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Advantech CANopen User Manual

1. acoCreateNode Yy acoNode ImportEDS Y acoCreateNetwork Y acoNetworkAddSlave i acoRegHeartbeatErrorEvent acoRegBootupEvent Regist Even acoReg0DDataChangedEvent l acoRegGeneralEvent acoOpenCANPort y acoSetNodeld acoGetNodeld acoGetNodeState acoGetNodeRole acoStartNetwork acoReadSDO acoWriteSDO y acoGetODentry acoSetODentry Run state gt acosendData acoReqNodeGuard y acoStartRemoteNode acoStopRemoteNode acoStopNetwork acoRemoteNodeExist acoGetRemoteNodebyPos acoGetRemoteNode NS acoGetRemoteNodeCount ave y acoFreeNetwork A acoCloseCANPort acoFreeNode 14 CANopen Slave side Open eAutomation Boundless Integration acoCreateNode Y acoNode Impor tEDS d acoRegHeartbeatErrorEvent Regist Event acoRegODDataChangedEvent acoRegGeneralEvent Y acoOpenCANPort AA acoSetNodeld y acoStartNode acoGetNodeld l acoSetNodeld acoGetNodeState Run state acoGetNodeRole acoGetODentry acoSetODentry d acoSendData acoStopNode Y acoCloseCANPort acoFreeNode 15 AD ANTECH eAutomation CANopen Open eAutomation Boundless Integration AD ANTECH eAutomation 2 4 3 Definition and Structures Definition Description UNS8 A 8 bit unsigned char UNS16 A 16 bit unsigned short intege
2. CA Nopen Open eAutomation Boundless Integration AD ANTECH eAutomation ACOOD_SUCCESSFUL 0x00000000 Success ACOOD_UNSUPPORT_OBJECT 0x06010000 Unsupported access to an object ACOOD_READ_NOT_ALLOWED 0x06010001 Attempt to read a write only object ACOOD_WRITE_NOT_ALLOWED 0x06010002 Attempt to write a read only object ACOOD_NO_SUCH_OBJECT 0x06020000 Object does not exist in the Object Dictionary ACOOD_NOT_MAPPABLE 0x06040041 Object cannot be mapped to the PDO ACOOD_LENGTH_EXCEED 0x06040042 The number and length of the objects to be mapped would exceed PDO length ACOOD_PARAM_INCOMPATIBILITY 0x06040043 General parameter incompatibility ACOOD_INTERNAL_INCOMPATIBILITY 0x06040047 General internal incompatibility in the device ACOOD_HW_ERROR 0x06060000 Access failed due to hardware error ACOOD_LENGTH_DATA_INVALID 0x06070010 Data type does not match Length of service parameter does not match ACOOD_LENGTH_DATA_TOO_HIGH 0x06070012 Data type does not match Length of service parameter is too high ACOOD_LENGTH_DATA_TOO_LOW 0x06070013 Data type does not match Length of service parameter is too low ACOOD_NO_SUCH_SUBINDEX 0x06090011 Subindex does not exist ACOOD_VALUE_RANGE_EXCEED 0x06090030 Value range of parameter exceeded write access only ACOOD_VALUE_TOO_HIGH 0x06090031 Value of parameter written is too high ACOOD_VALUE_TOO_LOW 0x06090032 Value of parameter written is too low ACOOD_INVALID_MAX_VALUE 0x06090036 Maximum value is less than the mini
3. PDO Mapping Index Sublndex _ Name _Mappinglnto Type Value fox1600 Tn Tia mapped Obiect Ox20000108 UNSIGNEDS a 0x1600 0x02 2rd mapped Obiect 0x20000208 UNSIGNEDS 0x1600 0x03 3rd mapped Object 0x20000308 UNSIGNEDS Items Value 0x1600 0x04 4rd mapped Obiect 0x20000408 UNSIGNEDS NodelD 1 0x1600 0x05 5rd mapped Object 0x20000508 UNSIGNEDES Status Operational 0x1600 0x06 6rd mapped Object O0x20000608 UNSIGNEDE 0x1600 0x07 7rd mapped Object Ox20000708 UNSIGNEDS Ox1600_ _ 0x08 _ Bd mapped Obiect 0420000808 UNSIGNED8 Notes Master node enter Pre Operation mode Notes Master node enter Operation model EMCY Receive EMCY message from Node 2 the error code is 0x1000 PDO Message Status a Master received PDO count 3573 Figure 36 Run Mode Main Window 4 3 2 Monitor Node Data Then user can select master node or slave node to monitor its data The following picture is the slave node monitor view We can see its state and PDO data Please note that the utility can only control the network through master node user should run slave node application to communicate with the utility if necessary for example to run acoSlave example in the slave node and then the utility can communication with slave node opened by acoSlave Utility can also communicate with other manufacture CAN device base on CANopen protocol The following picture is slave node monitor view
4. 000 SYNC Cob ID Ba 1018 dentity Py SDO Parameters y RPDO Parameters y APDO Mapping y TPDO Parameters Value 0x80 H D 81 C N O LU e N Open eAutomation Boundless Integration AD ANTECH eAutomation Figure 19 configure communication parameters 4 2 7 Create and configure SDO User can add SDO server or SDO client by click Add SDO Server or Add SDO Client and then user need to configure the new SDO Server and SDO Client ek Network ES K MasterDict 1 OK Slave Nodes E Al slaveNodel La Data Type La Communication Para a S00 Parameters j Add SDO Server mb Add SDO Client L TPDO Mapping L4 Manufacture Segme L Device Profile Seg Figure 20 Add SDO Client and SDO Server Menu etwork1 MasterDict 1 OK Slave Nodes SubIndex View SA slaveNodet Index 1200 Sublndex La Data Type La Communication Parameters Name COB ID Client gt Server 44 SDO Parameters El By 1200 Server SDO 1 Parameter Data Type 000 Number of Entries Access i 001 COB ID Client gt Server 002 COB ID Server gt Client Value 0x602 H D L RPDO Parameters L RPDO Mapping L TPDO Parameters 4 TPDO Mapping L Manufacture Segment L4 Device Profile Segment Figure 21 Configure SDO Parameter 4 2 8 Create and configure PDO User can add transmit PDO or receive PDO by click Add Receive PDO or Add Transmit PDO menu
5. 88 C N O O en Open eAutomation Boundless Integration AD ANTECH eAutomation Advantech CANopen Network Utility View Network Help Network Read Value Write Value Send Message Network1 Send Message by Master Node O SlaveDict 1 0K CobID Hex Lenath Data Hex D PDO Mapping E Index Sublndex Name Mappinalnfo Type bo 0x1600 0 01 11d mapped Obiect 0x1600 2rd mapped Obiect 0x20010208 INTEGERS 0x1600 3rd mapped Obiect 0420010308 _ INTEGERS Items Value 0 1600 4rd mapped Obiect 0420010408 INTEGERS NodelD 2 0x1601 1rd mapped Obiect 0420010108 INTEGERS Status Operational i 0x1601 2rd mapped Obiect 0x20010208 INTEGERS 0x1601 3rd mapped Obiect 0x20010308_ INTEGERS 0x1601 4rd mapped Obiect 0420010408 INTEGERS died mannad Ohiest 420010100 IN TOROS Notes Master node enter Pre Operation mode Notes Master node enter Operation mode PDO Message Status Master received PDO count 163371 Receive PDO from SlaveDict 1 OK 163372 Figure 37 Run Mode Slave Node Window The following picture is Master node monitor view 89 C fn N O O oN Open eAutomation Boundless Integration AD ANTECH eAutomation Advantech CANopen Network Utility View Network Help Sadaaa Network Read Value Write Value Send Message 8 O Network Send Message b
6. 82 CANopen Open eAutomation Boundless Integration AD ANTECH eAutomation item and then user need to configure the new PDO to meet the user s requirement Network1 lt 0 MasterDict 1 0K L Data Type L4 Communication Parameters L SDO Parameters Ly APDO Parameters Add Receive PDO Ly L TPDO Mapping L Manufacture Segment 4 Device Profile Segment SIR Slave Nodes Figure 22 The following picture is the PDO parameters Network lt 0 MasterDict 1 0K La Data Type La Communication Parameters X La SDO Parameters lt La APDO Parameters lt Ea 1400 RxPDOO parameter 3 000 number of communica KH 001 COB ID used by PDI 3 002 transmission type LJ 003 inhibit time 3 004 compatibility entry 3 005 event timer 4 APDO Mapping L TPDO Parameters L TPDO Mapping Manufacture Segment 4 Device Profile Segment EZ ag Slave Nodes a U a Figure 23 Network lt 0 MasterDict 1 0K L Data Type L Communication Parameters 4 SDO Parameters L APDO Parameters 4 APDO Mapping L4 TPDO Parameters La L Device Profile Segment S Slave Nodes Add PDO Menu Item configuration window Add transmit PDO Subindex View Index 1400 Sublndex Name COB ID used by PDO Data Type UNSIGNED32 Access Read Write v Value 0x182 C Ho PDO Configuration The following picture is the mapping data configuration window 83 C N O LU en Open eAutomation Boundless Inte
