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User`s Manual - ICP DAS USA`s I

1. 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 0o 1 2 3 4 5 647 1 71 0 0 0 0 0 0 0 1 1 0 8 23 05 14 01 22 02 00 00 SDO server CAN 2024C ccs 1 n 0 e 1 s 1 m 05 14 01 d 22 02 00 00 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 O 1 2 3 4 5 6 7 1 0 1 1 0 0 0 0 0 1 1 0 4 60 05 14 01 SDO server CAN 2024C scs 3 m 05 1401 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 514 312110 0111 121 314 511 6 7 11110010 010 0101114 0 8 23 05 16 01 16 03 11 64 SDO server CAN 2024C ccs 1 n 0 e 1 s 1 m 05 16 01 d 10 03 11 64 The value 10 03 11 64 means the mapped object is stored in the index 0x6411 with sub index 03 It is a 16 bit data unit Users can check this object in the Standardize object mapping table described above It is mapped to the AO2 for CAN 2024C CAN 2000C user s manual Revision 1 00 Oct 22 2009 93 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 0 1 2
2. 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 1019 87 5 4 3112 0 1 2 3 4 5 6 7 110114111 0 010 0 8 43 03 10 02 10 82 09 00 SDO server CAN 2057C ccs 1 n 0 e 1 s 1 m 03 10 02 d 10 82 09 00 Step 11 Users have to confirm the error register stored in index 0x1001 The value should be 0 now 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 5141 312 0 1 2 3 4 5 6 7 111101000 0 010 0 8 40 01 10 00 00 00 00 00 SDO server CAN 2057C ccs 2 m 01 10 00 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 5 413 2 0 1 2 3 4 5 6 7 1 0 1 1 0 0 0 0 8 4F 01 10 00 00 SDO server CAN 2057C ccs 1 n 2 e 1 s 1 m 01 10 00 d 00 CAN 2000C user s manual Revision 1 00 Oct 22 2009 104 5 4 NMT Communication Set 5 4 1 Module Control Protocol The NMT communication set can be applied for changing the NMT slave status The following figure shows how to change the different NMT statuses for the CAN 2000C Start Remote Node Protocol NMT Slave NMT Master CAN 2000C 8 byte Data byte 11 bit COB ID bit 1 2 7 cs 1 Node ID Not use Sica 0000 0000000 request Indication _
3. Data 8 byte Data byte Func Code Node ID RTR Length 1019 817 514 3 2 10 0 1 1213 14 15 6 7 0 1 0 1 0 0 0 1 0 0 O 8 00 40 FD FF FF FF FF FF PDO PDO producer lt consumer CAN 2017C COB ID 0x284 L 8 PDO msg 00 40 FD FF FF FF FF FF Step 9 The following example shows that at the second time the 2nd TxPDO message is received 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 1019 817 5 4 3 2 1 0 O0 1 2 3 4 5 6 7 0 1 0 1 0 0 0 1 0 0 0 8 06 40 FF FF FF FF FF FF PDO PDO producer SSS consumer CAN 2017C COB ID 0x284 L 8 PDO msg 06 40 FF FF FF FF FF FF The value of 0x4006 is equal to 5 002V The Al value is changed because of the noise disturbance or other factors CAN 2000C user s manual Revision 1 00 Oct 22 2009 72 Step 10 It shows that at the third time for the 2nd TxPDO message is received 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 5141 312 0 1 2 3 4 5 6 7 0 1110 1 010 1011 0 8 00 40 FF FF FD FF FF FF PDO PDO producer ee co
4. 1402h Oh largest sub index supported for UNSIGNED 8 RO 2 receive PDO parameter 1h COB ID used by PDO Rx UNSIGNED 32 RW 400h Node ID 2h transmission type UNSIGNED 8 RW FFh 1403h Oh largest sub index supported for UNSIGNED 8 RO 2 receive PDO parameter 1h COB ID used by PDO Rx UNSIGNED 32 RW 500h Node ID 2h transmission type UNSIGNED 8 RW FFh 1404h Oh largest sub index supported for UNSIGNED 8 RO 2 receive PDO parameter 1h COB ID used by PDO Rx UNSIGNED 32 RW 80000000h 2h transmission type UNSIGNED 8 RW FFh 1409h Oh largest sub index supported for UNSIGNED 8 RO 2 receive PDO parameter 1h COB ID used by PDO Rx UNSIGNED 32 RW 8000 0000h 2h transmission type UNSIGNED 8 RW FFh TxPDO Communication Entries Idx Sidx Description Type Attr Default 1800h 0 largest sub index supported for UNSIGNED 8 RO 5 receive PDO parameter 1 COB ID used by PDO Tx UNSIGNED 32 RW 180h Node ID 2 transmission type UNSIGNED 8 RW FFh 3 inhibit time UNSIGNED 16 RW 0 4 reversed 5 event timer UNSIGNED 16 RW 0 1801h 0 largest sub index supported for UNSIGNED 8 RO 5 receive PDO parameter 1 COB ID used by PDO Tx UNSIGNED 32 RW 280h Node ID 2 transmission type UNSIGNED 8 RW FFh 3 inhibit time UNSIGNED 16 RW 0 4 reversed 5 event timer UNSIGNED 16 RW 0 1802h 0 largest sub index supported for UNSIGNED 8 RO 5 receive PD
5. Transmission PDO Transmission method Type cyclic acyclic synchronous asynchronous oe 0 O O 1 240 O O 241 251 0 reversed 252 O O 253 O O 254 O 255 O Note 1 The transmission type 1 240 indicates how many SYNC objects the TxPDO will be triggered The RxPDO is always triggered by the following SYNC upon reception of data independent of the transmission types 0 240 The transmission type 252 and 253 are only used for TxPDO The transmission type 252 means that the data is updated but not sent immediately after reception of the SYNC object For these two transmission types the PDO is only transmitted on remote transmission requests For the transmission types 254 and 255 the event timer will be used in the TxPDO The PDO including the DI value will be sent when the DI value is changed And both transmission types will directly trigger an update of the mapped data when receiving the RxPDO CAN 2000C user s manual Revision 1 00 Oct 22 2009 61 5 2 3 PDO Communication Rule The PDO related objects are indicated from index 0x1400 to 0x1BFF For the CAN 2000C RxPDO communication objects are from index 0x1400 to index 0x140F and RxPDO mapping objects are from index 0x1600 to index Ox160F The ranges of the TxPDO communication objects and the mapping objects are from index 0x1800 to index 0x180F and from index 0x1A00 to index O0x1A0F respectively Mor
6. ccs 1 n 3 e 1 s 1 m 05 16 00 d 02 00 00 00 11 bit COB ID bit Fern ar a Data 8 byte Data byte Func Code Node ID RTR a a a a Length i i 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 1 0 1 1 0 0 0 0 0 1 1 0 4 60 05 16 00 SDO server D li ee SDO client CAN 2024C scs 3 m 051600 Step 43 Transform the AO2 and AO5 of CAN 2024C to be OV and 5V respectively 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 O 1 2 3 4 5 6 7 0 1 0 0 0 1 0 0 0 1 0 0 4 001 00 FF 3F PDO PDO producer EHS consumer CAN 2024C COB ID 0x222 PDO msg 0000 FF 3F The first two bytes are assigned to the value 0x0000 of the AO2 of the CAN 2024C The 3rd and 4th bytes are assigned to the value Ox3FFF for the AO5 of the CAN 2024C Total bytes of this PDO message are 4 CAN 2000C user s manual Revision 1 00 Oct 22 2009 95 Step 44 Users can send a RTR message to get the Al value with COB ID 0x333 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 0O 1 2 3 4 5 64 7 0 1 1 0 0 1 1 0 0
7. Step 30 The feedback DI values is out of date Users can see the LEDs status on the CAN 2053C to confirm the practical DI values 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 0O 1 2 3 4 5 6 7 0 0 1 1 0 0 0 0 0 1 0 0 2 34 12 00 00 00 00 00 00 PDO PDO producer re consumer CAN 2053C COB ID 0x182 L YZ PDO msg 34120000 00 00 00 00 Step 31 Transmit a SYNC message 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR OT Length _ __ _____ __ _ 10 9 8 7 6 5 4 3 2 11 0 O 40 20 B45 6 7 0 0 0 1 0 0 0 0 0 0 0 o 0 tool see ole ance cee ete i SYNC SYNC consumer et producer CAN 2053C COB ID 0x80 Step 32 Users can send the RTR message of the first TxPDO again 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 O 1 2 3 4 5 6 7 0 0 1 1 0 0 0 0 0 1 0 1 0 PDO PDO producer EE consumer CAN 2053C COB ID 0x182 CAN 2000C user s manual Revision 1 00 Oct 22 2009 84 Step 33 The feedback DI values will be the real DI values 11 bit COB
8. Note Only CAN 2000C supports CAN 2 0A In the following table it s regarding the default PDO COB ID parameters Default COB ID of PDO Number of PDO Bit10 Bit7 l Bit6 BitO Function Code TxPDO1 0011 Node ID TxPDO2 0101 Node ID TxPDO3 0111 Node ID TxPDO4 1001 Node ID RxPDO1 0100 Node ID RxPDO2 0110 Node ID RxPDO3 1000 Node ID RxPDO4 1010 Node ID CAN 2000C user s manual Revision 1 00 Oct 22 2009 59 Note 1 Users can also define the PDO COB ID by themselves Actually all COB ID can be defined by users except the reserved COB ID described in the table of the section 3 1 It is important to avoid the conflict with the defined COB ID used in the same node 2 The PDO COB ID parameters cannot be changed if the PDO is valid bit 31 0 CAN 2000C user s manual Revision 1 00 Oct 22 2009 60 5 2 2 Transmission Type The transmission type is one of the several parameters defined in PDO communication objects with sub index 02 Each PDO has its own transmission type The transmission type can indicate the transmission or reception character for its corresponding PDO The following table describes the relationship between the value of the transmission type and the PDO character For example if users used transmission type O for the first TxPDO the CANopen device will follow the rule of the acyclic and synchronous PDO transmission
9. Practical DI Channel 0 15 accra Practical DO DI Standardized Device Dictionary Object 0x6000 Subindex1 DI Channel 0 7 Subindex2 DI Channel 8 15 DO Standardized Device Dictionary Object 0x6200 Channel 0 7 1 Practical AI Channel 0 1 Hardware Application Subindex1 DO Channel 0 7 AI Standardized Device Dictionary Object 0x6401 Subindex1 AI Channel 0 Subindex2 AI Channel 1 AO Standardized Device Dictionary Object 0x6411 Subindex1 AO Channel 0 Practical AO q Channel 0 Standardized Device Profile Area The application objects control all of the device functions related to the interaction with the process environment It s just like a medium between the object dictionary and practical process such as the analog I O digital I O CAN 2000C user s manual Revision 1 00 Oct 22 2009 19 3 2 SDO Introduction In order to access the entries in a device object dictionary service data objects SDOs are provided By means of the SDO communication method a peer to peer communication bridge between two devices is established and its transmission follows the client server relationship The general concept is shown in the figure below Client Server request indication data confirmation response data The SDO has two kinds
10. guard time life time factor and may be different from each NMT slave And the response of the NMT slave contains the state of that NMT slave which may be in a Stopped Operational or Pre operational state The node life time factor can also be different for each NMT slave If the NMT slave has not been inspected during its life time a remote node error will be given and indicate through the Life Guarding Event service In addition the reported NMT slave state which does not match the expected state will also produce the Node Guarding Event This event may occur in the DO and AO channels and output the error mode value recorded in the object with index 0x6207 and index 0x6444 Moreover the object with index 0x6206 and 0x6443 can control the error mode value of the DO or AO channels in enabling or disabling when the Lift Guarding Event has been indicated For more information about objects with index 0x6206 0x6207 0x6443 and 0x6444 please refers to the chapter 6 CAN 2000C user s manual Revision 1 00 Oct 22 2009 38 Heartbeat Protocol The Heartbeat Protocol follows the Producer Consumer relationship It helps users monitoring the node in the CAN bus The communication method of node guarding protocol is defined as follows Heartbeat Heartbeat Producer Consumer Slave state indication indication 4 a os I I request indication Heartbeat oe Producer Time H
11. 1 1 1 0 Se eel aes ee essa Soe A aes PDO PDO producer ee consumer CAN 2017C COB ID 0x333 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 0 0 1 1 0 0 0 0 1 0 1 0 4 FF FF 00 40 PDO PDO producer rn consumer CAN 2017C COB ID 0x333 L 4 PDO msg FF FF 00 40 The first two bytes are assigned to the value OxFFFF for the Al2 of the CAN 2017C The 3rd and 4th bytes are assigned to the value 0x4000 for the AI5 of the CAN 2017C After transferring the input value of the Al2 is 0 001V and Ald is 5 000V CAN 2000C user s manual Revision 1 00 Oct 22 2009 96 5 3 EMCY Communication Set 5 3 1 EMCY COB ID Parameter The EMCY COB ID is similar to the PDO COB ID It can be a default value or can be the value defined by users via SDO communication methods This COB ID is stored in the object 0x1014 and the data format is shown in the following table Before using the EMCY mechanism bit 31 of the EMCY COB ID needs to be confirmed Bit Number Value Meaning 31 MSB 0 EMCY exits EMCY is valid 1 EMCY does not exist EMCY is not valid 30 0 reserved always 0 29 0 11 bit ID CAN 2 0A 1 29 bit ID CAN 2 0B 28 11 0 If bit 29 0 x If bit 29 1 28 11 bits of 29 bit COB ID 10 0 LSB x 10 0 bits of COB ID CAN 2000C user s manual Revision 1 00 Oct 22 2009
12. Revision 1 00 Oct 22 2009 J stov C1ov 10 70 Event Timer Functionality Step 6 Users can use the SDO to change the event timer of the 2nd TxPDO to 1000 stored in index 0x1801 with sub index 5 In addition the value 1000 means 1 second according to the event timer is ms 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 O 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 1 0 0 0 8 2B 01 18 05 E8 03 00 00 SDO server CAN 2017C ccs 1 n 2 e 1 s 1 m 01 18 05 d E8 03 00 00 The value 0x03E8 is equal to 1000 Because the n 2 the last two bytes 00 00 is useless Step 7 The CAN 2017C will response the message to finish the data download 11 bit COB ID bit a Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 11 0 0o 1 2 3 414 5 6 7 1 0 1 1 0 0 0 0 1 0 0 0 4 60 01 18 05 SDO server SDO client qe vane CAN 2017C scs Sg m 011805 CAN 2000C user s manual Revision 1 00 Oct 22 2009 71 Step 8 After changing the value of the event timer the Al value will be automatically transmitted per second The example below shows that at the first time the 2n TxPDO message is received 11 bit COB ID bit
13. _ 10 9 817 6 5 4 3 2 1 0 Oe Be a ae Ne eB 0 0 0 1 0 0 0 0 0 0 0 o 0 aa oa oe lence ance lee aie SYNC SYNC consumer SS producer CAN 2053C COB ID 0x80 Step 20 After transmitting the SYNC object the 1st TxPDO is triggered and users can receive the 1st TxPDO from CAN 2053C 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 0 1 j 2 3 4 5 6 7 0 0 1 1 0 0 0 0 0 1 0 0 2 90 AB PDO PDO producer EE consumer CAN 2053C COB ID 0x182 L a PDO msg 90AB CAN 2000C user s manual Revision 1 00 Oct 22 2009 78 Step 21 Users can send the SYNC message again 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 6 5 4 3 2 07 1 2 3 4 5 6 7 0 OJO 0 10 0100 0 0 nee SYNC SYNC consumer TT producer CAN 2053C SYNC 0x80 COB ID Step 22 Nothing happened because the DI values were not changed This is the main difference between transmission type O and 1 Under the transmission type 1 the TxPDO is always transmitted no matter whether the DI values are changed or not when the CAN 2000C modules receives the SYNC object CAN 2000C user s manual Revi
