->
     <ElementType name="SDODownloadResponse" content="empty" model="closed" >
          <attribute type="fdt:nodeId"   required="no" />
          <attribute type="communicationReference"   required="yes" />
     </ElementType>
      <!-- Cancel Transfer -->
     <ElementType name="CancelTransfer" content="empty" model="closed" >
          <attribute type="fdt:nodeId"   required="no" />
          <attribute type="communicationReference"   required="yes" />
          <attribute type="abortCode"   required="yes" />
     </ElementType>
      <!-- NMT Request -->
     <ElementType name="NMTRequest" content="empty" model="closed" >
          <attribute type="fdt:nodeId"   required="no" />
          <attribute type="communicationReference"   required="yes" />
          <attribute type="nmtType"   required="yes" />
     </ElementType>
      <!-- NMT Response -->
     <ElementType name="NMTResponse" content="empty" model="closed" >
          <attribute type="fdt:nodeId"   required="no" />
          <attribute type="communicationReference"   required="yes" />
     </ElementType>
      <!-- Subscribe Request -->
     <ElementType name="SubscribeRequest" content="empty" model="closed" >
          <attribute type="fdt:nodeId"   required="no" />
          <attribute type="communicationReference"   required="yes" />
     </ElementType>
      <!-- Subscribe Response -->
     <ElementType name="SubscribeResponse" content="empty" model="closed" >
          <attribute type="fdt:nodeId"   required="no" />
          <attribute type="communicationReference"   required="yes" />
     </ElementType>
      <!-- EMCY Write -->
     <ElementType name="EMCYWrite" content="empty" model="closed" >
          <attribute type="fdt:nodeId"   required="no" />
          <attribute type="communicationReference"   required="yes" />
          <attribute type="emergencyErrorCode"   required="yes" />
          <attribute type="errorRegister"   required="yes" />
          <attribute type="manufacturerSpecificErrorCode"   required="yes" />
     </ElementType>
      <!-- Unsubscribe Request -->
     <ElementType name="UnsubscribeRequest" content="empty" model="closed" >
          <attribute type="fdt:nodeId"   required="no" />
          <attribute type="communicationReference"   required="yes" />
     </ElementType>
      <!-- Unsubscribe Response -->
     <ElementType name="UnsubscribeResponse" content="empty" model="closed" >
          <attribute type="fdt:nodeId"   required="no" />
          <attribute type="communicationReference"   required="yes" />
     </ElementType>
      <!-- Sequence Begin -->
     <ElementType name="SequenceBegin" content="empty" model="closed" >
          <attribute type="sequenceTime"   required="no" />
          <attribute type="delayTime"   required="no" />
          <attribute type="communicationReference"   required="yes" />
     </ElementType>
      <!-- Sequence End -->
     <ElementType name="SequenceEnd" content="empty" model="closed" >
          <attribute type="communicationReference"   required="yes" />
     </ElementType>
      <!-- Sequence Start -->
     <ElementType name="SequenceStart" content="empty" model="closed" >
          <attribute type="communicationReference"   required="yes" />
     </ElementType>
      <!-- Abort -->
     <ElementType name="Abort" content="empty" model="closed" >
          <attribute type="communicationReference"   required="yes" />
     </ElementType>
      <!-- Root Element -->
     <ElementType name="FDT" content="eltOnly" model="closed" >
          <attribute type="schemaVersion"   required="no" />
          <attribute type="fdt:nodeId"   required="no" />
          <group order="one" >
               <element type="ConnectRequest"   />
               <element type="ConnectResponse"   />
               <element type="DisconnectRequest"   />
               <element type="DisconnectResponse"   />
               <element type="SDOUploadRequest"   />
               <element type="SDOUploadResponse"   />
               <element type="SDODownloadRequest"   />
               <element type="SDODownloadResponse"   />
               <element type="CancelTransfer"   />
               <element type="NMTRequest"   />
               <element type="NMTResponse"   />
               <element type="SubscribeRequest"   />
               <element type="SubscribeResponse"   />
               <element type="EMCYWrite"   />
               <element type="UnsubscribeRequest"   />
               <element type="UnsubscribeResponse"   />
               <element type="SequenceBegin"   />
               <element type="SequenceEnd"   />
               <element type="SequenceStart"   />
               <element type="Abort"   />
               <element type="fdt:CommunicationError"   />
          </group>
     </ElementType>
</Schema>
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Last updated 2015-02-05 15:17
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