7. C N O LU e N Open eAutomation Boundless Integration AD ANTECH a Network1 8 SU MasterDict 1 OK La Data Type SBE Communication Para ES l Set Communication Parameters GT TOOT ETTO dE GS 1005 SYNC COE Ey 1006 Communic Ex 1016 Consumer Ex 1017 Producer L Ex 1018 Identity La SDO Parameters E E E E La RPDO Parameters L4 APDO Mapping L TPDO Parameters L4 TPDO Mapping lab Manufactura Senme Y Jl Figure 17 Add Remove Communication Menu Item Then a dialog displays and user can add or remove the communication parameters Communition Configration Communition Service Source Destination 1002 Manufacturer Status Register 1000 Device Type 1003 Pre defined Error Field 1001 Error Register 1006 Communication Cycle Period 1005 SYNC COB ID 1007 Synchronous Windows Length 1018 Identity 1008 Manufacture Device Name 1009 Manufacturer Hardware Version 1004 Manufacturer Software Version 100C Guard Time 1005 SYNC COB ID Figure 18 Add Remove Communication Dialog Click OK the select communication parameters will be added to CANopen network user then can to configure them E MasterNode Slave Nodes Subindex View E 4j slaveNodel Index 1005 Sublndex 0 m Data Type A A B A Communication Parameters Name SYNC Cob ID 1000 Device Type ES SS 1001 Error Register Data Type UNSIGNED32 lt Ea 1005 SYNC COB ID Access Read Write
8. CANopen Library User Manual V1 03 June 2010 Table of Contents Te IO AUCH OM T 1 1 1 LIR STE RTT T oin n E R E E 1 1 2 Object Dictionary Setini snee aean a E E a lo SS 3 1 2 1 Service Data DS SDO de 4 1 2 2 Process Data Objects PDO nani 4 1 2 3 SYNC TTT 6 1 2 4 Heartbeat A E 7 1 3 RG RET ENO RE 8 2 Advantech CANopen Protocol Library sss sese eee eee 9 Dal ONE tedio 9 2 2 Object Dia Sra isesi ren ieni nsa pE li iaa 10 Zo A A E E a E E ESN 11 2 4 AREAS cias 12 2 4 1 OVER 12 2 4 2 POW CHALE T 14 2 4 3 Definition and Structures sss sees eee eee eee eee 16 2 4 4 A 18 2 4 5 ACOA EAMG MO Ste reene acuta tunes E E T 23 3 Advantech CANopen Examples icici scccsssecsjscesssonead ea lassietheustasavenseaaaasustaccdencceda i n designs 74 3 1 OVER a a aaant 74 3 2 RAMPS Usa EE E A EE E E E E E E E ed 14 4 Advantech CANopen Network Utility dsp a 76 4 1 Dd ae 76 4 2 Configure CANopen Network sese eee eee 77 4 2 1 Create CANopen NetWork in 77 4 2 2 Create slave HOGG cat edie Gusta OG ee Cisse ale eee Cis ea fe Salad 78 42 3 Configure Node inte tela ade he eee aden etna ends 79 4 2 4 Import EDS File a ud il darian 79 4 2 5 Create new data S neient ia n sa aa e ale 79 4 2 6 Configure the communication parameters sse eee eee eee ee eee eee 80 4 2 7 Create and O 82 4 2 8 Createand contisure e corte aia O ant tame E 82 4 2 9 Create manufacture variable cscs cat eee id 85 42 10 Save the aT
9. Figure 2 PDO Linking Following is the example to describe how to set the value to the PDO in object dictionary m TPDO setting example A node with node identifier 0x02 the PDO is transmitted on synchrony It contains 6 bytes of data DataX 2 bytes and DataY 4 bytes DataX is defined at index 6000h sub index 03h DataY is defined at index 0x2010 sub index 21h The result of object dictionary setting about TPDO1 is shown in Table 2 TPDO1 setting example Table 2 TPDO1 setting example Index 1800h value description Sub index 00h 2 Oih 0x182 180h Node ID 0x2 5 C N O LU LC N Open eAutomation Boundless Integration AD ANTECH eAutomation 02h 200 the PDO is transmitted every reception of lt 200 gt SYNC Index 1A00h value description Sub index 00h 2 write the number of data embedded in the PDO 1byte Oih 0x60000308 Where to find of data embedded and the size 8 bytes Format index 2 bytes sub index 1 byte size in bits 1 byte DataX is at object 6000h 03h with 8 bits 02h 0x20102120 where to find the second data embedded an the size 8bytes DataY is at object 2010h 21h with 32 bits R RPDO setting example Another node 0x05 needs to be configured to directly listen for the TPDO1 transmitted by node 0x02 RPDO1 of node 0x05 should be used to receive TPDO1 of node 0x02 Table 3 RPDO setting example Index 1400h value descripti
10. Open CAN2 successes Start CAN2 successes Figure 6 Slave Example Main Window 275 C N O LU e N Open eAutomation Boundless Integration AD ANTECH eAutomation 4 Advantech CANopen Network Utility 4 1 Overview The Advantech CANopen network utility is a utility to configure CANopen network node to control and monitor the whole CANopen network The main functions of Advantech CANopen Network Utility can be described as follows e An EDS file editor configure network nodes export EDS file that needed by CANopen library API when user develop application based on CANopen library CANopen network manger user can use the utility to create a CANopen network and do a simple test it can also to control and monitor the CANopen network The following picture is the main window of this utility Fi Advantech CANopen Network Utility File View E lt A N ZA LA Configuration Open eAutomation x Boundless Integration PDO Message Status Master received PDO count O Figure 7 Main frame of utility 76 C H N O LU e N Open eAutomation Boundless Integration AD ANTECH eAutomation 4 2 Configure CANopen Network 4 2 1 Create CANopen Network Firstly Create the CANopen network Click the File gt New CANopen NetWork menu item the utility will display a wizard to create network user only need to input network name master node device master node id network baud rate These setting can
11. UNS8 DataType UNS32 DataLen void pData TCOnWriteSDOResult pf Parameters hNetworkObject in Pointer to network handle that created by acoCreateNetwork Nodeld in specified a SDO server node identifier write to its object dictionary wIndex SubIndex in Which index 16bits and sub index 8bits of entry in the object dictionary want to write DataType in the data type of the pData value See data type constant in acodef h a J C N O LU e R Open eAutomation Boundless Integration AD ANTECH eAutomation DataLen in the data length of pData pData in the data of index sub index value pf in Pointer to the application defined function of type TCOnWriteSDOResult represents the starting address of the function The function will be executed if SDO request is responded or timeout occurs Return Values If the function succeeds the return value is ACOOD_SUCCESSFUL If the function fails please reference acoapi error codes and SDO abort codes Remarks This asynchronous function is for the master node writes the value of object dictionary with object index and sub index to other remote slave node The application defined function of type TCOnWriteSDOResult will be called if receiving the responded from the remote slave node as SDO server Therefore SDO parameters should be described in both master node and remote slave node at object dictionary of object 1280h to 12FFh SDO cli