14. indicates whether there are still more segments to be uploaded 0 more segments to be uploaded 1 no more segments to be uploaded It is at most 7 bytes of segment data to be uploaded The encoding depends on the type of the data referenced by index and sub index It indicates the number of bytes in seg data that do not contain segment data Bytes 8 n 7 do not contain segment data n 0 if no segment size is indicated not used always 0 reserved for further use always 0 CAN 2000C user s manual Revision 1 00 Oct 22 2009 45 SDO Upload Example The practical application of the SDO upload is illustrated as below SDO Server SDO Client CAN 2000C Initial SDO Upload Protocol e 0 Upload SDO Segment t 0 c 0 l SDO Server eee eel SDO Client CAN 2000C Upload SDO Segment t 1 c 0 Initial SDO Upload Protocol e 1 Upload SDO Segment t 0 c 0 SDO Upload with expedited transfer eee ee Upload SDO Segment t c 1 SDO Upload with normal transfer In the following paragraph both expedited transfer and normal transfer are given according to the procedure described above In addition the method of how to get the value stored in the object dictionary is also presented As to the initiate SDO upload protocol users can obtain how many sub indexes the object with index 0x1400 can support This information is in the object with index 0x1400 with sub index 00 As well users can get the stri
15. 0 client No of PDOs 10Rx 10Tx PDO Modes Event triggered remotely requested cyclic and acyclic SYNC Support dynamic PDO mapping Emergency Message variable Support Save and Load command can save I O setting or restore I O default setting CANopen Version DS 301 v4 02 Device Profile DS 401 v2 1 Baud Rate selected by rotary switch from 0 7 10K 20K 50K 125K 250K 500K 800K and 1M bps Status LED Power LED RUN LED and ERR LED indicators CAN 2000C user s manual Revision 1 00 Oct 22 2009 6 2 Hardware Specification CAN 20XXC Baud rate Rotary Switch CAN_VS CAN_H CAN Shield CAN_L CAN GND 1200 Terminator Resistor LED 1200 Terminal Resister Switch Ex OFF Top View Bottom View 2 1 Wire Connection In order to minimize the reflection on the CAN bus line the CAN bus line has to be terminated at both ends by two terminal resistances as shown in the following According to the ISO 11898 2 spec each terminal resistance is 1200 or other between 108QO 132Q The length related resistance has to reach 70 mQ m At this circumstance users would better check the resistances of the CAN bus before installing a new CAN network 1209 GOZI CAN_L CAN 2000C user s manual Revision 1 00 Oct 22 2009 7 Moreover to minimize the voltage drop value of the terminal resistance must be higher than the one defined in the ISO 11898 2 The following table is f
16. 3 4 5 6 7 1 0 1 1 0 0 0 0 0 0 4 60 05 16 01 SDO server CAN 2024C SCS 3 m 05 16 01 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 Oo 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 8 23 05 16 02 16 06 11 64 SDO server CAN 2024C ccs 1 n 0 e 1 s 1 m 05 16 02 d 10 06 11 64 The value 10 06 11 64 means the mapped object is stored in the index 0x6411 with sub index 06 It is a 16 bit data unit Users can check this object in the Standardize object mapping table described above It is mapped according to the AOS of the CAN 2024C 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 O 1 2 3 4 5 6 7 1 0 1 1 0 0 0 0 0 0 4 60 05 16 02 A SDO server CAN 2024C scs 3 m 05 16 02 CAN 2000C user s manual Revision 1 00 Oct 22 2009 94 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 11 0 0O 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 1 1 O 8 2F 05 16 00 02 00 00 00 SDO server ae CAN 2024C
17. 5 6 7 O 111010 0 0 0110 0 1 0 8 78 56 00 00 00 00 00 00 PDO PDO consumer producer CAN 2057C COB ID 0x201 L 8 PDO msg 78 56 00 00 00 00 00 00 CAN 2000C user s manual Revision 1 00 Oct 22 2009 86 Step 36 According to the transmission type 253 only the first T lt xPDO can be transmitted when receiving the RTR message So users can send the RTR message to get DI values Then the CAN 2053C will reply with digital input status 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 0 1 2 31415 6 7 0 0 1 1 0 0 0 0 0 0 1 0 PDO PDO producer eee consumer CAN 2053C COB ID 0x182 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 O 1 2 3 4 5 6 7 0 0 1 1 0 0 0 0 0 1 0 0 2 78 56 PDO PDO producer UR consumer CAN 2053C COB ID 0x182 L 2 PDO msg 1856 ae4 Step 37 Set the transmission type of the 1st TxPDO to 255 to finish the test 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 1918 5141312 110 0 11 2131 415 6 7 11110010 0 0 0 0 1 0j 0
18. 97 5 3 2 EMCY Communication The EMCY message is triggered when some internal error occurs After the transmission of one EMCY message the object with index 0x1003 will record this EMCY event Therefore users can track the error s occurrences The CAN 2000C supports the maximum of 5 records stored in the index 0x1003 object The sub index 1 of this object will store the last EMCY event and sub index 5 will record the most previous EMCY event The EMCY communication set is given below EMCY Producer CAN 2000C EMCY Consumer 11 bit COB ID bit R Len 8 byte Data byte request COB ID 6I efe Indication EMCY msg Indication _ _ _ Indication p Emergency Object Protocol COB ID the EMCY COB ID The EMCY COB ID can be defined by users This situation is similar to the PDO COB ID The default value is 4 bit function code 0001 with 7 bit node ID EMCY msg record the type or the class of the occurrence error The data format of the emergency object data complies with the structure bellows Byte 0 1 2 3 4 5 6 7 Content Emergency Error Code Error register Manufacturer specific Error Field Each bit on the error register is defined as follows Only the CAN 2000C supports bit 0 bit 4 and bit 7 CAN 2000C user s manual Revision 1 00 Oct 22 2009 98 ey Meaning generic error current voltage temperature c
19. ID bit CAN 2000C user s manual Revision 1 00 Oct 22 2009 Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 5 4 3 2 O0O 1 2 3 4 5 64 7 0 0 1 1 0 0 0 0 0 0 2 34 12 ee ane eee eee eee eee PDO PDO producer E consumer CAN 2053C COB ID 0x182 L 2 PDO msg 34 12 85 Transmission Type 253 for the first TxPDO Step 34 Users can set the transmission type of the first TxPDO to 253 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 5 4 3 2 1 0 0O 1 2 3 4 5 6 7 1111010 0 0 0 0 1 0 0 8 2F 00 18 02 FD 00 00 00 SDO server CAN 2053C ccs 1 n 3 e 1 s 1 m 00 18 02 d FD 00 00 00 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 191 18 71 6 5 1413 2111J0 0 11 2134 5 6 7 1 10 1 11 10 0 0101010 0 0 4 60 00 18 02 SDO server CAN 2053C SCS 3 m 00 18 02 Step 35 Users can change the DO value of the CAN 2057C to be 0x5678 by using the first RxPDO 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 5 4 3 2 1 0 O 1 2 3 4
20. Indication Start Remote Node Protocol cs NMT command specified 1 start Node ID the node ID of the NMT slave device Stop Remote Node Protocol NMT Slave NMT Master CAN 2000C 11 bit COB ID bit 8 byte Data byte Ti0 7 eo Co J 1 27 request Indication 0000 0000000 cs 2 Node ID Not use Indication ie Indication P Stop Remote Node Protocol cs NMT command specified 2 stop Node ID the node ID of the NMT slave device CAN 2000C user s manual Revision 1 00 Oct 22 2009 105 Enter Pre Operational Protocol NMT Slave NMT Master CAN 2000C 11 bit COB ID bit 8 byte Data byte Soo o0 1 27 Indication Indication Enter Pre Operational Protocol g cs NMT command specified 128 enter PRE OPERATIONAL Node ID the node ID of the NMT slave device Reset Node Protocol NMT Slave NMT Master CAN 2000C 11 bit COB ID bit 8 byte Data byte 10 7 6 0 i ot Indication request 0000 0000000 cs 129 Node ID Notuse Indication gt Indication Reset Node Protocol cs NMT command specified 129 Reset_Node Node ID the node ID of the NMT slave device Reset Communication Protocol NMT Slave NMT Master CAN 2000C Indication request 0000 0000000 Indication _P Indication Reset Communication Protocol CAN 2000C user s manual Revision 1 00 Oct 22 2009 106 cs NMT command spec
21. The synchronous mode can be further distinguished into three kinds of transmission s acyclic synchronous cyclic synchronous and RTR only synchronous The acyclic synchronous can be triggered by both the reception of a SYNC message and the driven event mentioned above CAN 2000C user s manual Revision 1 00 Oct 22 2009 24 Acyclic synchronous For the TxPDO object after receiving an object from the SYNC producer the CAN 2000C will respond with a pre defined TxPDO message to the PDO consumers For the RxPDO object the CAN 2000C needs to receive the SYNC objects to actuate the RxPDO object which is received before the SYNC object The following figures indicate how the acyclic synchronous transmission type works on the RxPDO and the TxPDO PDO SYNC consumer amp PDO producer consumer CAN 2000C Read DI AI SYNC transmitted by SYNC producer channels Sm Read DI TxPDO event channels is triggered S SYNC transmitted by SYNC producer Read DI AI channels S5 acyclic synchronus TxPDO PDO producer SYNC consumer amp PDO consumer CAN 2000C RxPDO SYNC transmitted by SYNC producer A e Actuate DO AO channels SYNC transmitted by SYNC producer Ll Actuate DO AO channels Acyclic synchronous RxPDO Cyclic synchronous Inversely the cyclic synchronous transmission mode is triggered by the reception of an expected number of SYNC objects and the max number of CAN 2000C user s manual Revision 1 00
22. bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 41 3 21 1 0 O 1 2 34 5 67 0 0 1 1 0 0 0 0 0 1 0 0 2 78 56 PDO PDO producer eee consumer CAN 2053C COB ID 0x182 L 2 PDO msg 78 56 CAN 2000C user s manual Revision 1 00 Oct 22 2009 75 Step 16 Users can set the transmission type of the first RxPDO to 255 to finish the test 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 51413 121 110 011 21 13 41 51617 1111010 0 01010 141 0 8 2F 00 14 02 FF 00 00 00 SDO server CAN 2057C ccs 1 n 3 e 1 s 1 m 00 14 02 d FF 00 00 00 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 0o 1 2 3 4 4 5 6 7 1 0 1 1 0 0 0 0 0 0 1 0 4 60 00 14 02 SDO server CAN 2057C SCS 3 m 00 14 02 CAN 2000C user s manual Revision 1 00 Oct 22 2009 76 Transmission Type 0 for the first TxPDO Step 17 Users can set the transmission type of the first TxPDO to 0 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 O0O 1 2 3 4
23. figure The first two bytes of the TxPDO message are respectively for the values from the DI channels 0 7 and channel 8 15 The following third and forth bytes of the TxPDO message is for the value 0 of the Al channel And the fifth and sixth bytes are for the value 1 of the Al channel The relationships among the object dictionary the PDO mapping object and the PDO message are given below CAN 2000C user s manual Revision 1 00 Oct 22 2009 32 Practical I O hy Object Dictionary alal a mlali oye alallala llall nem E E E e e e 2 BSi ef e e2 8 42 42 gt al al gt al Bl a B gt al al al al Al al gt mM m m m m mM m m m m m mM m m m m TxPDO RxPDO CAN 2000C user s manual Revision 1 00 Oct 22 2009 33 3 4 EMCY Introduction EMCY messages are triggered when a device internal error occurs i e after a CANopen device detects the internal error an emergency message will be transmitted to the EMCY consumers per time per error event But the EMCY message will not be transmitted again if the same error repeatedly occurs When error reasons are gone an emergency message containing the emergency error code 00 00 will only respond to the specific error fields So by checking the EMCY message users can understand what happened in the CAN 2000C and then do something about the error event Please note that only the emer
24. of the COB IDs RxSDOs and TxSDOs They can be viewed in the CANopen device For example users send a SDO message to the CAN 2000C modules by using RxSDO On the contrary the devices CAN 2000C transmit a SDO message by using TxSDOS Before the SDO has been used only the client can take the active requirement for a SDO transmission When the SDO client starts to transmit a SDO it is necessary to choose a proper protocol If the SDO client has to get the information from the device object dictionary and from the SDO server the segment upload protocol or block upload protocol will be applied It is worth to be mentioned the front protocol is used for transmitting fewer data the latter protocol is used for transmitting larger data Both the segment download protocol and block download protocol will work when the SDO client wants to modify the object dictionary to the SDO server The differences between the segment download protocol and the block download protocol are similar to the differences between the segment upload protocol and the block upload protocol Because of the different access types in the object dictionary not all accessing action of the object dictionary via the SDO transmission is allowed If the SDO client trends to modify the entries of the SDO server object dictionary which uses the read only access type the abort SDO transfer CAN 2000C user s manual Revision 1 00 Oct 22 2009 20 protocol will be given and the
25. only the 4th byte is valid Therefore the feedback value is 05 Step 2 The CAN 2000C will reply with the message to finish the data download Then users can use the upload methods to read back the value 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 1 0 1 1 0 0 0 0 0 0 1 0 4 60 00 14 02 SDO server DO cli S SDO client CAN 2000C scs 3 m 001402 CAN 2000C user s manual Revision 1 00 Oct 22 2009 55 5 1 3 Abort SDO Transfer Protocol In some conditions the SDO client or SDO server will terminate the SDO transmission For example the value of entries that users want to modify does not exist or is read only even users wouldn t continue the uncompleted SDO protocol under some special situations When these conditions occur both the client and the server can be activated to send the Abort SDO Transfer message The Abort SDO Transfer protocol is shown below SDO Server SDO Client CAN 2000C 11 bit COB ID bit 8 byte Bele request indication Abort SDO Transfer Protocol SDO Server SDO Client CAN 2000C 11 bit COB ID bit 8 See a oT 6 0 my 47 indication ee request cs 4 je Abort SDO Transfer Protocol cs command specified 4 abort transfer request x not used always 0 m multiplex
