CANopen协议的详细说明，清楚的解释了什么是对象字典，以及SDO，PDO的通信规范，对CANOPEN通信状态机也作了说明。-CANopen protocol details, a clear explanation of what is an object dictionary, and SDO, PDO' s communications standards, for CANOPEN communication state machine are also described.

PIC18F单片机根据CIA301标准编写的CANOPEN通讯，可以实现NMT、SDO、PDO功能。(PIC18F microcontroller in accordance with the CIA301 standard written in CANOPEN communication, you can achieve NMT, SDO, PDO functions.)