12. s expects in state pre operational callback function Example extern HACONODE hSlaveNode void DoStatelnitialization HACONODE hNode LPVOID pvArg 1 To do void DoStatePreoperational HACONODE hNode LPVOID pvArg 1 To do void DoStateOperational HACONODE hNode LPVOID pvArg 1 To do void DoStateStop HACONODE hNode LPVOID pvArg 1 To do void RegNodeEvents void 1 acoRegGeneralEvent hSlaveNode et_STATE_INITIALIZE DoStatelInitialization NULL acoRegGeneralEvent hSlaveNode et_STATE_PREOPERATIONAL DoStatePreoperational NULL acoRegGeneralEvent hSlaveNode et_STATE_OPERATIONAL DoStateOperational NULL acoRegGeneralEvent hSlaveNode et_STATE_STOPPED DoStateStop NULL t acoSendData Transmit a raw message to other nodes UNS32 acoSendData 45 C N O LU e N Open eAutomation Boundless Integration AD ANTECH eAutomation HACONODE hNode UNS32 Cobld bool bRTR UNS32 dataLen void pData Parameters hNode in Pointer to the Master or Slave node object handle that returned by acoCreateNode CobId in Specified Cob ID of the CAN message The format of Cob ID is defined by CiA DS 301 v4 02 10 7 6 0 Function Code Node ID DRTR in Identify the message is Remote Transmission Request or not dataLen in the length of the pData maximum length is 8 in CAN message pData in the value to be sent Return Val
13. Example Reference to acoCreateNetwork example acoStopNetwork Stop the CANopen network stop all remote nodes in remote list by broadcasting NMT stop message and then stop master node all of nodes would be enter NMT state Stopped UNS32 acoStartNetwork HACONETWORK hNetworkObject 1 Parameters hNetworkObject in Pointer to network object handle that returned by acoCreateNetwork Return Values If the function succeeds the return value is ACOERR_SUCCESS If the function fails please reference acoapi error codes Example Reference to acoCreateNetwork example acoGetRemoteNodeCount Return the number of remote nodes in network object of remote node list UNS32 acoGetRemoteNodeCount HACONETWORK hNetworkObject 58 C N O LU N Open eAutomation Boundless Integration AD ANTECH eAutomation Parameters hNetworkObject in Pointer to network object handle that returned by acoCreateNetwork Return Values Return the number of remote nodes in network object acoGetRemoteNode Get remote node object handle by specified node identifier in remote node list HACOREMOTE acoGetRemoteNode HACONETWORK hNetworkObject NODEID_t Nodeld 1 Parameters hNetworkObject in Pointer to network object handle that returned by acoCreateNetwork Nodeld in the node identifier of remote node Return Values If the remote node with specified node identifier is exist in network ob
14. Object Dictionary generated from the devices EDS files and describes all properties and communication objects of the device It s the core definition of CANopen devices Object Dictionary is 1 C H N O LU e N Open eAutomation Boundless Integration AD ANTECH eAutomation composed of sequential object lists Each object applies a 16 bit index as its addressing Each object can be made up of several elements or a single element uses an 8 bit sub index as its addressing SDO Service Data Object can access and configure Object Dictionary in remote nodes via index and sub index of Object Dictionary The object that requests to access is regarded as Client and the object which is requested is Server The length of request messages and response messages remains 8 bytes including SDO command 1 byte index of the object to be accessed 2 bytes sub index of the object to be accessed 1 byte and 4 bytes of data to be transmitted The SDO protocol can transmit data of any size If the data is over 4 bytes the message will be segmented into several parts The term SDO Read means SDO upload protocol the client of a SDO uploads data from the server SDO Write means SDO download protocol the client of a SDO downloads data to the server PDO Process Data Object is used for high speed data exchange The length of transmitted data is limited to 1 8 bytes PDO contains many transmitting trigger ways such as cycle transmitting synchronized tim
15. e_nodeRole acoGetNodeRole HACONODEOBJ hNode 1 Parameters hNode in Pointer to the Master or Slave node object handle that returned by acoCreateNode or pointer to remote node object handle that returned by acoNetworkAddSlave Return Values 33 C N O LU e Open eAutomation Boundless Integration AD ANTECH eAutomation Return the node role Master Slave Remote Node or unknown role Example extern HACONODE hSlaveNode if acoGetNodeRole hSlaveNode Master 1 To do t else if acoGetNodeRole hSlaveNode Slave 1 To do t acoGetODentry Read an entry with specified index and sub index from the local object dictionary This function is a synchronous method it returns the result until completed or timeout occurs UNS32 acoGetODentry HACONODE hNode UNS16 wIndex UNSS SubIndex UNS8 pDataType UNS32 pDataLen void pData Parameters hNode in Pointer to the Master or Slave node object handle that returned by acoCreateNode wIndex SubIndex in Which index 16bits and sub index 8bits of entry in the object dictionary want to read pDataType out the data type of the index sub index value See data type constant in acodef h pDataLen 34 C N O LU e N Open eAutomation Boundless Integration AD ANTECH eAutomation in out Input is the memory size of the pData allocated output is the real data length of pData The input data length should be equal t
16. the data type of the index sub index value See data type constant in acodef h pf 2372 C N O o e N Open eAutomation Boundless Integration AD ANTECH eAutomation in Pointer to the application defined function of type TCONReadSDOResult represents the starting address of the function The function will be executed if SDO request is responded or timeout occurs Return Values If the function succeeds the return value is ACOOD_SUCCESSFUL If the function fails please reference acoapi error codes or SDO abort codes Remarks Asynchronous read write object dictionary means that the function does not block the procedure return immediately Application can continue doing other work To be informed the callback function when receiving the SDO responded or timeout occurs pass the result of entry index sub index of object dictionary whose node identifier is Nodeld to the callback function application would get the value of entry and SDO abort code to understand the result of SDO request If the operation is success the abort code is ACOOD_SUCCESSFUL otherwise SDO abort code is returned that defined by CiA DS 301 v4 02 The node with specified node identifier must have the capability of SDO server it is described in index 1200h 127Fh of EDS According to the content of object dictionary also need to check access type before reading the entry in remote object dictionary Does not allow to read the entry if the access type of