26. same hardware configuration shown in the PDO example is used for the EMCY communication Step 1 In order to generate the emergency event it s necessary to send the data to RxPDO1 with data length 1 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 11 0 0 142 3 4 5 6 7 ol14lololololololo ol4il o0 TOO ee peste fet hse ia a cide PDO PDO producer a consumer CAN 2057C COB ID 0x201 L 1 PDO msg 00 Step 2 Then the CAN 2057C will reply to an emergency message based on the PDO data length of TxPDO1 doesn t correspond to the value defined in the PDO mapping object 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 0 0 0 1 0 0 0 0 0 0 1 O 8 10 82 11 09 00 00 00 00 EMCY EMCY producer arene consumer CAN 2057C COB ID 0x81 EMCY msg 10 82 11 09 00 00 00 00 The first two bytes 10 82 are for the emergency error codes The 3rd byte 11 is for the error register i e the CAN 2057C has either a communication or a generic error The last five bytes 09 00 00 00 00 are for the manufacturer specific errors This emergency message means that the data length of TxPDO doesn t correspond to the value defined in the PDO mapping object C
27. used for TxPDO If the parameter of the event timer is not equal to O under the transmission type in asynchronous mode the expiration of this time value can be just considered to be an event This event will cause the TxPDO message transmission The event timer parameter is defined as a multiple of 1ms PDO Mapping Objects The PDO mapping objects are provided to the interface which is for PDO messages and real I O data in the CANopen device They define the meanings for each byte in the PDO message and may be changed by using a SDO message All of the PDO mapping objects are arranged in the Communication Profile Area In the CANopen spec see DS 401 RxPDO and TxPDO default mapping objects will specify something as follows CAN 2000C user s manual Revision 1 00 Oct 22 2009 30 There shall be up to 4 TxPDO mapping objects and up to 4 RxPDO mapping objects with default mappings The 1st RxPDO and TxPDO mapping objects are used for digital outputs and inputs to each other The 2nd 3rd and 4th RxPDO and TxPDO mapping objects are respectively assigned to record the value of analog outputs and inputs If a device supports too many digital input or output channels over 8 channels the related analog default PDO mapping objects remaining the additional unused digital I Os will use its additional objects This rule with the same concept is used on the additional analog channels Take the RxPDO as an example there are 11 DO a
28. 0 0 0 0 1 0 4 60 0D 10 00 SDO server CAN 2000C scs 3 m OD 10 00 Step 5 Users can send the node guarding protocol to start the mechanism of the node guard The life time here is equal to 1000 ms guard time life time factor 250 4 1000 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 1019 817 5 14 3121110 0 11 12 3 415 6 7 1 11110 010 01 01 0 1 1 0 NMT sl NMT master D CAN 2000C COB ID 0x701 CAN 2000C user s manual Revision 1 00 Oct 22 2009 110 Step 5 Then users will receive the message recording the NMT state of the CAN 2000C For the reason that life time is equal to 1000 ms guard time life time factor 250 4 1000 users will transmit the node guarding protocol again 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 1019 87 514 312 110 0111 123 4 5 6 7 11 1 10 olojojolol1if o0 1 FR sass s e ia tlt el a NMT slaver CAN 2000C COB ID 0x701 t 1 S 7F The value 7F means that the CAN 2000C is in the NMT pre_operational state Step 6 Since the life time is equal to 1000 ms guard time life time factor 250 4 1000 users will transmit the node guarding protocol again Step 7 If the transmission is not available an error event will be triggered and an EMCY message for guarding f
29. 0C user s manual Revision 1 00 Oct 22 2009 68 Step 3 In order to output 5V to the AOO of the CAN 2024C users must send the PDO message by using the 2nd RxPDO 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 54 3 2110 0 1 2341 5 6 7 O11110 0 0 0 0 1 1 0 8 FF 3F 00 00 00 00 00 00 PDO PDO consumer ES producer CAN 2024C COB ID 0x303 L 8 PDO msg FF 3F 00 00 00 00 00 00 The first two bytes are for AO channel 0 and the others are for AO channel 1 2 and 3 Users need to transfer the float value to hex format because only the CAN 2000C supports the hex format The output range of the CAN 2024C is 10V 10V According to the transformation table stored in the appendix table the mapping hex format range is from 0x8000 32768 to Ox7FFF 32767 Therefore the 5V is mapped to the Ox3FFF by applying following equation 5V 10V 10V 10V 16383 25 16383 Ox3F FF HexValue l 32767 32768 32768 The first two bytes of the PDO message will be filled with FF and 3F All the other Al channels are set to OV Then the value 00 00 will be given for these channels For more details about how to transfer the value between the hex and float please refer to the user manual of the I O module of CAN 2000C series products CAN 2000C user s manual Revisi
30. 2000C will reply to the Abort SDO message as shown below 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR FO OF OOO oT Length p _ __ _________ 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 4 7 1 0 1 1 0 0 0 0 0 0 1 0 8 80 08 10 01 11 00 09 06 SDO server SDO client qe ES CAN 2000C cs 4 m 081001 d 110009 06 According to the low byte data have the transferring priority the data will be converted to 06 09 00 11 Therefore after searching the Abort Code table described above this Abort Code can be interpreted as Sub index does not exist CAN 2000C user s manual Revision 1 00 Oct 22 2009 58 5 2 PDO Communication Set 5 2 1 PDO COB ID Parameters Before the real time data are transmitted by the PDO it is necessary to check the COB ID parameter of this PDO in the PDO communication objects This parameter setting controls the COB ID of the PDO communication which is in 32 bits and each bit with its meaning is given in the table follow Bit Number Value Meaning 31 MSB 0 PDO exits PDO is valid 1 PDO does not exist PDO is not valid 30 0 RTR allowed on this PDO 1 No RTR allowed on this PDO 29 0 11 bit ID CAN 2 0A 1 29 bit ID CAN 2 0B 28 11 0 If bit 29 0 xX If bit 29 1 28 11 bits of 29 bit COB ID 10 0 LSB X 10 0 bits of COB ID
31. 4 The Node ID amp the Baud rate Rotary Switch The rotary switches for node ID configure the node ID of CAN 2000C module These two switches are for the tens digit and the units digit of node ID The node ID value of this demo picture is 32 x10 x1 Node ID rotary switch The rotary switch for baud rate handles the CAN baud rate of the CAN 2000C module The relationship between the rotary switch value and the practical baud rate is presented in the following table Baud rate rotary switch Rotary Switch Value Baud rate K BPS 0 10 20 50 125 250 500 800 1000 NN OO oO AJOIN gt 2 5 Module Support The CAN 2000C series modules include many kinds of DI DO Al and AO types series modules Please refer to the web to get more detail information The web site http www icpdas com products Remote_JO can_bus can_list htm CAN 2000C user s manual Revision 1 00 Oct 22 2009 13 3 CANopen Application The CANopen is a kind of network protocols evolving from the CAN bus used on car control system in early days and has been greatly used in various applications such as vehicles industrial machines building automation medical devices maritime applications restaurant appliances laboratory equipment amp research 3 1 CANopen Introduction CANopen provides not only the broadcasting function but also the peer to peer data exchange function between every
32. 5 6 7 1 1 0 0 0 0 0 0 0 1 0 0 8 2F 00 18 02 00 00 00 00 SDO server CAN 2053C ccs 1 n 3 e 1 s 1 m 00 18 02 d 00 00 00 00 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR l a S R S a S E O S Length r 10 191 18 71 6 5 413 211J0 0 11 121 1314 567 1 0 1 1 0 0 0 0 0 1 0 0 4 60 00 18 02 SDO server SDO client qe ree CAN 2053C scs ars m 001802 CAN 2000C user s manual Revision 1 00 Oct 22 2009 77 Step 18 Users can change the DO value of the CAN 2057C to be 0x90AB by using the first RxPDO 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 0 1 0 0 0 0 0 0 0 0 1 0 8 AB 90 00 00 00 00 00 00 PDO PDO consumer SE producer CAN 2057C COB ID 0x201 L gt 8 PDO msg AB 90 00 00 00 00 00 00 Step 19 The first TxPDO will not be transmitted immediately even if the DI value is changed according to the character of the transmission type 0 In addition the SYNC message is needed to trigger the action of the first TxPDO 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR TOT Length _ _ _____ _ _
33. 8 2F 00 18 02 FF 00 00 00 SDO ser SDO client ia CAN 2053C ccs 1 n 3 e 1 s 1 m 00 18 02 d FF 00 00 00 CAN 2000C user s manual Revision 1 00 Oct 22 2009 87 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 0 1 2 3 4 5 6 7 1 0 1 1 0 0 0 0 0 0 4 60 00 18 02 SDO server CAN 2053C SCS 3 m 00 18 02 CAN 2000C user s manual Revision 1 00 Oct 22 2009 88 Dynamic PDO Mapping for DI Al DO AO Channels Step 38 Users can use the 5th TxPDO of CAN 2017C to create a new PDO communication with PDO COB ID 0x333 which is useless for others CANopen device for Al channel 2 and 5 Before setting the COB ID of a PDO users have to check the bit 31 of the COB ID first Only the COB ID with the value O on the bit 31 can be changed So the COB ID can be configured directly according to the 5th TxPDO is invalid 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 11 0 0O 1 2 3 4 5 6 7 14 11 0 0 0 0 0 0 1 0 0 0 8 23 05 18 01 33 03 00 00 SDO server fot CAN 2017C ccs 1 n 0 e 1 sS 1 m 05 18 01 d 33 03 00 00 11 bit C
34. AN 2000C user s manual Revision 1 00 Oct 22 2009 100 Step 3 After recognizing the 0x1003 object with sub index 01 users will get emergency error codes of the emergency object data recording in this object 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 19 8 7 615 4 312 0 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 8 40 03 10 01 00 00 00 00 SDO server CAN 2057C ccs 2 m 03 10 01 Step 4 The CAN 8423 will reply to the ending message 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 19 8 7 615 4 312 0 1 2 3 4 5 6 7 1 0 1 1 0 0 0 0 0 0 8 43 03 10 01 10 82 09 00 SDO server CAN 2057C Scs 2 n 0 e 1 s 1 m 03 10 01 d 10 82 09 00 Step 5 Users have to check the object 0x1001 and make sure that the communication and generic errors on the error register are indicated 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 1019 817 6 5141312 0 1 2 3 4 5 6 7 171 0 0 0 0 0 0 0 0 8 40 01 10 00 00 00 00 00 SDO server CAN 2057C ccs 2 m 01 10 00 Step 6 The communication and generic errors on the error register are indicated in the received message CAN 2000C user s
35. CAN 2000C The byte 09 is the lowest byte in the data length with a long format Therefore the data O9 00 00 00 means that users will upload 9 bytes data from CAN 2000C CAN 2000C user s manual Revision 1 00 Oct 22 2009 48 Step 3 The CAN 2000C is requested to start the data transmission 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 0O 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 1 O 8 60 00 00 00 00 00 00 00 SDO server ote CAN 2000C ccs 3 t 0 Step 4 The CAN 2000C will respond to the first 7 bytes in the index 0x1008 and sub index 00 object entries 11 bit COB ID bit a Data 8 byte Data byte Func Code Node ID RTR a a a a a a a a a a Length 10 918 17 6 514 13 21 110 0 1 2131 41 15 6 l7 1 0 1 1 0 0 0 0 0 0 1 0 8 00 43 41 4E 2D 32 30 38 SDO server ore CAN 2000C Scs t n c seg data 43 41 4E 2D 32 30 38 Users can check the chapter 6 to know that the object entry with index 0x1008 and sub index 00 has the data type VISIBLE_STRING Therefore users need to transform these data values into the corresponding ASCII character For example after transformation they become CAN 208 O O O CO CAN 2000C user s manual Revision 1 00 O
36. CANopen Slave Device CAN 2000C Series Communication User s Manual Warranty Without contrived damage all products manufactured by ICP DAS are warranted in one year from the date of delivery to customers Warning ICP DAS revises the manual at any time without notice However no responsibility is taken by ICP DAS unless infringement act imperils to patents of the third parties Copyright Copyright 2009 is reserved by ICP DAS Trademark The brand name ICP DAS as a trademark is registered and can be used by other authorized companies CAN 2000C user s manual Revision 1 00 Oct 22 2009 1 Contents 1 NTFOCUCUION wxccciiccve sca cccvendstxcctidvancceads tances cetaaseideacaues EAT 4 7 es Fm 1 ee oe RR a ae oR RN aah oe eae 4 1 2 CAN 2000C General Hardware Specifications 1s see 5 1 3 CAN 2000C Common Features cccccccsesseseeeeeeeeeeeeeeeeeeeeeeeeeees 6 Hardware Specification iciccscscsiccccnccisederassnesccasenesenaseuanenauawedenscasensaanneaecs 7 21 WIFE CONMECHON nra aeaea aaaeei a aaa aaia aea aaide 7 PAPAE Lo LED PE E A 9 2 3 CANopen Status LED vciisis tis scipesicnsdutacusigvdinnninusinnstdubinesiintiownusaga 10 2 3 1 Th RUN LED iicicccctuscecctcsccccstessecceausccvestessevestusccvestecseveseds 10 2 3 2 The ERR LED irrino aiaa 11 2 4 The Node ID amp the Baud rate Rotary Switch ccccsssseseseeees 13 2 5 Module Support weiicissnrsarasenauecessiavsransc
37. CANopen node The network management function instructed in the CANopen simplifies the program design In addition users can also implement and diagnose the CANopen network including network start up and error management by standard mechanisms CANopen device i e the CANopen device can effectively access the I O values and detect node states of other devices in the same network Generally a CANopen device can be modeled into three parts Communication Object Dictionary Application program The functions and general concepts for each part are shown as follows CAN 2000C user s manual Revision 1 00 Oct 22 2009 14 Object Dictionary Applictaion Communication Application Object Application Object Application a Object g Bus System Process Communication The communication part provides several communication objects and appropriate functionalities to transmit CANopen messages via the network structure These objects include PDO Process Data Object SDO Service Data Object NMT Network Management Objects SYNC Synchronous Objects etc Each communication object has its relative communication model and functionality For example the communication objects for accessing the device object dictionary is SDO using the Client Server structure as its communication model section 3 2 Real time data or I O values can be accessed quickly without any protocol by means of PDO communication objects The P
38. DO s communication model follows the Producer Consumer structure It is also named the Push Pull model section 3 3 NMT communication objects are used for controlling and supervising the state of the nodes in the CANopen network and it follows a Master Slave structure section 3 5 No matter which kind of communication object is used the transmitted message will comply with the data frame defined in the CAN 2 0A spec Generally it looks like the following figure CAN 2000C user s manual Revision 1 00 Oct 22 2009 15 Data 11 bit data is limited in the ID field It is useful in the arbitration mechanism The RTR limited in 1 bit data is used for remote transmitting requests as the value is set to 1 The data length limited in 4 bit data shows the valid data number stored in the 8 byte data field The last field 8 byte data is applied to store the message data In the CANopen specifications the 4 bit function code and 7 bit node ID are assumed to combine the 11 bit ID of CAN message and named the communication object ID COB ID The COB ID structure is displayed below bit 10 bit O Function Code Node ID The COB IDs are used for recognizing where the message comes from or where the message is sent to as well deciding the priority of the message transmission around node network According to the arbitration mechanism rule of the CAN bus the CAN message with the lower COB ID will get the higher priority to be
39. Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 716 15 413 2 1 0 0 1 2131 AR UN SB NI Be ol 1 1 1 0 0 0 0 0 0 0 1 0 1 TF me Heartbeat Heartbeat producer consumer CAN 2000C COB ID 0x701 t 1 s 7F The value 7F means that the CAN 2000C pre_operational state CAN 2000C user s manual Revision 1 00 Oct 22 2009 is 113 in the NMT 6 Object Dictionary of CAN 2000C 6 1 Communication Profile Area The following tables are regarding each entry of the communication profile area is defined in CAN 2000C For the convenient purpose all communication entries are divided into several tables They are General Communication Entries RxPDO Communication Entries RxPDO Mapping Communication Entries TxPDO Communication Entries and TxPDO Mapping Communication Entries Please note that In the table header with Idx Sidx and Attr represent index sub index and attribute respectively The sign in the default field means that the default is not defined or can be defined conditionally by the firmware built in CAN 2000C In the table the number accompanying letter h indicates that this value is in the hex format General Communication Entries Idx Sidx Description Type Attr Default 1000h Oh device type UNSIGNED 32 RO 1001h Oh
40. O parameter 1 COB ID used by PDO Tx UNSIGNED 32 RW 380h Node ID user s manua vision 1 UU OC 2 transmission type UNSIGNED 8 RW FFh 3 inhibit time UNSIGNED 16 RW 0 4 reversed 5 event timer UNSIGNED 16 RW 0 1803h 0 largest sub index supported for UNSIGNED 8 RO 5 receive PDO parameter 1 COB ID used by PDO Tx UNSIGNED 32 RW 480h Node ID 2 transmission type UNSIGNED 8 RW FFh 3 inhibit time UNSIGNED 16 RW 0 4 reversed 5 event timer UNSIGNED 16 RW 0 1804h 0 largest sub index supported for UNSIGNED 8 RO 5 receive PDO parameter 1 COB ID used by PDO Tx UNSIGNED 32 RW 80000000h 2 transmission type UNSIGNED 8 RW FFh 3 inhibit time UNSIGNED 16 RW 0 4 reversed 5 event timer UNSIGNED 16 RW 0 1809h 0 largest sub index supported for UNSIGNED 8 RO 5 receive PDO parameter 1 COB ID used by PDO Tx UNSIGNED 32 RW 80000000h 2 transmission type UNSIGNED 8 RW FFh 3 inhibit time UNSIGNED 16 RW 0 4 reversed 5 event timer UNSIGNED 16 RW 0 user s manua vision 1 UU OC 6 2 Module Device Profile Area Every CAN 2000C series module has different function So about the device profile of the module please refer to the module s manual user s manua vision 1 UU UCU L2 ZU0U7
41. OB ID bit Data 8 byte Data byte Func Code Node ID RTR E a S S S S S S E S E Length 10 9 81 7 6 5 41 3 21 10l0 011 213141 516 7 1 1 10 11 1 101 101 101 101 111 101 10 0 4 60 05 18 01 SDO server D li a SDO client CAN 2017C scs a 33 m 051801 Step 39 Users can create a new PDO mapping object for the 5th TxPDO Before getting the device objects into the index 0x1A05 users have to check the value of the index 0x1A05 with sub index 00 If the value is not equal to O any modification will be rejected In this case it is necessary to have the value in 0 Therefore users have to fill the Al2 and Al5 of the CAN 2017C into the index 0x1A05 with sub index 01 and 02 CAN 2000C user s manual Revision 1 00 Oct 22 2009 89 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 O 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 1 0 0 0 8 23 05 1A 01 10 03 01 64 SDO server CAN 2017C ccs 1 n 0 e 1 sS 1 m 05 1A 01 d 10 03 01 64 The value 10 03 01 64 means the mapped object is stored in the index 0x6401 with sub index 03 It is a 16 bit data unit Users can check this object in the Standardize object mapping table described above It is mapped according to the Al2 of the CAN 2017C In CAN 2017C all analog channels are presented by 16 b
42. Oct 22 2009 25 expected SYNC objects can be 240 For example if the TxPDO is set to response when receiving 3 SYNC objects the CAN 2000C will feed back the TxPDO object according to the set For the RxPDO actuating the DO AO channels by the RxPDO is independent of the number of SYNC objects These concepts are shown in the figures below SYNC consumer amp PDO producer PDO consumer CAN 2000C SYNC transmitted by SYNC producer SYNC transmitted by SYNC producer Read DI AI SYNC transmitted by SYNC producer channels Read DI AI channels cyclic synchronous TxPDO PDO producer SYNC consumer amp PDO consumer CAN 2000C RxPDO SYNC transmitted by SYNC producer Se fe Actuate DO AO channels SYNC transmitted by SYNC producer Kerat Borno channels cyclic synchronous RxPDO CAN 2000C user s manual Revision 1 00 Oct 22 2009 26 RTR only synchronous The RTR only synchronous mode is activated when receiving a remote transmit request message i e SYNC objects This transmission type is only useful for TxPDO In this situation the CAN 2000C will update the DI Al value when receiving any SYNC object And if the RTR object is received the CAN 2000C will respond to the TxPDO object The following figure shows the mechanism of this transmission type SYNC consumer amp PDO producer PDO consumer CAN 2000C SYNC transmitted by SYNC produce 2 Update DI AI Read DI Al value
43. PDO Producer PDO Consumers 11 bit COB ID bit 8 byte Data byte st request San Write PDO Protocol fren msg Indication Indication _ COB ID the default PDO COB ID or the PDO COB ID can be defined by user L the data length about how many bytes the PDO message has PDO msg _ the real time data or the data which can be mapped into the PDO mapping objects PDO Consumer PDO Producer Remote Transmit Request 11 bit COB ID bit 8 byte Data byte E ess request gt indication a eee 11 bit COB ID bit 8 byte Data byte rT too Tov confirmation COB ID Pooma Pooma response Read PDO Protocol COB ID the default PDO COB ID or the PDO COB ID defined by users L the data length about how many bytes the PDO message has PDO msg the real time data or the data which can be mapped into the PDO mapping objects CAN 2000C user s manual Revision 1 00 Oct 22 2009 63 PDO Communication Example To take a look at a PDO communication demo some CAN 2000C modules will be needed They are CAN 2057C CAN 2053C CAN 2024C and CAN 2017C Connect each I O channels for these modules as following figure CAN H CAN 2057C CAN 2053C CAN 2024C CAN 2017C Node 1 Node 2 Node 3 Node 4 Please use rotary switch to set the node ID from 1 to 4 and CAN bus baud rate to 125Kbps Moreover refer to manuals of these modules to set the CAN 2024C and CAN 2017C input output range to 10V 10V The four modu
44. SCS 2 n 3 e 1 S 1 m 00 14 00 d gaas Because of the n 3 only the 4th byte is valid Therefore the feedback value is 02 CAN 2000C user s manual Revision 1 00 Oct 22 2009 47 Example for normal transfer Step 1 Send the RxSDO message to the CAN 2000C to obtain the object entry with index 0x1008 and sub index 00 stored in the communication profile area The message structure is as follows Moreover the node ID for the CAN 2000C set to 1 and the information about object entry with index 0x1008 will be described in the chapter 6 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 91 8 7 6 5 4 3 2 1 0 0O 1 2 3 4 5 6 7 14 1 0 0 0 0 0 0 0 0 1 0 8 40 08 10 00 00 00 00 00 SDO server oe CAN 2000C ccs 2 m 081000 Step 2 The CAN 2000C will respond to the SDO message with the indication of how many bytes will be uploaded from the CAN 2000C 11 bit COB ID bit SS El Data 8 byte Data byte Func Code Node ID RTR r Length 10 9 8 7 6 5 4 3 2 1 0 0O 1 2 3 4 5 6 7 1 0 1 1 0 0 0 0 0 0 1 0 8 41 08 10 00 09 00 00 00 SDO server ait CAN 2000C scs 2 n 0 e 0 sS 1 m 08 10 00 d 09 00 00 00 Because of the e 0 and s 1 the d means how many data users will upload from the
45. SDO transmission will also be stopped The CAN 2000C only supports the SDO server Therefore it can be passive and wait for requests from clients The general concept figure of the upload and download protocol with the CAN 2000C is shown as follows SDO Server SDO Client CAN 2000C Request the data of the object dictionary Response the data of the object dictionary or the abort SDO message Upload protocol SDO Client Write the data of the object dictionary Response access OK or the abort SDO message Download protocol CAN 2000C user s manual Revision 1 00 Oct 22 2009 21 3 3 PDO Introduction Based on the transmission data format of the CAN bus the PDO can transmit eight bytes of process data at one time Because of the PDO messages without overheads it is more efficient than other communication objects within CANopen and therefore used for real time data transfer such as DI DO Al AO etc Communication Modes for the PDO PDO reception or transmission is implemented via the producer consumer communication model also called the push pull model When starting to communicate in the PDO push mode it needs one CANopen device to play the role of PDO producer and non device or more than one device to play the role of PDO consumer The PDO producer sends out the PDO message after it reached the CAN bus arbitration Afterwards each PDO consumer will receive this PDO message respectively and then messa
46. ailure will be received Moreover all values from the output channels will be changed according to index 0x6206 index 0x6207 index 0x6443 and index 0x6444 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 11 0 0 1 2 3 4 5 6 7 0 0 0 1 0 0 0 0 1 0 1 O 8 30 81 11 07 00 00 00 00 EMCY EMCY producer ee consumer CAN 2000c EMCY msg 30 81 11 07 00 00 00 00 The first two bytes 30 81 are for the emergency error code The 3rd byte 11 is for the error register The last five bytes O7 00 00 00 00 are for the manufacturer specific error values This emergency message indicates a life guard error CAN 2000C user s manual Revision 1 00 Oct 22 2009 111 Heartbeat Protocol The 0x1017 is the heartbeat time and the Heartbeat Protocol defines an Error Control Service without need for remote frames A CAN 2000C module will transmit Heartbeat message cyclically when the object 0x1017 is unequal to 0 The communication set of the Heartbeat Protocol is displayed below Heartbeat Producer CAN 2000C request Se Heartbeat Consumer 11 bit COB r bit RTR Len 110 Noge 10 ID Heartbeat Protocol Reserved always 0 the state of the NMT Slave 4 STOPPED 5 OPERATIONAL _ amp byte Se oo 127 PRE OPERATIONAL Heartbeat Protocol Example indicati
47. amp Sync message and Emergency message Nowadays CANopen is used on many applications and in specific fields such as medical equipment off road vehicles maritime electronics public transportation automation and so on The CAN 2000C series CANopen slave modules are specially designed for the slave device of the CANopen protocols All of these CAN 2000C series modules follow the CANopen Spec DS 301 V4 02 and DS 401 V2 1 and supply a great deal of features to users such as dynamic PDO EMCY object error output value SYNC cyclic and acyclic and so forth The general application for the CAN 2000C series CANopen slave devices architecture is as follows PISO CAN200 400 with CANopen master library PISO CPM100 E CAN Bus Remote I O Module with CANopen Protocol CAN 8123 CAN 8223 1 2 CAN 2000C General Hardware Specifications Built in Watchdog Power LED RUN LED and ERR LED Terminal resister LED 120Q terminal resister selected by switch CAN bus interface ISO IS 11898 2 5 pin screw terminal with on board optical isolators protection Power Supply 3 5W Unregulated from 10Vpc 30Vpc Operating Temperature 25 C 75 C Storage Temperature 40 C 85 C Humidity 5 95 RH CAN 2000C user s manual Revision 1 00 Oct 22 2009 1 3 CAN 2000C Common Features NMT Slave Error Control Node Guarding and Heartbeat Producer Node ID Setting by Rotary Switch 1 99 No of SDOs 1 server
48. anccauecaesaavsnauacauecauianveeascaaneeas 13 CANopen Application vecicicccssasciceccscscesenarercnssccseressasenensnecnieuceasenenananencwe 14 3 1 CANopen lntroduction s sssssssnnnnnnenennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn na 14 3 2 SDO Introduction sss ssssnnannnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nnmnnn nnn 20 3 3 PDO MOOUGHOMs casi cansetcswsd susie ciseshiwtdsesbiwascvivensbcusatuadwelieusdeutbents 22 3 4 EMCY INMtrOGUGUOM iiiciccscvcccsssenincieaceacecencviccvestvaccvusdudccvendxixevaccuecens 34 3 9 NMT IEFOGUG UO Ma sasccieiticnanetateintinebaneceuctancdavianea cre taiensis takaa 35 3 5 1 Module Control Protocols ccccssssssssssseeeeeeeeeeeeeeeeees 36 3 5 2 Error Control Protocols cccccsssssssseeeeeesseeeeeseeeeeeeeees 37 Getting Stait acsictecacstueccusineknansacneueadeenasnnesasenens de weucdsnaceuawenaweucasaasenedenaweweds 40 CANopen Communication Set cscsessseeeeeeeeeeeeeeeeeseeeeeeeeeeeeeeeeseeeeees 41 5 1 SDO Communication Set wvicsesiwevceevecccerevevserevereiersvecntenncnveacventes 42 5 1 1 Upload SDO Protocol wsatis cis cdieenesateresedctiecsanetinustensecunigeas 42 5 1 2 Download SDO Protocol cccceeeeeessseeessseseeeeeeeeeeeees 51 5 1 3 Abort SDO Transfer Protocol ccceseeeeeeeeeeeeeeeees 56 5 2 PDO Communication Set cccccceeseessseeeeeeeeeeseeeeessseeeeeeeeeseeees 59 5 2 1 PDO COB ID Parameters c sccccesssssssssesseeeeeeeeeeee
49. as to be transmitted in 3 times according to the character of transmission type 3 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 0 0 0 1 0 0 0 0 0 0 0 0 0 SYNC gt producer COB ID 0x80 gt CAN 2053C Step 26 After finishing the transmission of the three SYNC objects the first TxPDO will be triggered CAN 2053C and users will receive the first TxPDO from 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 0 0 1 1 0 0 0 0 0 1 0 0 2 EF CD PDO PDO producer consumer CAN 2053C COB ID 0x182 L 2 2 PDO msg EF CD CAN 2000C user s manual Revision 1 00 Oct 22 2009 81 Transmission Type 252 for the first TxPDO Step 27 Users can set the transmission type of the first TxPDO to 252 CAN 2000C user s manual Revision 1 00 Oct 22 2009 82 11 bit COB ID bit Data 8 byte Data byte Func C
50. bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 17 1 0 0 0 0 0 0 0 0 1 O 8 2B 0C 10 00 FA 00 00 SDO server CAN 2000C ccs 1 n 2 e 1 s 1 m OC 10 00 d FA 00 00 00 Step 3 The CAN 2000C will reply with the ending message 11 bit COB ID bit J Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 1 O0 1 1 0 0 0 0 0 0 1 O 4 60 0C 10 00 SDO server CAN 2000C SCS es m OC 1000 Step 4 Users can set the life time factor value to 4 This value will be stored in the index 0x100D with sub index 00 Then the ending message from CAN 2000C will be received CAN 2000C user s manual Revision 1 00 Oct 22 2009 109 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 1019 87 5141312 110 0 1 2 3 4 5 6 7 1111010 0 10 0 010 1 0 8 2F O0D 10 00 04 00 00 00 SDO server CAN 2000C ccs 1 n 3 e 1 s 1 m OD 10 00 d 04 00 00 00 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length r r n n 10 1918 7 5 41312 110 0 1 2 3 4 5 6 7 1 10114111 0
51. ct 22 2009 49 Step 5 The CAN 2000C is requested to transmit the rest of the data 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 141 0 0 0 0 0 0 0 0 1 O 8 70 00 00 00 00 00 00 00 SDO server CAN 2000C ccs 3 t ar Step 6 The rest of the data will be received from the SDO server 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 O0 1 2 3 4 5 6 7 1 0 1 1 0 0 0 0 0 0 1 0 3 1B 38 00 SDO server ine CAN 2000C scs 0 t 1 n 5 c 1 seg data 38 00 Because of the n 5 and only the first two bytes are valid the value of 0x38 and 0x00 will be transferred to the corresponding ASCII character After transformation it became 8 So the example object had shown CAN 2088 string CAN 2000C user s manual Revision 1 00 Oct 22 2009 50 5 1 2 Download SDO Protocol Initiate SDO Download Protocol The download modes are similar to the upload modes but different in some parameters of the SDO messages They are also separated into two steps If the download data length is less than 4 bytes the download action will finish in the download initial
52. each NMT state and communication objects is given Installing Pre operational Operational Stopped PDO O SDO O O SYNC Object O O Time Stamp Object O O EMCY Object O O Boot Up Object O NMT O O O 3 5 2 Error Control Protocols There are two kinds of protocols defined in the error control protocol According to the CANopen spec one device is not allowed to use the following error control mechanisms at the same time Node Guarding Protocol and Heartbeat Protocol In addition the CAN 2000C provides the salve function of the Node Guarding Protocol for practical applications Therefore only node guarding protocols will be highlighted here and described below CAN 2000C user s manual Revision 1 00 Oct 22 2009 37 Node Guarding Protocol The Node Guarding Protocol follows the Master Slave relationship It helps users monitoring the node in the CAN bus The communication method of node guarding protocol is defined as follows NMT Master NMT Slave Remote transmit request ere request indication 4 l Slave state TeS Node Guard i Time Node request Remote transmit request indication Time Slave state es t Node Guarding Event Life Guarding Event S Guarding eror S indication indication The NMT master will inspect each NMT slave at regular time intervals This time interval is called the node guard time given by the
53. eartbeat Consumer Time indication indication indication q gt request Slave state gt lt Heartbeat Consumer Time Lj Heartbeat error The Heartbeat Protocol defines an Error Control Service without need of the remote frames A Heartbeat Producer transmits a Heartbeat message cyclically One or more Heartbeat Consumer receives the indication The relationship between producer and consumer is configurable via the object dictionary The Heartbeat Consumer guards the reception of the Heartbeat within the Heartbeat Consumer Time If the Heartbeat is not received within the Heartbeat Consumer Time a Heartbeat Event will be generated If the Heartbeat Producer Time is configured on a device the Heartbeat Protocol begins immediately It is not allowed for one device to use both error control mechanisms Guarding Protocol and Heartbeat Protocol at the same time If the Heartbeat Producer Time is unequal to 0 the Heartbeat Protocol is used Heartbeat Event CAN 2000C user s manual Revision 1 00 Oct 22 2009 39 4 Getting Start When gets a CAN 2000C series module turn off it and set the proper node ID and baud rate by using the rotary switch first Afterwards reboot the module and if a CAN tool has received the boot up message of the CAN 2000C module it means the module boot up successful And if not please check the baud rate and connect of the module CAN 2000C user s manual Revis
54. ength 10 9 8 7 5 4 3 2 11 0 O 1 2 3 4 5 6 7 O 111010 0 0 0 0 0 1 0 8 34 12 00 00 00 00 00 00 PDO PDO consumer SE producer CAN 2057C COB ID 0x201 L 8 PDO msg 34 12 00 00 00 00 Only the first two bytes are valid even if the L is set to 8 because the data in the first RxPDO contains only two bytes According to the PDO mapping table shown above the first byte is for the DOO DO7 channel values of the CAN 2057 The second byte is for the DO8 DO15 channel values of the CAN 2057C CAN 2000C user s manual Revision 1 00 Oct 22 2009 67 Step 2 Because of the change of the Dl channel status the TxPDO is transmitted automatically when the transmission type is 255 based on the CANopen spec 401 Then users will receive the 1st TxPDO message 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 1019 817 51413 201110 0 1 2 3J 4 5 6 7 0 0 1 1 01010 011 0 0 2 34 12 PDO PDO consumer pe consumer CAN 2053C COB ID 0x182 L 2 PDO msg CT ene re Because the data length is 2 only the first two bytes are valid The DI value will be 1 if the DI is OFF according to the character of the CAN 2053C DI channels Therefore the first byte indicates that the DI2 D14 and DI5 of the CAN 2053C are in ON state The second byte shows that the DI9 and DI12 of the CAN 2053C are in ON state CAN 200
55. eover each PDO communication object has its own PDO mapping object For example the first RxPDO communication object is stored in the entry with index 0x1400 and the corresponding mapping object is stored in an entry with index 0x1600 The object with index 0x1401 and the object with index 0x1601 are a group and so on The TxPDO also follows the same rules The first TxPDO communication object is stored in the entry with 0x1800 and the corresponding mapping object is in the 0x1A00 entry and so on Therefore before users access the practical I O channels via PDO communication each parameter for the PDO communications and mapping objects must be controlled Besides only PDO communications can be used in the NMT operational state Users can use the NMT module control protocol to change the NMT state of the CAN 2000C It is described in the section 5 4 Besides during communication via the PDO messages the data length of the PDO message must match with the PDO mapping object If the data length L of the PDO message exceeds the total bytes n of the PDO mapping object entries only the first n bytes of the PDO message are used by the PDO consumer If L is less than n the PDO message will not be disposed by the PDO consumer and an Emergency message with error code 8210h will be transmitted to the PDO producer The PDO communication set is shown as follows CAN 2000C user s manual Revision 1 00 Oct 22 2009 62
56. er s manual Revision 1 00 Oct 22 2009 53 SDO Download Example When the SDO download example has been applied the procedure in the below figure may be applied SDO Server SDO Client CAN 2000C Initial SDO Download Protocol e 1 SDO Download with expedited transfer SDO Client SDO Server Initial SDO Download Protocol e 0 Download SDO Segment t 0 c 0 i Download SDO Segment t 1 c 0 SS Download SDO Segment t 0 c 0 ae Download SDO Segment t c 1 SDO Download with normal transfer CAN 2000C Since all of those object entries which can be written in the CAN 2000C are equal or less than 4 bytes we can only provide the example for expedited transfer CAN 2000C user s manual Revision 1 00 Oct 22 2009 54 Example for expedited transfer Step 1 The Rx SDO message is sent to the CAN 2000C to access the object entry with index 0x1400 and sub index 02 stored in the communication profile area For example the value of this object entry is changed to 5 as the node ID for the CAN 2000C is set to 1 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 0O 1 2 3 4 5 6 7 14 1 0 0 0 0 0 0 0 0 1 O 8 2F 00 14 02 05 00 00 00 SDO server ae CAN 2000C ccs 1 n 3 e 1 s 1 m 00 14 02 d 05 00 00 00 Because the n 3
57. er It represents index and sub index of the SDO d contains a 4 byte Abort Code about the reason for the abort CAN 2000C user s manual Revision 1 00 Oct 22 2009 56 Abort Code Description 0503 0000h Toggle bit not alternated 0504 0000h SDO protocol timed out 0504 0001h Client server command specified not valid or unknown 0504 0002h Invalid block size block mode only 0504 0003h Invalid sequence number block mode only 0504 0004h CRC error block mode only 0504 0005h Out of memory 0601 0000h Unsupported access to an object 0601 0001h Attempt to read a write only object 0601 0002h Attempt to write a read only object 0602 0000h Object does not exist in the object dictionary 0604 0041h Object cannot be mapped to the PDO oet 00i The number and length of the objects to be mapped would exceed PDO length 0604 0043h General parameter incompatibility reason 0604 0047h General internal incompatibility in the device 0606 0000h Access failed due to a hardware error E TAA Data type does not match length of service parameter does not match 0607 0012h Data type does not match length of service parameter too high 0607 0013h Data type does not match length of service parameter too low 0609 0011h Sub index does not exist 0609 0030h Value range of parameter exceeded only for write access 0609 0031h Value of parameter wr
58. error register UNSIGNED 8 RO 1003h Oh largest sub index supported for UNSIGNED 8 RO Oh oredefine error field 1h actual error the newest one UNSIGNED 32 RO 5h actual error the oldest one UNSIGNED 32 RO 1005h Oh COB ID of Sync message UNSIGNED 32 RW 80h 1008h Oh manufacturer device name VISIBLE_STRING RO 1009h Oh manufacturer hardware version VISIBLE_STRING RO 100Ah Oh manufacturer software version VISIBLE_STRING RO 100Ch Oh guard time UNSIGNED 16 RW Oh 100Dh Oh life time factor UNSIGNED 8 RW Oh 1010h Oh largest sub index supported for UNSIGNED 8 RO th store parameters 1010h 1h save all hardware parameter UNSIGNED 32 RW 1011h Oh largest sub index supported for UNSIGNED 8 RO th user s manua vision 1 UU OC restore default parameters 1011h 1h restore all default parameters UNSIGNED 32 RW 1014h Oh COB ID of EMCY UNSIGNED 32 RW 80h Node ID 1017h Oh producer heartbeat time UNSIGNED 16 RW 0 1018h Oh largest sub index supported for UNSIGNED 8 RO 4 identity object 1h vender ID UNSIGNED 32 RO 2h product code UNSIGNED 32 RO 3h revision number UNSIGNED 32 RO 4h serial number UNSIGNED 32 RO Note 1 The object with index 0x1000 has the following data format Additional information General Information bit 31 bit 24 bit 23 bit16 bit 15 bit O Specific func
59. etting of the module For the object with index 0x1014 please refer to the section 5 3 1 The range of the 0x100c is from 0 to 65535 in CAN 2000C For more information of the object with index 0x100C and 0x100D please refer to the section 5 4 2 The object with index 0x1010 can store the setting of the module and 0x1011 can restore The object with index 0x1017 stores the heartbeat time The producer heartbeat time is 0 if it not use The time has to be a multiple of 1ms For more information please refer to the section 5 4 SDO Communication Entries Idx Sidx Description Type Attr Default 1200h Oh largest sub index supported for UNSIGNED 8 RO 2 server SDO parameter 1h COB ID form client to server UNSIGNED 32 RO 600h Node ID RxSDO 2h COB ID form server to client UNSIGNED 32 RO 580h Node ID TxSDO RxPDO Communication Entries Idx Sidx Description Type Attr Default 1400h Oh largest sub index supported for UNSIGNED 8 RO 2 receive PDO parameter 1h COB ID used by PDO Rx UNSIGNED 32 RW 200h Node ID 2h transmission type UNSIGNED 8 RW FFh 1401h Oh largest sub index supported for UNSIGNED 8 RO 2 receive PDO parameter 1h COB ID used by PDO Rx UNSIGNED 32 RW 300h Node ID 2h transmission type UNSIGNED 8 RW FFh user S Manua vision 1 UU OCU ZZ ZUUY
60. g depends on the type of the data referenced by index and sub index e 1 s 0 d contains unspecified number of bytes to be downloaded not used always 0 reserved for further use always 0 CAN 2000C user s manual Revision 1 00 Oct 22 2009 52 Download Segment Protocol SDO Server SDO Client CAN 2000C 11 bit COB ID cee IRTR Len 8 byte Data byte 10 7 pate Node ID 1100 EEJU cf seg data soi See eal Le indication EC everenel 2 confirmation ETT ted 3 0 Set ao Download SDO Segment Protocol request response ccs client command specified 0 download segment request scs server command specified 1 download segment response seg data It is at most 7 bytes of segment data to be downloaded The encoding depends on the type of the data referenced by index and sub index n It indicates the number of bytes in segment data that do not contain segment data Bytes 8 n 7 do not contain segment data n 0 if no segment size is indicated c It indicates whether there are still more segments to be downloaded 0 more segments to be downloaded 1 no more segments to be downloaded t toggle bit This bit must alternate for each subsequent segment that is downloaded The first segment will have the toggle bit set to 0 The toggle bit will be equal for the request and the response message x not used always 0 reserved reserved for further use always 0 CAN 2000C us