17. OxFFOO Device specific Dl C N O LU e N Open eAutomation Boundless Integration AD ANTECH eAutomation 2 4 5 acoapi Functions acoCreateNode Create Master or Slave CANopen node HACONODE acoCreateNode char pCANDriverName Parameters pCANDriverName in Input the CAN driver dll path and name Ignore Return Values If the function succeeds the return value is the master or slave node object handle If the function fails the return value is NULL The generality of failed reason could be allocating memory failed Could call GetLastError to get the error code Remarks Use the acoFreeNode function to close an node object handle Example HACONODE hSlaveNode NULL hSlaveNode acoCreateNode NULL if hSlaveNode printf Create Node SUCCESS else printf Create Node failed x GetLastError acoFreeNode Free the handle of a node that created by acoCreateNode the function will close the CAN port first if it is opening void acoFreeNode 03 C N O LU e N Open eAutomation Boundless Integration AD ANTECH eAutomation HACONODE hNode Hz Parameters hNode in Pointer to the Master or Slave node object handle that returned by acoCreateNode Return Values None Example extern HACONODE hSlaveNode acoFreeNode hSlaveNode hSlaveNode NULL acoOpenCANPort Open the CAN port by specified port name and then set the baud rate Should be open the CAN
18. Therefore be carefully using this function that may cause the system decrease the efficiency Through heartbeat message can know the remote node it s presently NMT state generally used in NMT master node The heartbeat producer time and heartbeat consumer time can be configurable via object dictionary EDS The heartbeat protocol starts if the time value unequal to 0 Example extern HACONODE hMasterNode void DoHeartbeatEvent HACONODE hNode NODEID_t Nodeld e_acoNodeState currState LPVOID pvArg printf The remote node 02x is in state x Nodeld currState y acoRegHeartbeatEvent hMasterNode DoHeartbeatEvent NULL acoRegHeartbeatErrorEvent Register an event for heartbeat error in network object event will be called while not receive heartbeat message within the heartbeat consumer time UNS32 acoRegHeartbeatErrorEvent HACONODE hNode TCOnHeartbeatErrorEvent cb LPVOID pvArg Parameters hNode in Pointer to the Master or Slave node object handle that returned by acoCreateNode cb 51 C N O LU e N Open eAutomation Boundless Integration AD ANTECH eAutomation in Pointer to the application defined function of type TCOnHeartbeatErrorEvent represents the starting address of the function The function would to be called by the library while master node not receives a heartbeat message within heartbeat consumer time timeout occurs typedef void TCOnHeartbeatErrorEvent HACONOD
19. also be changed after network is created Creat New CANopen Network CANopen Network Setting Network Name Master Node Device Master Node ID Baud Rate Advanced Setting Figure 8 Step 1 of Create Network Wizard If user wants to set more about new network before create network click the Advanced Setting button advanced setting dialog support create network From EDS File and user also can set the SDO PDO number for master node the setting dialog as follows Dig_NewNetworkSetting Using EDS File D Examples EDS MasterDict 1 OK EDS A E Figure 9 Step 2 of Create Network Wizard Click OK button a new CANopen network will be created according to the user s setting The left view of the utility shows the structure of the new network as follows 77 3 LC N O O en Open eAutomation Boundless Integration AD ANTECH eAutomation Configuration MasterDict 1 OK La Data Type 4 Communication Paramet L SDO Parameters L RPDO Parameters L APDO Mapping L TPDO Parameters 4 TPDO Mapping La Manufacture Segment 4 Device Profile Segment S Slave Nodes Figure 10 CANopen Network Tree View When create CANopen network only the master node is create in new network user should to add slave node 4 2 2 Create slave node Select the Slave Nodes node right click the mouse a menu will display as follows etwork1 ES MasterDict 1 OK Slave Nodes A
20. fails please reference acoapi error codes Remarks If CAN device internal triggers an error interrupt acoapi library transmits an emergency message with FFOOh device specific error in errCodes 11h communication error in error register May use acoRegODDataChangedEvent to monitor object 1001h 00h to understand whether emergency object is ET C N O O e N Open eAutomation Boundless Integration AD ANTECH eAutomation triggered and CAN device internal error occurs The new error codes will be filled in at the top of the array of error codes object 1003h if supported After transmitting an emergency message need to use acoResetEmcy function to reset error the CANopen device enters the error free state and transmit an reset error no error emergency object For example a node generates a temperature emergency measured temperature exceeds the limits only when the temperature has returned within limits the node transmit another emergency message this time clearing resetting the temperature emergency Use acoRegEmcyEvent to register an event for the emergency consumer that the callback function will be called if receiving a EMCY message Example Send emergency message active temperature acoSendEmcy hSlaveNode 0x4200 0x08 0 acoResetEmcy Deletes specific error code and clears corresponding bits in Error register If all errors are clear the CANopen device enters the error Free State UNS32
21. from object dictionary by Read Value function 90 C N O LU en Open eAutomation Boundless Integration AD ANTECH eAutomation in second tab and write value to node object dictionary by Write Value function in third tab page The following picture is send message tab Read Value Write Value Send Message Send Message by Master Node CoblD Hex 1 Lenath NATA Data Hex 0 0 0 0 o o o o co lt Figure 40 Send Message View The following picture is read value tab User can read the local or remote object dictionary as follows only input the index and sub index then click the Read button Read Value Write Value Send Message Current Port SlaveDict 1 OK _ Index 2000 H Sublndex H Yalue Figure 41 Read Message View The following picture is write value tab User can write the local or remote object dictionary as follows only input the index and sub index then click the Write button Read Value Write Value Send Message Current Port SlaveDict 1 OK Index 2000 H Sublndex _ P H Value Figure 42 Write Message View User can use the menu to change the remote node state Network Network1 Stop Operation Pre Operation Figure 43 Change slave node state 91 LC N O O en Open eAutomat
22. handle ACOERR_REMOTE_NODEID_EXIST 0x25100008 The ID of remote node is exist ACOERR_REMOTE_STATE_OPER 0x25100009 Remote node is in operational state that can not do this operation ACOERR_CANPORT_NOT_OPEN 0x2510000A CAN port can not open ACOERR_NOT_SUPPORT 0x2510000B Do not support the function ACOERR_REMOTE_NODES_OVER 0x2510000C Remote nodes count is over the limit in list maximum nodes are 127 ACOERR_NODEID_EXIST 0x2510000D The node id is exist in list ACOERR_EMCY_FAILED 0x2510000E Generate a emergency code failed ACOERR_LICENSE_INVALID 0x2510000F License failed The acoapi library only supports Advantech allowed products ACOERR_TIMER_FULL 0x25100010 The timer is full that can not set alarm ACOERR_PDO_IN_INHIBIT_TIME 0x25100011 The TPDO exist inhibit time that can not transmit PDO immediately ACOERR_PDO_COBID_29BIT 0x25100012 The 29 bit COB ID should be 1 ACOERR_PDO_TRANS_EVENT_INVALID 0x25100013 The transmission type of PDO is invalid to send It should be 255 for COS ACCERR_EXCEPTION 0x25100014 Exception occurs ACCERR_PDO_TRANS_FAILED 0x25100015 Can not transmit PDO the node could be not in Operational state PDO offset invalid or the object dictionary of PDO data invalid SDO abort codes SDO abort codes please see DS 301 v4 02 p 48 Table 10 SDO abort codes Definition Value Description 19