61. ge is processed by each device to check whether it is needed or not be dropped In the PDO pull mode one of the PDO consumers needs to send out a remote transmit request to the PDO producer According to this remote request message the PDO producer responds the corresponding PDO message for each PDO consumer in the CAN bus The PDO communication structure figure is shown below Producer Consumers indication indication indication request Push model Producer Consumers indication request request gt ee request confimation indication indication Remote Transmit Request response Pull model CAN 2000C user s manual Revision 1 00 Oct 22 2009 22 For the CANopen device the TxPDO specializes in transmitting data and usually is applied on DI Al channels The COB ID of the PDO for receiving data is RxPDO COB ID and it is usually applied on DO AO channels Take the CAN 2000C as an example If a PDO producer sends a PDO message to the CAN 2000C it needs to use the RxPDO COB ID of the CAN 2000C because it is a PDO reception action viewed from the CAN 2000C Inversely when some PDO consumers send remote transmit requests to the CAN 2000C it must use the TxPDO COB ID of the CAN 2000C because it is a PDO transmission action viewed from the CAN 2000C Trigger Modes Of PDO For PDO producers PDO transmission messages can be trigged by three conditions They are the event dr
62. gency consumers can receive the EMCY object and only the CAN 2000C can support functions of the emergency producer The general concept regarding EMCY communications is shown below EMCY Producer EMCY Consumer CAN 2000C EMCY message Internal error occurs or dissappears indication indication indication An emergency message containing 8 byte of data is called emergency object data The abbreviated diagram is shown below and all fields in the emergency object data will be described in section 5 3 Byte 0 1 2 3 4 5 6 7 Content Emergency Error Code Error register Manufacturer specific Error Field CAN 2000C user s manual Revision 1 00 Oct 22 2009 34 3 5 NMT Introduction The Network Management NMT follows the node oriented structure and the master slave relationship In the same CAN bus network only one CANopen device is allowed to execute the function of NMT master Each CANopen node is regarded as a unique NMT slave identified by its node ID from 1 to 127 The NMT service supplies two protocols the module control protocol and the error control protocol Through the module control protocol the nodes can be controlled to several kinds of status such as installing pre operational operational and stopped According to the NMT slave can present in different statuses it has different privileges to carry out the communication protocol Through the error cont
63. he data upload is less enough to be transmitted in the initiate SDO upload protocol then the upload SDO segment protocol will not be used The communication process of this protocol is shown as follows SDO Server SDO Client CAN 2000C 11 bit COB ID bit 8 Lm ntt A ee 4 ma a 1100 Node ID reversed sa je e request jossz x indication 11 bit COB ID bit 8 byte Data byte confirmation 70 7 6 0 ee ae A Z Jman response Initiate SDO Upload Protocol CAN 2000C user s manual Revision 1 00 Oct 22 2009 42 ccs scs xX reserved client command specified 2 initiate upload request server command specified 2 initiate upload response Only valid if e 1 and s 1 otherwise 0 If valid it indicates the number of bytes in d that do not contain data Bytes 8 n 7 do not contain segment data transfer type 0 normal transfer 1 expedited transfer If the e 1 it means that the data of the object are equal or less than 4 bytes and only initiate SDO upload protocol is needed If e 0 the upload SDO segment protocol is necessary size indicator 0 Data set size is not indicated 1 Data set size is indicated multiplexer It represents the index sub index of the data to be transfer by the SDO The first two bytes are the index value and the last byte is the sub index value data e 0 s 0 d is reserved for further use e 0 s 1 d contains the number of bytes to be up
64. ified 130 Reset_Communication Node ID _ the node ID of the NMT slave device Module Control Protocol Example If the CAN 2000C node ID is set to 5 as an example the following steps would be Step1 Turn off the CAN 2000C Step2 Then turn it on After initialized the CAN 2000C will automatically enter the Pre_Operational state Users will note the RUN LED flashing twice per second Step3 Users can send the NMT module control protocol and control the CAN 2000C to enter the operational state 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 0 11 12 3 41 56 0 0 0 0 0 0 0 0 0 0 0 0 8 01 05 00 00 00 00 00 NMT slave CAN 2000C cs 1 Node ID 5 CAN 2000C user s manual Revision 1 00 Oct 22 2009 107 5 4 2 Error Control Protocol Error Control Protocol is a kind of the solution to check whether the CANopen device is still alive or not There are two protocols supported for Error Control Protocol Node Guarding Protocol and Heartbeat Protocol The related objects of Node Guarding Protocol include 0x100C and 0x100D And the related objects of Heartbeat Protocol include 0x1017 Note It is not allowed for one CAN 2000C module to use both Node Guarding Protocol and Heartbeat Protocol at the same time Node Guarding Protocol The 0x100C is the guard time and the 0x100D is
65. in the object dictionary has its own function for example communication parameters device profile data type ex 8 bit Integer 8 bit unsigned and access type read only write only All of them are addressed in a 16 bit index and an 8 bit sub index The overall profile of the standard object dictionary is shown below Index Object 0x0000 Reserved 0x0001 0x001F 0x0020 0x003F 0x0040 0x005F 0x0060 0x007F 0x0080 0x009F Static Data Types Complex Data Types Manufacturer Specific Complex Data Types Device Profile Specific Static Data Types Device Profile Specific Complex Data Types Ox00A0 OxOF FF Reserved for further use 0x1000 Ox1FFF 0x2000 OxSFFF 0x6000 0x9F FF 0xA000 OxBFFF Communication Profile Area Manufacturer Specific Profile Area Standardized Device Profile Area Standardized Interface Profile Area 0xC000 OxFFFF Reserved for further use About the standardized device profile area it stores the DI DO Al and AO channels of CANopen especially the entries with indexes 0x6000 0x6200 0x6401 and 0x6411 When the CANopen device obtains the input value these values will be stored in the 0x6000 and 0x6401 indexes Furthermore the values stored in the 0x6200 and 0x6411 indexes will also output to the DO and AO channels The example of basic concept is presented as follows CAN 2000C user s manual Revision 1 00 Oct 22 2009 18
66. ion 1 00 Oct 22 2009 40 5 CANopen Communication Set In the following section several CANopen communication protocols are described Each protocol description has one corresponding example Before the example users must have one CAN interface device to send out the CAN command Therefore the PISO CAN200 400 CAN interface card with a 2 4 CAN port PCI will be requested It provides an easy to use utility tool to sending the CAN 2 0A or 2 0B command The relationship between the software and the hardware is shown as follows PISO CAN200 400 Utility Tool CAN 2000C series Available PISO CAN200 400 v CAN port Please refer to the PISO CAN200 400 user manual to know how to use its Utility Tool CAN 2000C user s manual Revision 1 00 Oct 22 2009 41 5 1 SDO Communication Set 5 1 1 Upload SDO Protocol Initiate SDO Upload Protocol Before transferring the SDO segments the client and server need to communicate with each other by using the initiate SDO upload protocol Via the initiate SDO upload protocol the SDO client will inform the SDO server what object the SDO client wants to request As well the initiate SDO upload protocol is permitted to transmit up to four bytes of data Therefore if the data length of the object which the SDO client can read is equal to or less than the permitted data amount the SDO communication will be finished only by using the initial SDO upload protocol i e if t
67. it value 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR OT OT Ooo Length 10 918 7 6 5 413 2 110 0 11 12 Bes Se ee 1 0 1 1 0 0 0 0 1 0 0 o 4 60 05 1A 01 SDO server ome CAN 2017C scs as m 051A01 Step 40 According to the purposes users have to fill the AIl5 of the CAN 2017C into the index 0x1A05 with sub index 02 respectively CAN 2000C user s manual Revision 1 00 Oct 22 2009 90 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 O0 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 1 0 0 0 8 23 05 1A 02 16 06 01 64 SDO server CAN 2017C ccs 1 n 0 e 1 s 1 m 05 1A 02 d 10 06 01 64 The value 10 06 01 64 means the mapped object is stored in the index 0x6401 with sub index 06 It is a 16 bit data unit Users can check this object in the Standardize object mapping table described above It is mapped according to the Al5 of the CAN 2017C 11 bit COB ID bit E Data 8 byte Data byte Func Code Node ID RTR OT OT Oo Length r 10 91 18 7 6 5 4 3 21 1 O0 0 11 2113 4 5116 7 11011 110 010 1 10 1 0 JO O 4 60 051 1A 02 SDO server haat CAN 2017C sc
68. itten too high 0609 0032h Value of parameter written too low 0609 0036h Maximum value is less than minimum value 0800 0000h General error 0800 0020h Data cannot be transferred or stored to the application S Data cannot be transferred or stored to the application because of local control er Data cannot be transferred or stored to the application because of the present device state Object dictionary dynamic generation fails or no object dictionary is 0800 0023h present e g object dictionary is generated from file and generation fails because of a file error CAN 2000C user s manual Revision 1 00 Oct 22 2009 57 Abort SDO Transfer Example The object index 0x1008 doesn t support the sub index 01 entry Therefore if users read the object entry with index 0x1008 and sub index 01 the CAN 2000C will reply the Abort SDO Transfer message The example is figured as follows Step 1 The Rx SDO message will be sent to the CAN 2000C in order to get the object entry with index 0x1008 and sub index 01 The following example is assumed that the node ID for the CAN 2000C is set to 1 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 0O 1 2 3 4 5 6 7 141 0 0 0 0 0 0 0 0 1 O 8 40 08 10 01 00 00 00 00 SDO server CAN 2000C ccs 2 m 081001 Step 2 The CAN
69. iven timer driven and remote request conditions All of them are described below Event Driven PDO transmission can be triggered by a specific driven event including the following conditions Under the cyclic synchronous transmission type the event is driven by the expiration of the specified transmission period synchronized by the reception of the SYNC message Moreover under the acyclic synchronous or asynchronous transmission type the PDO transmission can also be triggered or driven by a device specified event in the CANopen specification DS 401 v2 1 i e by following this spec the PDO will be triggered by any change in the Dl channel states when the transmission type of this PDO is set to acyclic synchronous or asynchronous Timer Driven PDO transmissions are also triggered by a specific time event even if a specified time elapsed without occurrence of an event For example the PDO transmission of the CAN 2000C can be triggered by the event timer of the PDO communication parameters which is set by users Remote Request The PDO transmission can be triggered by receiving a remote request from any other PDO consumer with under the asynchronous or RTR setting CAN 2000C user s manual Revision 1 00 Oct 22 2009 23 PDO Transmission Types Generally there are two kinds of PDO transmission modes synchronous and asynchronous For the PDO in a synchronous mode it must be triggered by the reception of a SYNC message
70. ization protocol Otherwise the download segment protocol will be needed These two protocols are shown below SDO Server SDO Client CAN 2000C 11 bit COB ID bit RTR 8 byte Data byte 6 0 OO 0 i 47 ef wwo o ERE a request lcos 1 x n Jelsi indication EE Soye Daar confirmation o po 7 _ _ s response Node ID 1011 Initiate SDO Download Protocol CAN 2000C user s manual Revision 1 00 Oct 22 2009 51 ccs scs X reserved client command specified 1 initiate download request server command specified 3 initiate download response Only valid if e 1 and s 1 otherwise 0 If valid it indicates the number of bytes in d that do not contain data Bytes 8 n 7 do not contain segment data transfer type 0 normal transfer 1 expedited transfer If the e 1 it means that the data of the object are equal or less than 4 bytes and only initiate SDO download protocol is needed If e 0 the download SDO protocol is necessary size indicator 0 data set size is not indicated 1 data set size is indicated multiplexer It represents the index sub index of the data to be transfer by the SDO data e 0 s 0 d Is reserved for further use e 0 s 1 d contains the number of bytes to be downloaded and byte 4 contains the least significant bit and byte 7 contains the most significant bit e 1 s 1 d contains the data of length 4 n to be downloaded the encodin
71. les information is as below PDO information Node Name PDO Type COB ID Transmission Inhibit Time Event Timer 1 CAN 2057C RxPDO 0x201 OxFF 0x00 0x00 3 CAN 2024C RxPDO 0x303 OxFF 0x00 0x00 2 CAN 2053C Tx PDO 0x182 OxFF 0x00 0x00 4 CAN 2017C Tx PDO 0x284 OxFF 0x00 0x00 4 CAN 2017C Tx PDO 0x384 OxFF 0x00 0x00 CAN 2000C user s manual Revision 1 00 Oct 22 2009 64 PDO I O mapping information COB ID Byte 0 Byte 1 Byte2 Byte3 Byte4 ByteS Byte6 Byte7 0x201 DO 0 7 DO 8 15 0x303 AO00_ L AOO_H AO1_L AO1_H AO2_L AO2_H AO3_L AO3_H 0x182 DI 0 7 DI 8 15 0x284 AIO L Al0O_H Al1_L Al1_H AI2 L AI2 H AI3_L AI3_H 0x384 Al4 L Al4_H AI5 L AI5 H Al6 L AI6 H Al7_L Al7_H SDO I O channels Information Name CAN 2057C CAN 2024C CAN 2053C CAN 2017C Node 1 3 2 4 Index 0x6200 0x6411 0x6000 0x6401 Description DO AO DI Al Sub Index 0 2 4 2 8 Sub Index 1 00 07 ch 00 ch 00 07 ch 00 ch Sub Index 2 07 15 ch 01 ch 07 15 ch 01 ch Sub Index 3 02 ch 02 ch Sub Index 4 03 ch 03 ch Sub Index 5 04 ch Sub Index 6 05 ch Sub Index 7 06 ch Sub Index 8 07 ch After concluding the above preparations the several functions of PDO communication will be introduced as follows The function of accessing digital analog I O with asynchronous PDO The f
72. loaded and byte 4 contains the least significant bit and byte 7 contains the most significant bit e 1 s 1 d contains the data of length 4 n to be uploaded the encoding depends on the type of the data referenced by index and sub index e 1 s 0 d contains unspecified number of bytes to be uploaded not used always 0 reserved for further use always 0 CAN 2000C user s manual Revision 1 00 Oct 22 2009 43 Upload SDO Segment Protocol When the upload data length is over 4 bytes the upload SDO segment protocol will be needed After finishing the transmission of the initiate SDO upload protocol the SDO client will start to upload the data The upload SDO segment protocol will comply with the process shown below SDO Server SDO Client CAN 2000C 11 bit frercoe ew ID bit 8 ew Data aore a 5 100 Node ID reversed Zo A request UE indication _ 11 bit COB ID bit Len 8 m Data ye confirmation EET ET 5 4 3 1 response Upload SDO Segment Protocol CAN 2000C user s manual Revision 1 00 Oct 22 2009 44 ccs scs seg data X reserved client command specified 3 upload segment request server command specified 0 upload segment response toggle bit This bit must alternate for each subsequent segment that is uploaded The first segment will have the toggle bit set to 0 The toggle bit will be equal for the request and the response message