23. in Pointer to network object handle that return by acoCreateNetwork Return Values None acoStartNetwork Start the CANopen network to operation start master node enter NMT state Operational and then start all remote nodes in remote list by broadcasting NMT start remote node message UNS32 acoStartNetwork HACONETWORK hNetworkObject U Parameters hNetworkObject in Pointer to network object handle that returned by acoCreateNetwork Return Values If the function succeeds the return value is ACOERR_SUCCESS If the function fails please reference acoapi error codes Remarks Start CANopen network master firstly enter NMT state Operational and continue to demand other remote slave nodes enter NMT state Operational if online Offline remote slave nodes can be demanded if receiving the boot up message reference acoRegBootupEvent Call acoStartRemoteNode only start remote slave node All of nodes must be in NMT state Operational can transmit PDO object In other words any process data can be transferred the node must be in state Operational else the process data can not be transferred Use acoStopNetwork to stop CANopen network Table 12 NMT states and communication objects 57 C N O LU LC N Open eAutomation Boundless Integration AD ANTECH eAutomation State 4 E Object Pre operational Operational Stopped PDO V SDO V V SYNC V V TIME V V EMCY V V NMT V V V
24. index sub index is write only WO Retrieve the data if the index sub index permission of access type is read only RO or read write RW Use acoWriteSDO function to write the data of entry index sub index to remote object dictionary which specific node identifier A synchronous method reference acoGetODentry and acoSetODentry acoNetworkReadSDO and acoNetworkWriteSDO are for network object to request the remote slave node Example extern HACONODE hSlaveNode void OnReadSDOResult HACONODEOBJ hNode NODEID_t Nodeld UNS16 wIndex UNS8 bSubIndex UNS8 dataType UNS32 dataLen void pData UNS32 abortCode LPVOID pvArg if ACOOD_SUCCESSFUL abortCode UNS8 ptr UNSS pData printf ReadSDOResult succ 04x 02x DataLen d Data 02x WIndex bSubIndex dataLen ptr else printf ReadSDOResult failed x abortCode 38 C N O LU N Open eAutomation Boundless Integration AD ANTECH eAutomation UNS32 ret UNS8 DataType ACODT_UINT8 NODEID_t OtherNode 0x05 access Object Dictionary async method ret acoReadSDO hSlaveNode OtherNode 0x1800 0x02 DataType OnReadSDOResult NULL if ACOOD_SUCCESSFUL ret printf acoReadSDO succ else printf acoReadSDO failed X ret acoWriteSDO Write the value at the index and sub index to remote object dictionary of the node whose node identifier is Nodeld through SDO protocol This function is an asynch
25. object dictionary but use asynchronous method is better by access remote object dictionary Reference acoReadSDO and acoWriteSDO functions Example extern HACONODE hSlaveNode 36 C N O LU e N Open eAutomation Boundless Integration AD ANTECH eAutomation UNS32 ret UNS8 data 255 UNS8 DataType ACODT_UINT8 UNS32 DataLen sizeof data ret acoSetODentry hSlaveNode 0x1800 2 DataType DataLen amp data if ACOOD_SUCCESSFUL ret printf WriteObjDict succ DataType x DataLen d Data x DataType DataLen data else printf WriteObjDict failed X ret acoReadSDO Read an entry with specified index and sub index from remote object dictionary of specified node identifier through SDO protocol This function is an asynchronous method it starts a task is returned immediately without waiting for a result When the task finishes the library notifies the application that the message was successfully processed and pass the result to the callback function UNS32 acoReadSDO HACONODE hNode NODEID_t Nodeld UNS16 wIndex UNS8 SubIndex UNS8 DataType TCOnReadSDOResult pf Ui Parameters hNode in Pointer to the Master or Slave node object handle that returned by acoCreateNode Nodeld in specified a SDO server node identifier read its object dictionary wIndex SubIndex in Which index 16bits and sub index 8bits of entry in the object dictionary want to read DataType in
26. start remote node message all remote slave nodes shall be enter NMT state Operational even if the remote node is not exist in the remote node list of network object Therefore application needs to maintain the remote node list in the network object by self The service start remote node is unconfirmed can not get really the NMT state after starting application can use other method to know which state the remote node in for example heartbeat protocol Need to use acoStartNetwork firstly to start CANopen network and master node Use acoStopRemoteNode to stop a remote node Example extern HACONETWORK hNetworkObj Start remote node 0x02 acoStartRemoteNode hNetworkObj 0x02 acoStopRemoteNode The NMT master uses the NMT service stop remote node specified node specified to change NMT state The state of the remote slave node shall be entering NMT state Stopped UNS32 acoStopRemoteNode HACONETWORK hNetworkObject NODEID_t Nodeld 1 Parameters hNetworkObject 67 C N O LU e N Open eAutomation Boundless Integration AD ANTECH eAutomation in Pointer to network handle that created by acoCreateNetwork Nodeld in the remote slave node identifier in a range 0 127 CBROADCAST_NODEID 0 means broadcast NMT start remote node message to all online remote nodes Return Values If the function succeeds the return value is ACOERR_SUCCESS If the function fails please reference acoapi error codes Exampl
27. the remote node object identified by Nodeld from the remote node list of the network object NMT master demands the remote node would be enter the NMT state Stopped and then remove it from list UNS32 acoNetworkRemoveSlave HACONETWORK hNetworkObject NODEID_t Nodeld Parameters hNetworkObject in Pointer to network object handle that returned by acoCreateNetwork Nodeld in a node identifier in a range of 1 127 Return Values If the function succeeds the return value is ACOERR_SUCCESS If the function fails please reference acoapi error codes Remarks Before removing the remote node from list in network object firstly transmitting NMY message to the remote slave node entered NMT state Stopped and then remote it from list The remote node list in network object would re sort by node identifier so that the memory location would be rearranged If the application keeps the pointer of the remote node that caused to pointer to different remote node Therefore recommends that call acoGetRemoteNode or acoGetRemoteNodebyPos each time to retrieve the current pointer of the remote node object from the list do not keep the pointer of the remote node Example extern HACONETWORK hNetworkObj remove node identifier 0x02 from list acoNetworkRemoveSlave hNetworkObj 0x02 acoNetworkSetState NMT master change the remote slave node to new state by NMT message Node identifier is 0 means 63 C N O LU e N Open