73. lues of these channels will be mutually stored into several specific entries CAN 2000C user s manual Revision 1 00 Oct 22 2009 31 DI Standardized Device Dictionary Object 0x6000 Subindex1 DI Channel 0 7 lt _ Subindex2 DI Channel 8 15 lt DO Standardized Device Dictionary Object 0x6200 gt Subindex DO Channel 0 7 AI Standardized Device Dictionary Object 0x6401 Subindex AI Channel 0 wt Subindex2 AI Channel 1 a 4 AO Standardized Device Dictionary Object 0x6411 gt Subindex1 AO Channel 0 y l YVYVY 0 1 21314151617 0 1 2 3 4 5 6 7 RxPDO Mapping Object TxPDO Mapping Object According to the PDO mapping objects in the figure above if this CANopen device gets the RxPDO message in three bytes the first byte is for the output value from the DO channels 0 7 and the following two bytes are for the analog output value After interpreting the data of the RxPDO message the device will actuate the DO and AO channels by the received RxPDO message It is worth to mention that TxPDO also operate in the same procedure as RxPDO message When the TxPDO trigger events occur the CANopen device will send the TxPDO message to the PDO consumers The values of the bytes assigned in the TxPDO message will follow the TxPDO mapping object as shown in the above
74. manual Revision 1 00 Oct 22 2009 101 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 1 0 1 1 0 0 0 0 0 0 1 O 5 4F 01 10 00 11 SDO server CAN 2057C scs 2 n 3 e 1 S 1 m 01 10 00 d 11 Step 7 Users can send the data to RxPDO1 with data length 2 Then the EMCY message containing the error reset information will be received Because the value of TxPDO is the same with the previous one the DO channels will not change 11 bit COB ID bit moer SS ee Data 8 byte Data byte Func Code Node ID RTR OO OO S S Length _ __ _____ _ 10 9 8 7 6 5 4 3 2 1 0 O 1 2 3 4 5 6 7 0 1 0 0 0 0 0 0 0 0 1 0 2 00 00 PDO PDO producer ETN consumer CAN 2057C COB ID 0x201 L ee PDO msg 0000 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 18 7 615 4131 2 1110 0111213 4 5 6 7 0 0 0 1 0 0 0 0 0 0 1 0 8 0000 00 00 00 00 00 00 NMT slaver CAN 2057C EMCY msg 00000000 00 00 00 00 The data 00 00 00 00 00 00 00 00 are for the error reset EMCY message i e CAN 2057C has no e
75. nd 13 AO object entries in the object dictionary Generally in the CAN 2000C the first 8 DO object entries will be mapped to the first RxPDO mapping object because one DO object entry needs one byte space The last 3 DO object entries will be assigned to the 5th RxPDO according to the above rules the 2nd and the 3rd Furthermore one AO object entry needs 2 bytes of space Therefore the second RxPDO mapping object has been occupied by the first 4 AO object entries The following 4 AO object entries will be assigned to the third RxPDO mapping object as well to the 4th RxPDO mapping object Because the 5th RxPDO mapping object has been occupied by the DO object entries the last AO object entry shall be assigned into the 6th RxPDO mapping object Before applying the PDO communications the PDO producer and the PDO consumers must have mutual PDO mapping information On the one hand the PDO producers need PDO mapping information to decide how to assign the expected practical I O data to PDO messages Besides PDO consumers need the PDO mapping information to recognize each byte of received PDO message i e when a PDO producer transmits a PDO object to PDO consumers the consumers will contrast this PDO message with PDO mapping entries previously obtained from the PDO producer and then interpret the meanings of these values from the received PDO object For example if a CANopen device has 16 DI 8 DO 2 Al and 1 AO channels The input or output va
76. nels 2 Actuate DO AO RxPDO a asynchronous RxPDO CAN 2000C user s manual Revision 1 00 Oct 22 2009 29 Inhibit Time Because of the arbitration mechanism of the CAN bus the CANopen communication object ID in small size has a higher transmission priority than the bigger one For example there are two nodes on the CAN bus the one needs to transmit the CAN message with the COB ID 0x181 and the other has to transmit the message with COB ID 0x182 When these two nodes transmit the CAN message to the CAN bus simultaneously only the message containing COB ID 0x181 can be successfully sent to the CAN bus because of the higher transmission priority So the message with COB ID 0x182 will be held to transmit until the message with COB ID 0x181 is successfully transmitted This arbitration mechanism can guarantee the successful transmission for one node when a transmission conflict occurs However if the message with COB ID 0x181 is continually transmitted the message with COB ID 0x182 will be postponed to be transmitted In order to avoid the occupation of the transmission privilege by the message with the lower COB ID the inhibit time parameters for each of the PDO objects are supported to define a minimum time interval between each PDO message transmission which has a multiple of 1ms During this time interval the PDO message will be inhibited from transmission Event Timer This parameter setting on the event timer is only
77. ng in the object with index 0x1008 via the initiate SDO upload protocol and the upload SDO segment protocol CAN 2000C user s manual Revision 1 00 Oct 22 2009 46 Example for expedited transfer Step 1 SDO message will be sent to the CAN 2000C to obtain the object entry with index 0x1400 and sub index 00 stored in the communication profile area The message structure is as follows Moreover the node ID of the CAN 2000C set to 1 and the information about the object entry with index 0x1400 will be described in the chapter 6 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4j 5 6 7 141 0 0 0 0 0 0 0 0 1 O 8 40 00 14 00 00 00 00 00 SDO server CAN 2000C ccs 2 m 00 14 00 According to the low byte has the higher transferred sequence the first byte OO will get the priority than the second byte 14 Here the last byte OO means the sub index 00 Step 2 The CAN 2000C will reply to the data stored in the object entry with index 0x1400 and sub index 00 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 1 0 1 1 0 0 0 0 0 0 1 0 5 4F 00 14 00 02 SDO server CAN 2000C
78. nking Pre operation The device is in the pre operational state 4 Continuing Light Operation The device is in the operational state CAN 2000C user s manual Revision 1 00 Oct 22 2009 10 2 3 2 The ERR LED The ERR LED relates to the state of missing messages at the CAN physical layer These missing messages might be SYNC or Guard messages The data state and the signal state description are respectively shown in the following figure and table Single Flash Double Flash Triple Flash 400 800 1200 1600 2000 200 600 1000 1400 1800 Time ms CAN 2000C user s manual Revision 1 00 Oct 22 2009 11 No Signal State Description 1 No Light No error The device is in working condition 2 Single Flash Error Reminding when Warning Level is Reached At least one of the error counters of the CAN controller has reached or exceeded the warning level too many error frames 3 Double Flash Error Reminding when Events happen A guard event NMT Slave or NMT master 4 Continuing Light Bus Off The CAN controller is in a bus off condition Note If several errors occur at the same time the most severe error will have high priority to show its signal first For example if NMT Error No 3 and Bus Off Error No 4 occur the Bus off error signal will indicate CAN 2000C user s manual Revision 1 00 Oct 22 2009 12 2
79. nsumer CAN 2017C COB ID 0x284 L 8 PDO msg 00 40 FF FF FD FF FF FF Step 11 Users can set the event timer to 0 to finish the event timer test 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191 1817 5 4 1312 0O 1 2 3 4 5 6 7 11110 1000 0 1011 0 8 2B 01 18 05 00 00 00 00 SDO server CAN 2017C ccs 1 n 2 e 1 s 1 m 01 18 05 d 00 00 00 00 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 O0o 1 2 3 4 5 6 7 1 0 1 1 0 0 0 0 1 0 O 4 60 01 18 05 SDO server CAN 2017C scs 3 m 01 18 05 CAN 2000C user s manual Revision 1 00 Oct 22 2009 73 Transmission Type 0 for the first RxPDO Step 12 Users can set the transmission type of the first RxPDO to 0 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 91817 5 14 3 2 14110 0 1 2 3 4 5 6 7 1111000 0 0 0 0 0 1 0 8 2F 00 14 02 00 00 00 00 SDO server CAN 2057C ccs 1 n 3 e 1 S 1 m 00 14 02 d 00 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 19 8 7 6 15 4 312 110 0 1 21 3 4 5 16 7 1 0 1 1 0 0 0 0 0 0 1 0 4 60 00 14 02 SDO server CAN 2057C scs 3 m 00 14 02 S
80. ode Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 1 0 0 8 2F 00 18 02 FC 00 00 00 f SDO server CAN 2053C ccs 1 n 3 e 1 S 1 m 00 18 02 d FC 00 00 00 11 bit COB ID bit m IIN Data 8 byte Data byte Func Code Node ID RTR p s Length 10 9 8 17 61 5 4 3121 1 0 0 1 2 3 4 5 6 7 17 0 1 1 0 0 0 0 0 1 0 0 4 60 00 18 02 P SDO server CAN 2053C scs 3 m 00 18 02 Step 28 Users can change the DO value of the CAN 2057C to be 0x1234 by using the first RxPDO 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 1019 817 514 312 0 11 1213 41 1516 7 O 111010 0 0 00 0 8 34 12 00 00 00 00 00 00 PDO PDO consumer i producer CAN 2057C COB ID 0x201 L 8 PDO msg 34 12 00 00 00 00 00 00 Step 29 The fist TxPDO will not be transmitted immediately according to the transmission type 252 Meanwhile it will send the RTR message of the first TxPDO 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 O 1 2 3 4 5 6 7 0 0 1 1 0 0 0 0 0 1 0 PDO PDO producer e consumer CAN 2053C COB ID 0x182 CAN 2000C user s manual Revision 1 00 Oct 22 2009 83
81. ommunication error overrun error state device profile specific reserved always 0 NIOJ AJOIN gt O manufacturer specific The emergency error codes and the error register are specified in the following table Emergency Error Manufacturer Specific Error Description Error Code Register Field High Low First Two Last Three Byte Byte Byte Byte 00 00 00 00 00 00 00 00 Error Reset or No Error 10 00 81 01 00 00 00 00 CAN Controller Error Occur 50 00 81 02 00 00 00 00 EEPROM Access Error 81 10 11 04 00 00 00 00 Soft Rx Buffer Overrun 81 10 11 05 00 00 00 00 Soft Tx Buffer Overrun 81 10 11 06 00 00 00 00 CAN Controller Overrun 81 30 11 07 00 00 00 00 Lift Guarding Fails 81 40 11 08 00 00 00 00 Recover from bus off 82 10 11 09 00 00 00 00 PDO Data length Error FF 00 80 0A 00 00 00 00 Request to reset Node or communication After producing the EMCY message the emergency object data will be saved to the object with index 0x1003 and the error register of the emergency object data will be mapped to object 0x1001 Therefore users can use these two objects to view what happened in the CAN 2000C and check the error history CAN 2000C user s manual Revision 1 00 Oct 22 2009 99 EMCY Communication Example Before starting the example a CAN 2000C module with more than 8 channels DO or 1 channel AO like CAN 2057C is needed Here the
82. on The default EMCY function code and node ID 1 for the CAN 2000C are used as an example on the error control protocol The steps will be as follows Step 1 Turn off the CAN 2000C Then turn it on The CAN 2000C will be in the pre_operational state Step 2 Users can set the heartbeat time value to 250 ms This value will be stored in index 0x1017 with sub index 00 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 91 18 716 514 312 110 0 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 2B 17 10 00 FA 00 00 00 SDO server CAN 2000C user s manual Revision 1 00 Oct 22 2009 CAN 2000C 112 ccs Q230 0 5 Na 1 17 10 00 FA 00 00 00 Step 3 The CAN 2000C will reply with the ending message 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 1 0 1 1 0 0 0 0 0 0 1 0 4 60 17 10 00 f SDO server CAN 2000C SCS 3 m 17 10 00 Step 5 Then users will receive the message recording the NMT state of the CAN 2000C For the reason that Heartbeat time is equal to 250 ms and users can change the heartbeat time any time 11 bit COB ID bit
83. on 1 00 Oct 22 2009 69 Step 4 Even the Al input value has been changed according the AO value the RxPDO will not respond automatically in the CAN 2017C Therefore users need to use the RTR message from the 2nd TxPDO to read back the Al value 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 O 1 2 3 4 5 6 7 0 1 0 1 0 0 0 0 1 1 O 00 00 00 00 00 00 00 00 PDO PDO consumer ety consumer CAN 2017C COB ID 0x284 Step 5 The feedback value for Al is 5V 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 0 1 2 3 4 5 6 7 0 1 0 1 0 0 0 0 0 0 8 0040 FD FF FD FF FD FF PDO PDO consumer O EEE consumer CAN 2017C COB ID 0x284 L 8 PDO msg 00 40 FD FF FD FF FD FF The first two bytes are for Al channel 0 The others are for Al channel 1 2 and 3 The feedback AIO value is 0x4000 All the other Al channels are OxFFFD Users need to transfer this AlO value to float The CAN 2017C s input float range is set to 10V 10V and the input hex range is from 0x8000 32768 to Ox7FFF 32767 The value 0x4000 16384 can be transferred by using the following equation 16384 32768 32767 32768 5 001V FloatValue CAN 2000C user s manual
84. or users reference Bus Cable Parameters Terminal Bus Length Length Related Resets meter Cross Section Resistance Q Type mQ m 0 40 70 0 25 23AWG 124 0 1 0 34mm 22AWG 40 300 lt 60 0 34 22AWG 127 0 1 0 6mm7 20AWG 300 600 lt 40 0 5 0 6mm 150 300 20AWG 600 1K lt 20 0 75 0 8mm 150 300 18AWG In the CAN 2000C series module the 1200 terminal resistance is supplied as a standard accessory In the following figure the position SW1 allowed to build in a terminal resistance The figure indicates two conditions Disable Up and Enable Down And if the terminal resister is enabled the terminal resister LED will on f i Disable Enable The bus length determines the CAN bus baud rate In the following the table provides users a relationship between the baud rate and the bus length CAN 2000C user s manual Revision 1 00 Oct 22 2009 8 Baud rate bit s Max Bus length m 1M 25 800 K 50 500 K 100 250 K 250 125K 500 50 K 1000 20 K 2500 10K 5000 Note When the bus length is greater than 1000m the bridge or repeater devices may be needed The pin descriptions of the CAN bus connectors on the CAN 2000C are shown below CAN_V Pin 5 CAN_H Pin 4 CAN_SHLD Pin 3 CAN_L Pin 2 CAN_GND Pin 1 Pin No Signal Description 1 CAN_GND Ground OV 2 CAN_L CAN_L bus line dominant l