28. type constant in acodef h pf in Pointer to the application defined function of type TCOnReadSDOResult represents the starting address of the function The function will be executed if SDO request is responded or timeout occurs Return Values If the function succeeds the return value is ACOERR_SUCCESS If the function fails please reference acoapi error codes Remarks This asynchronous function is for the master node asks other remote slave node the value of object dictionary with object index and sub index The application defined function of type TCOnReadSDOResult will be called if receiving the responded value of specified wIndex and sub index from the remote slave node as SDO server Therefore SDO parameters should be described in both master node and remote slave node at object dictionary of object 1280h to 12FFh SDO client parameter and object 1200h to 127Fh SDO server parameter Else there is not receiving any responded message from the remote slave node typedef void TCOnReadSDOResult HACONODEOBJ hNode NODEID_t Nodeld UNS16 wIndex UNSS SubIndex UNS8 dataType UNS32 dataLen void pData UNS32 abortCode hNode argument in is the pointer to the remote slave node object handle with node identifier is NodeID NodeID argument in is the remote slave node identifier wIndex and SubIndex arguments in indicate which object to be read dataType argument in indicates the data type of the pData dataLen argument in
29. 1016h value Description Sub index 00h 1 Number of entries Oih 0x005A1122 Consumer heartbeat time The format is bit 0 15 heartbeat consumer time bit 16 23 monitored node id bit 24 31 reserved set to 0 02h 7Fh Example DefaultValue 0x00051B58 This node must receives the heartbeat message from the node 5h within 7 seconds else trigger a heartbeat error event for node 5 C N O LU e N Open eAutomation Boundless Integration AD ANTECH eAutomation 1 3 Reference 1 CiADS301 CANopen Application Layer and Communication Profile CiA Draft Standard Proposal 301 Version 4 2 7 Dec 2007 2 CiIADS203 1 CAN Application Layer for Industrial Application CiA DS203 1 Feb 1996 3 CiADS306 Electronic data sheet specification for CANopen CiA Draft Standard 306 Version 1 3 01 Jan 2005 C N O LU en Open eAutomation Boundless Integration AD ANTECH eAutomation 2 Advantech CANopen Protocol Library 2 1 Overview Advantech CANopen Protocol Library acoapi provides a C application programming interface API for accessing the CANopen network protocol stack of nodes It is easy to use configure start and monitor the CANopen devices careless CAN bus developer just focused on CANopen application functionality The acoapi library architecture is shown in Figure 3 at present the library practices the specification DSP 301 v4 2 1 defined by CiA communication profile Advantech or vendors CANo
30. 2 OnODDataChanged NULL acoUnRegODDataChangedEvent Un register an event for the local object dictionary entry do not get notify if the data is changed UNS32 acoUnRegODDataChangedEvent HACONODE hNode UNS16 wIndex UNS8 SubIndex 1 Parameters hNode in Pointer to the Master or Slave node object handle that returned by acoCreateNode wIndex SubIndex in Which index and subindex of the object dictionary Return Values If the function succeeds the return value is ACOERR_SUCCESS If the function fails please reference acoapi error codes Example void UnRegNodeEvent acoUnRegODDataChangedEvent hSlaveNode 0x1800 0x02 43 C N O LU e N Open eAutomation Boundless Integration AD ANTECH eAutomation acoRegGeneralEvent Register a callback function for general event that the node is in state changed after transmitting or receiving SYNC message or after transmitting PDO message synchronously UNS32 acoRegGeneralEvent HACONODE hNode e_GeneralEventType et TCOnGeneralEvent cb LPVOID pvArg 1 Parameters hNode in Pointer to the Master or Slave node object handle that returned by acoCreateNode et in which event type being trigger an callback function The event type can be node in initialization state preoperational state and operational state stop state post SYNC and post PDO Notify event type Description et_STATE_INITIALIZE the node is into NMT state Initia
31. Boundless Integration AD ANTECH eAutomation extern HACOREMOTE hRemoteNode Set remote node to Operational acoReqNodeGuard hNetworkObj 0x02 wait a moment for the guarding message responsed Sleep 1000L e_acoNodeState NodeState acoGetRemoteNodeState hRemoteNode switch NodeState 1 case ns_Initialisation printf Remote node state Initialisation break case ns_Pre_operational printf Remote node state Pre_operational break case ns_Operational printf Remote node state Operational break case ns_Stopped printf Remote node state Stopped break default printf Remote node state invalid state break acoStartRemoteNode The NMT master uses the NMT service start remote node specified by node identifier to change the NMT state The state of the remote slave node shall be entering NMT state Operational UNS32 acoStartRemoteNode HACONETWORK hNetworkObject NODEID_t Nodeld 1 Parameters hNetworkObject 66 C N O LU e N Open eAutomation Boundless Integration AD ANTECH eAutomation in Pointer to network handle that created by acoCreateNetwork Nodeld in the remote slave node identifier in a range 0 127 CBROADCAST_NODEID 0 means broadcast NMT start remote node message to all online remote nodes Return Values If the function succeeds the return value is ACOERR_SUCCESS If the function fails please reference acoapi error codes Remarks By broadcasting NMT
32. E hNode NODEID_t Nodeld LPVOID pvArg hNode argument in is the pointer to the node object handle as a heartbeat consumer NodeID argument in indicates is the node identifier that does not receive a heartbeat message from the node within the heartbeat consumer time pvArg argument in pointer to an argument that is passed through from the callback function pvArg in Pointer to the data to be passed to the callback function or pointer to NULL the type is a void that allows the application to declare define and initialize a structure or argument to hold any information Return Values If the function succeeds the return value is ACOERR_SUCCESS If the function fails please reference acoapi error codes Remarks The configuration of about heartbeat consumer must be in object dictionary of object 1016h and sub index 01h above so that the node just could be a heartbeat consumer The value of heartbeat consumer time indicates the expected heartbeat cycle times If the heartbeat time is equal to 0 no heartbeat error event will be triggered If the heartbeat time is unequal 0 a heartbeat error event will be generated if the heartbeat is not received within the heartbeat consumer time Example extern HACONODE hMasterNode CALLBACK function for Heartbeat error void DoHeartbeatErrorEvent HACONODE hNode unsigned char id LPVOID pvArg printf Node x Heartbeat error id Register callback function for Heartbeat error e
33. EID_t MasterNode 0x01 hMasterNode acoCreateNode NULL if hMasterNode NULL return 55 C N O LU e N Open eAutomation Boundless Integration AD ANTECH eAutomation if ACOERR_SUCCESS acoNodeImportEDS hMasterNode Master eds amp MasterNode 1 hNetworkObj acoCreateNetwork hMasterNode if hNetworkObj register some events acoRegBootupEvent hNetworkObj DoBootupEvent if ACOERR_SUCCESS acoOpenCANPort hMasterNode CAN1 1000 1 acoStartNetwork hNetworkObj do something acoStopNetwork hNetworkObj T acoFreeNetwork hNetworkObj F acoFreeNode hMasterNode void DoBootupEvent HACONODE hNode NODEID_t id 1 if lacoRemoteNodeExist hNetworkObj id not exist in list HACOREMOTE pRemoteNode acoNetworkAddSlave hNetworkObj id NULL if pRemoteNode change RxPDO setting to receive Slave s PDO UINT32 cobid 0x180 id acoSetODentry hMasterNode 0x1400 0x01 ACODT_UINT32 sizeof cobid amp cobid T Start remote slave node into Operational state acoStartRemoteNode pNetworkObj id acoFreeNetwork Free CANopen network object and its remote nodes list Before release the network object it will stop all remote 56 C N O LU LC N Open eAutomation Boundless Integration AD ANTECH eAutomation nodes first by broadcasting NMT stop message and then stop the master node void acoFreeNetwork HACONETWORK hNetworkObject 1 Parameters hNetworkObject
34. Fh 1200h NMT Error Control 1793 701h 1919 77Fh 93 LC N O LU e N Open eAutomation Boundless Integration AD ANTECH eAutomation Object Support list Object according to Overview Object Dictionary Entries for Communication of CANopen DS 301 v4 02 p 84 Object List Default Value Value Range VO DeviceTyge fC 1001 Error Register 100C Guard time 100D Life time factor 1018 Identity 1018sub0 number of entries 1018sub1 Vendor ID 0x251 1018sub2 Product Code OxE2AE 1018sub3 Revision Number 0xA005 1003sub1 number of errors rw Read 0 Oxfe Write 0 1005 SYNC COB ID rw 0x80 0x40000080 1006 Communication Cycle Period rw gt 1 millisecond 1014 COB ID EMCY NODEID 0x80 1016sub1 To 1016sub7F eS l rw 1200 Server SDO Parameter a 1 SDO Server N O O e N Open eAutomation Boundless Integration AD ANTECH eAutomation 1200sub1 COBID Client to Server T 0x600 NODEID 1200sub2 COBID Server to Client 0x580 NODEID 127 SDO Clients 1280h 12FFh Client SDO Parameter es 1280h 12FFh sub0 number of 3 ro 1280h 12FFh sub COBID Client 0x80000000 rw 0x601 0x67F 1280h 12FFh sub 2 1 COBID 0x80000000 rw 0x581 Ox5FF 1280h 12FFh sub3 NODEID of No rw 0x1 0x7F 1400 15FF RxPDO Parameter a 512 RxPDO 1400 15FF sub0 largest sub index 5 ro supported 1400 15FF sub1 COB ID used by PDO 1400h 200h Node ID rw 1400h 200h
35. Index bSubIndex else printf WriteSDOResult failed 04x 02x err x wIndex bSubIndex abortCode void main UNS32 ret UNS8 transType 0x255 UNSS DataType ACODT_UINT8 NODEID_t OtherNode 0x05 Nodeld 0x02 HACONODE hSlaveNode acoCreateNode NULL if ACOERR_SUCCESS ret acoNodeImportEDS hSlaveNode slave eds amp Nodeld if ACOERR_SUCCESS ret acoOpenCANPort hSlaveNode CAN1 1000 should be ImportEDS first than OpenCANPort if ACOERR_SUCCESS ret acoStartNode hSlaveNode 1 access Object Dictionary async method ret acoWriteSDO hSlaveNode OtherNode 0x1800 0x02 DataType sizeof transType amp transType OnWriteSDOResult NULL if ACOOD_SUCCESSFUL ret printf acoWriteSDO succ else printf acoWriteSDO failed X ret T acoStopNode hSlaveNode acoCloseCANPort hSlaveNode T acoFreeNode hSlaveNode hSlaveNode NULL 41 C N O LU e N Open eAutomation Boundless Integration AD ANTECH eAutomation acoRegODDataChangedEvent Register an event for the local object dictionary entry event will be called while the data of entry index sub index is changed pass the changed data of the entry to the application defined function UNS32 acoRegODDataChangedEvent HACONODE hNode UNS16 wIndex UNSS SubIndex TCOnODDataChangedEvent cb LPVOID pvArg Parameters hNode in Pointer to the Master or Slave node object handle that r
36. N O LU e N Open eAutomation Boundless Integration AD ANTECH eAutomation ACODT_INT56 0x14 a 56 bit integer ACODT_INT64 0x15 a 64 bit integer ACODT_UINT24 0x16 a 24 bit unsigned integer ACODT_UINT40 0x18 a 40 bit unsigned integer ACODT_UINT48 0x19 a 48 bit unsigned integer ACODT_UINT56 0x1A a 56 bit unsigned integer ACODT_UINT64 0x1B a 64 bit unsigned integer Enumerate and structures enum enum_nodeRole Slave 0x00 Master 0x01 RemoteNode 0x02 UnknownRole OxOF ti typedef enum enum_nodeRole e_nodeRole The role of a node object Slave node object Master node object Remote node object Unknown node object enum enum_acoNodeState ns_Initialisation 0x00 ns_ Stopped 0x04 ns_Operational 0x05 ns_Pre_operational Ox7F ns_Unknown_state Ox0F ti typedef enum enum_acoNodeState e_acoNodeState The NMT state of a node NMT state Initialisation NMT state Stoppped NMT state Operational NMT state Pre operational Unknown state enum enum_GeneralEventType et_STATE_INITIALIZE 0x00 et_STATE_PREOPERATIONAL 0x01 et_STATE_OPERATIONAL 0X02 et_STATE_STOPPED 0x03 et_POST_SYNC 0x04 et_POST_PDO 0x05 K typedef enum enum_GeneralEventType e_GeneralEventType Identity a general event that with the same function definition the node enter NMT state Initialisation the node enter NMT state Pre operational the node enter NMT st
37. Node ID 80000200h Node ID 1401h 300h Node ID rw 1401h 300h Node ID 80000300h Node ID 1402h 400h Node ID rw 1402h 400h Node ID 80000400h Node ID 1403h 500h Node ID rw 1403h 500h Node ID 80000500h Node ID 1600 17FF RxPDO Mapping PY 512 RXPDO 95 LC N O O E R Open eAutomation Boundless Integration AD ANTECH a ee 17FF ca number of mapped rw 1 40h Proa IM 1600 17FFsublh 40h PDO NO mapping for the nth application object to be mapped 1800 19FF TxPDO Parameter A 512 TxPDO 1800 19FF sub0 largest sub index 5 ro supported 1800 19FF sub1 COB ID used by 1800h 180h Node ID rw 1800h 180h PDO Node ID 80000180h Node ID 1801h 280h Node ID rw 1801h 280h Node ID 80000280h Node ID 1802h 380h Node ID rw 1802h 380h Node ID 80000380h Node ID 1803h 480h Node ID rw 1803h 480h Node ID 80000480h Node ID 1800 19FF sub3 inhibit time 1800 19FF sub4 reserved 1800 19FF sub5 event timer 1A00 1BFF transmit PDO mapping 512TxPDO 96
38. PDO Parameter Configuration Dialog 4 2 9 Create manufacture variable User can add manufacture data by Add Mapping Variable menu item The following dialog will display Add variable Index 0x2000 H D Name Al Type Record Data Type a Number Figure 27 Add Manufacture Data variable User can add variable array and record data If add record the new data type created by user can be used here Manufacture data s index must be between 0x2000 to Ox5FFF they often will be used by PDO 85 LC N O LU en Open eAutomation Boundless Integration AD ANTECH eAutomation etwork1 E MasterDict 1 OK Ly L4 Communication Parameters 4 SDO Parameters L4 RPDO Parameters L4 RPDO Mapping L4 TPDO Parameters L4 TPDO Mapping 3 Manufacture Segment lt Ea 2000 4 000 Number of Entries 001 411 002 412 003 413 004 414 L4 Device Profile Segment MS Slave Nodes SU SlaveDict 1 0K Figure 28 Add Manufacture Data Variable 4 2 10 Save the configuration After finished configuration user can save the whole network by File gt Save Project or File Save Project As menu item The saved project file can also be opened by utility for later use if need If user only needs to save one node setting Export EDS file is the way The EDS file is also need for CANopen application development based on acoapi library so user can edit and export the EDS file in the utility for later use The ex