85. ow 3 CAN_SHLD Optional CAN Shield 4 CAN_H CAN_H bus line dominant high 5 CAN_V CAN external positive supply 2 2 Power LED The CAN 2000C series products need 10 to 30 VDC power supplies Under a normal connection a good power supply and a correct voltage selection as the unit is turned on the LED will light up in red If it can t work please check with local agents or resellers for more help CAN 2000C user s manual Revision 1 00 Oct 22 2009 9 2 3 CANopen Status LED Each one CAN 2000C module has two LED indicators One is the Error LED lighting in orange and the other one is the RUN Performing LED lighting in green The Error LED and the Run Performing LED information are presented in the CANopen specifications When the CANopen communication carries out these indicators will glitter in different time The following descriptions will show meanings of the glittering signal as these indicators are being triggered 2 3 1 The RUN LED The RUN LED relates to the physical mechanism on the CANopen that will be discussed later The data state and the signal state description are respectively shown in the following figure and table Blanking Single Flash 400 800 1200 1600 2000 200 600 1000 1400 1800 0 Time ms No Signal State Description 1 No Light Non operation Malfunction or Power Supply Connection not ready 2 Single Flash Stopped The device is in Stopped state 3 Bli
86. rol protocol users are enabling to detect the remote error in the network in order to confirm whether the node still works or not CAN 2000C user s manual Revision 1 00 Oct 22 2009 35 3 5 1 Module Control Protocols Before introducing the modules control protocols the architecture of the NMT state mechanism needs to be mentioned The diagram shows the process and the relationships among each NMT state and the mechanism Power on or Hardware reset 1 Ai Operational State Mechanism Diagram 1 Under Power on or Hardware Reset the initialization state will be loaded automatically 2 As the Initialization accomplished Pre Operational state will be entered automatically 3 6 Indication of starting remote node 4 7 Indication of entering Pre Optional State 5 8 Indication of stopping remote node 9 Indication of the Reset Node or the Reset Communication CAN 2000C user s manual Revision 1 00 Oct 22 2009 36 Devices will directly lead to the Pre Operational state after finishing the device initialization Then the nodes will be switched into different state by receiving a specific indication By the way each different NMT state will consider a specific communication method For example the PDO message can only do the transmission and receiving in the operational state In the following table the relationship among
87. rror now CAN 2000C user s manual Revision 1 00 Oct 22 2009 102 Step 9 Users have to check the index 0x1003 with sub index 01 again Then the error reset emergency code should be recorded 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 0 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 8 40 03 10 01 00 00 00 00 SDO server CAN 2057C ccs 2 m 03 10 01 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 0 1 2 3 4 5 6 7 1 0 1 1 0 0 0 0 0 0 8 43 03 10 01 SDO server CAN 2057C ccs 1 n 0 e 1 S 1 m 03 10 01 d wives e Step 10 Users have to check the index 0x1003 with sub index 02 Then the received emergency error code had been recorded in the emergency object data 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 91 18 716 5 14 3 2 01 1112 3 4 5 6 7 11 110 0101010 0 J 0 0 8 40 0310 02 00 00 00 00 SDO server CAN 2057C ccs 2 m 03 10 02 CAN 2000C user s manual Revision 1 00 Oct 22 2009 103
88. s channels a Update DI AI values Upda BIAI Read DI AI values channels S RTR only synchronous TxPDO CAN 2000C user s manual Revision 1 00 Oct 22 2009 27 RTR only asynchronous The asynchronous mode is independent of the SYNC object This mode can also be divided into two parts There are RTR only asynchronous transmission type and asynchronous transmission type The RTR only transmission type is only for supporting TxPDO transmissions only triggered by receiving the RTR object from the PDO consumer This action is depicted below PDO producer PDO consumer CAN 2000C Read DI AI RTR Object channels Read DI AI channels S i RTR only asynchronous TxPDO CAN 2000C user s manual Revision 1 00 Oct 22 2009 28 Asynchronous The other part is the asynchronous transmission type Under this type the TxPDO message can be triggered by receiving the RTR object and the device specified event mentioned in the event driven paragraph Furthermore the DO AO channels can act directly by receiving the RxPDO object This transmission type is the default value when the CAN 2000C boots up The concept of the asynchronous type is shown as follows PDO consumer PDO producer CAN 2000C Read DI AI RTR Object channels Read DI Al channels TxPDO event trigger Read DI AI channels 5i RTR Object asynchronous TxPDO PDO consumer PDO producer CAN 2000C Actuate DO AO RxP DO chan
89. s 59 5 2 2 Transmission Type sieccscctescicincacecacteesncweteesnensncewnewencestewenews 61 5 2 3 PDO Communication Rull ccccccssssssssssseeeeeeeeeeeees 62 5 3 EMCY Communication Set cccccccssssscsseeeeessseceessssseeeeeeeseeeees 97 5 3 1 EMCY COB ID Paramete sscccccssssssssesseeeeeeeeeeeees 97 5 3 2 EMCY Communication scccseeeeesssseeesssesseeeeeeeeeenes 98 5 4 NMT Communication Set cccccssessssseeeeeseeccesssesseeeeeeseneees 105 5 4 1 Module Control Protocol cccccssssssseseseeeseeeeeeeeeeees 105 5 4 2 Error Control Protocol scccsseeeeessseeseeeeeseeeeeeeeees 108 Object Dictionary Of CAN 2000C cccseeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 114 CAN 2000C user s manual Revision 1 00 Oct 22 2009 2 6 1 Communication Profile Area c ccescceeceeceeeceeceeceneceeeceeenees 6 2 Module Device Profile Area CAN 2000C user s manual Revision 1 00 Oct 22 2009 1 Introduction 1 1 Overview CANopen a kind of communication protocols is an intelligent field bus CAN bus It has been developed as a standard embedded network with a high flexible configuration It provides a standard communication protocol transmitting real time data in PDO Process Data Objects configuration data in SDO Service Data Objects and network management data NMT message and Error Control even supports the special functions Time St
90. s S33 m 051A02 Step 41 In order to use this PDO mapping object normally the value of the index 0x1A05 with sub index 00 must be changed to 2 The value 2 means there are 2 objects mapped to the 5th TxPDO They are the index 0x6401 with sub index 03 and index 0x6401 with sub index 06 CAN 2000C user s manual Revision 1 00 Oct 22 2009 91 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 O 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 1 0 0 0 8 2F 05 1A 00 02 00 00 00 SDO server oe CAN 2017C ccs 1 n 3 e 1 s 1 m 05 1A 00 d 02 00 00 00 11 bit COB ID bit SS Data 8 byte Data byte Func Code Node ID RTR aa a a a a S E S S Length irr 1019 8 7 16 151413121110 0 11 2131 41 5J6 7 1 0 1 1 0 0 0 0 1 0 0 0 4 160 05 1A 00 SDO server D li K SDO client CAN 2017C scs w JB m 05 1A00 Step 42 Users can use the 5th RxPDO of CAN 2024C to create a new PDO communication with PDO COB ID 0x222 for AO2 and AOS and create the RxPDO mapping object in the index 0x1605 because the COB ID 0x222 is not available for the CAN 2024C This procedure is similar to the steps 37 to 40 CAN 2000C user s manual Revision 1 00 Oct 22 2009 92
91. sion 1 00 Oct 22 2009 79 Transmission Type 3 for the first TxPDO Step 23 Users can set the transmission type of the first TxPDO to 3 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 Oo 1 2 3 4 5 6 7 14 1 0 0 0 0 0 0 0 1 0 0 8 2F 00 18 02 03 00 00 00 SDO server CAN 2053C ccs 1 n 3 e 1 s 1 m 00 18 02 d 03 00 00 00 11 bit COB ID bit m IIN Data 8 byte Data byte Func Code Node ID RTR oo oo oT oT Length _ _ __ _ _ 10 9 8 7 6 5 4 3 2 1 0 0O 1 2 3 44 5 6 7 1 0 1 1 0 0 0 0 0 1 0 0 4 60 00 18 02 SDO server SDO client qe eo CAN 2053C scs 3 m 001802 CAN 2000C user s manual Revision 1 00 Oct 22 2009 80 Step 24 Users can change the DO value of the CAN 2057C to be OxCDEF by using the first RxPDO 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 0 1 0 0 0 0 0 0 0 0 1 O 8 EF CD 00 00 00 00 00 00 PDO ed producer COB ID 0x201 L gt 8 PDO msg EF CD 00 00 00 00 00 00 PDO consumer CAN 2057C Step 25 The SYNC message h
92. tep 13 Change the DO value of the CAN 2057C to be 0x5678 by using the 1st RxPDO 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 1918 5 4 3 2 1 0 O 1 2 3 4 5 6 7 O 111010 0 0 0110 0 1 0 8 78 56 00 00 00 00 00 00 PDO PDO consumer Ey producer CAN 2057C COB ID 0x201 L 8 PDO msg 78 56 00 00 00 00 00 00 CAN 2000C user s manual Revision 1 00 Oct 22 2009 74 Step 14 The DO value isn t changed immediately according to the character of the transmission type 0 Meanwhile the SYNC message is needed to trigger the action of the 1st RxPDO 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 O0 1 2 3 4 5 6 7 0 0 0 1 0 0 0 0 0 0 0 O O Jf e fr fe pele pe SYNC SYNC consumer ee producer CAN 2057C COB ID 0x80 The message of the SYNC object is always fixed as the format described above The COB ID of the SYNC object can be changed arbitrarily It complies with the producer consumer relationship Step 15 After transmitting the SYNC object the 1st RxPDO is triggered The DI value is also changed at the same time Hence users can receive the 1st TxPDO from CAN 2053C 11 bit COB ID
93. the life time factor The node life time is the guard time multiplied by the life time factor The Node Guarding timer of the CAN 2000C will start to count after receiving the first RTR message for the guarding identifier The communication set of the Node Guarding Protocol is displayed below NMT Slave NMT Master CAN 2000C 11 bit COB ID bit 8 byte Data byte 10 7 6 0 1110 Node ID 1 RRA a request ro fren o o indication 11 bit COB ID bit 8 byte Data byte confirmation moz 6 0_ oer Cs fesponse V7 60 s jii a Node Guarding Protocol t toggle bit The value of this bit will be alternatively changed between two consecutive responses from the NMT slave After the node Guarding protocol becomes active the value of the toggle bit of the first response will be 0 S the state of the NMT Slave 4 STOPPED 5 OPERATIONAL 127 PRE OPERATIONAL CAN 2000C user s manual Revision 1 00 Oct 22 2009 108 Node Guarding Protocol Example The default EMCY function code and node ID 1 for the CAN 2000C are used as an example on the error control protocol The steps will be as follows Step 1 Turn off the CAN 2000C Then turn it on The CAN 2000C will be in the pre_operational state Step 2 Users can set the guard time value to 250 This value will be stored in index 0x100C with sub index 00 11 bit COB ID
94. tionality I O functionality Device profile number For CAN 2000C the specific function is always in 0 The I O function defines what kind of CAN 2000C is Bit 16 17 18 19 20 21 22 present the DI DO Al AO Counter PWM DIO respectively For example if bit 16 is 1 it means that the CAN 2000C has DI channels If both bit 16 and 17 are 1 the CAN 2000C will have both DI and DO channels Bit 23 is always in 0 The general information is 0x191 0x191 401 it means that the CAN 2000C complies with the CANopen spec DS401 2 About the objects with index 0x1001 and 0x1003 please refer to the section 5 3 2 3 The object with index 0x1005 stores the SYNC COB ID In the CAN 2000C this object is used to receive the SYNC COB ID The following table shows the data format of the SYNC Bit Number Value Meaning 31 MSB x do not care 30 0 Device does not generate SYNC message 1 Device generates SYNC message 29 0 11 bit ID CAN 2 0A 1 29 bit ID CAN 2 0B 28 11 0 If bit 29 0 x If bit 29 1 28 11 bits of 29 bit COB ID 10 0 LSB Xx 10 0 bits of COB ID The CAN 2000C doesn t support the SYNC generation therefore 29 bit ID bit 30 and bit user s manua vision 1 UU UCU ZZIZLUUJ 31 are always in 0 The object with index 0x1008 0x1009 and 0x100A records the CAN 2000C product information When interpreting these objects the ASCII table will be needed the default s
95. transmitted In the CANopen specifications some COB IDs are reversed for specific communication objects and can t be defined arbitrarily by users The following list shows these reversed COB IDs Reversed COB ID Hex Used by object 0 NMT 1 Reserved 80 SYNC 81 FF EMERGENCY 100 TIME STAMP 101 180 reversed 581 5FF Default Transmit SDO 601 67F Default Receive SDO 6E0 reversed 701 77F NMT Error Control 780 7FF reversed CAN 2000C user s manual Revision 1 00 Oct 22 2009 16 In addition the other COB IDs shown in the following table can be used if necessary nels Bit6 Bitd Communication object Name Function Code 0000 0000000 NMT 0001 0000000 SYNC 0010 0000000 TIME STAMP 0001 Node ID EMERGENCY 0011 0101 0111 1001 Node ID TxPDO1 2 3 4 0100 01 10 1000 1010 Node ID RxPDO1 2 3 4 1011 Node ID SDO for transmission TxSDO 1100 Node ID SDO for reception RxSDO 1110 Node ID NMT Error Control CAN 2000C user s manual Revision 1 00 Oct 22 2009 Object Dictionary The object dictionary collects a lot of important information which can affect device s reaction such as the data accessing through I O channels the communication values and the network states Essentially the object dictionary consists of a group of entry objects and these entries can be accessed via the node network in a pre defined method Each object entry with
96. unction by using Event Timer to obtain the input value The function of the acyclic and synchronous RxPDO The function of the acyclic and synchronous TxPDO The function of the cyclic and synchronous TxPDO The function of the synchronous and RTR only TxPDO The function of the asynchronous and RTR only RxPDO The function of the dynamic PDO mapping for DI Al DO AO channels Before describing the example the step0 must be checked And the default COB ID for each communication object is assumed to be being used CAN 2000C user s manual Revision 1 00 Oct 22 2009 65 Step0 The following message must be sent in order to change the NMT state of the CAN 2000C first because only the PDO communication can run under the NMT Operational state 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 O0O 1 2 3 4 5 647 07 0 0 0 0 0 0 0 0 0 0 O 8 01 01 00 00 00 00 00 00 NMT slave CAN 2000C cs 1 Node ID 1 CAN 2000C user s manual Revision 1 00 Oct 22 2009 66 Access Digital I O amp Analog I O Step 1 In order to change the DO value of the CAN 2057C to be 0x1234 users must send the PDO message by using the first RxPDO 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR L

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