39. ST TTT 86 4 3 Manger CANOpeh Network ito 87 4 3 1 A Ie shade Geek NS cuss te Goa laste tone ik et SI 87 4 3 2 Monitor Node Da adds 88 4 3 3 Control A e e a a a E E 90 4 3 4 Exit Run Modenos ai eaa a E E T E Ea 92 APPENDIA an 93 C n N O LU en Open eAutomation Boundless Integration 1 Introduction 1 1 CANopen architecture CANopen application layer communication protocol based on CAN bus is widely used in distributed industrial automation system medical system maritime system etc CANopen is made up of a series of sub protocol sets which can be divided into two parts The first part is communication sub protocol set that defines the basic communication modes and objects of all the devices This part consists of DS 301 DS 302 DS 305 etc among which DS 301 mainly describes specifications and definitions of CANopen application layer communication objects and other protocols are supplements to CANopen network on the basis of DS 301 The other part device sub protocol set defines the function and data definition of standard devices which are of different types These sub protocols contain DS 401 DS 402 etc Each device of CANopen describes its property and functions in standard Electronic Data Sheets EDS files CANopen devices must strictly take the definitions in EDS files as their specifications and support perfect device exchange CANopen DS 301 DSP 302 CAN Bus Basic communication objects of CANopen are OD
40. SUCCESS 1 Nodeld acoGetNodeld hSlaveNode T 29 C N O LU N Open eAutomation Boundless Integration AD ANTECH eAutomation acoGetNodeState Get the NMT state of the Master or Slave node object handle e_acoNodeState acoGetNodeState HACONODE hNode Parameters hNode in Pointer to the Master or Slave node object handle that returned by acoCreateNode Return Values Return the NMT state of the Master or Slave node object handle Remarks The NMT state of the Slave node will be auto into Pre Operational state after calling acoStartNode Later the state of the Slave node can be changed by receiving the NMT messages from a NMT master If using acoRegGeneralEvent function to register a state changed event function the event will be called by notify the state has been changed and understand which current state is in Use acoGetRemoteNodeState to get remote slave node of NMT state Example extern HACONODE hSlaveNode e_acoNodeState NodeState if hSlaveNode x NodeState acoGetNodeState hSlaveNode if NodeState ns_Operational 1 printf The node state is in Operational state T else if NodeState ns_Pre_operational 1 printf The node state is Pre_operational T 30 C N O LU e N Open eAutomation Boundless Integration AD ANTECH eAutomation acoStartNode Start the Slave node into Initialization and then Pre Operational state to join the CANopen network UNS32 a
41. T VC NET VC and BCB examples for your reference The C VB NET VC NET examples are developed by Microsoft Visual Studio 2005 The VC examples are developed by VC6 0 The BCB examples are developed by Borland C Builder 6 0 There are tow examples for each language acoMaster and acoSlave acoMaster example use MasterDict 1 ok eds as its EDS file acoSlave example use SlaveDict 1 ok eds as its EDS file 3 2 Example usage When user installs the advantech windows CANopen package all examples will be installed in C Program Files Advantech Advantech CANopen by default Click the acoMaster to run the acoMaster example de Master Node Master Node Device ANT Baudrate 25 i Node ID EDS File MasterDict 1 DK eds Open State Operational 70 an Monitor Read Write Send Create node successed Import EDS file successed Open CAN1 successed Create network successed Register callback function for Heartbeat succes Register callback function for boot up successe Start CANopen Network successfully Receive a HeartbeatError Event from node 2 E C N O LU e R Open eAutomation Boundless Integration AD ANTECH eAutomation Figure 5 Master Example Main Window Click the acoSlave to run the acoSlave example de Slave Node Slave Node Baudrate 125 Node ID 2 7 EDS File is laveDict 1 OK EDS Open State Operational Test Dict Create node successes Import EDS file successes
42. _t NodeID UNS16 errCode UNSS errReg UNSS errManufacField 5 LPVOID pvArg hNode argument in is the pointer to the node object handle is the same as hNode argument of acoRegEmcyEvent as a emergency consumer NodeID argument in is the node identifier that which the slave node producers the emergency message errCode errReg and errManufacField argument in is emergency error codes and error register that the slave node producers pvArg argument in pointer to an argument that is passed through from the callback function pvArg in Pointer to the data to be passed to the callback function or pointer to NULL the type is a void that allows the application to declare define and initialize a structure or argument to hold any information Return Values If the function succeeds the return value is ACOERR_SUCCESS If the function fails please reference acoapi error codes 49 C N O LU LC N Open eAutomation Boundless Integration AD ANTECH eAutomation Example void DoRecvEmcyEvent HACONODE hNode NODEID_t NodeID UNS16 errCode UNSS errReg UNSS errManufacField 5 LPVOID pvArg printf Receives an emergency message from Node d 04x 02x r n NodelD errCode errReg acoRegEmcyEvent mp_hSlaveNode DoRecvEmcyEvent NULL acoRegHeartbeatEvent Heartbeat consumer the node registers an event for trigger if receiving a heartbeat message from heartbeat producer remote slave nodes UNS32 acoRegHeartbeatEv
43. acoResetEmcy HACONODE hNode UNS16 errCode U Parameters hNode in Pointer to the Master or Slave node object handle that returned by acoCreateNode errCode in emergency error codes Return Values If the function succeeds the return value is ACOERR_SUCCESS If the function fails please reference acoapi error codes Remarks After transmitting an emergency message need to use acoResetEmcy function to reset error the CANopen device enters the error free state and transmit an reset error no error emergency object 48 C H N O LU LC N Open eAutomation Boundless Integration AD ANTECH eAutomation Example clear error 0x4200 temperature error acoResetEmcy hSlaveNode 0x4200 acoRegEmcyEvent One or more emergency consumers master or slaves register an event for trigger if receiving an emergency message from emergency producer other nodes UNS32 acoRegEmcyEvent HACONODE hNode TCOnPostEmcyEvent pf LPVOID pvArg 1 Parameters hNode in Pointer to the Master or Slave node object handle that returned by acoCreateNode pf in Pointer to the application defined function of type TCOnPostEmcyEvent represents the starting address of the function The function would to be called by the library while the node receives an emergency message TCOnPostEmcyEvent is a placeholder for the application defined function name typedef void TCOnPostEmcyEvent HACONODE hNode NODEID
44. age ACOEMCYERR_VOLTAGE_MAINS 0x3100 Main Voltage ACOEMCYERR_VOLTAGE_INSIDE_DEVICE 0x3200 Voltage inside the device ACOEMCYERR_VOLTAGE_OUTPUT 0x3300 Output voltage ACOEMCYERR_TEMPERATURE 0x4000 Temperature ACOEMCYERR_TEMPERATURE_AMBIENT 0x4100 Ambient temperature ACOEMCYERR_TEMPERATURE_DEVICE 0x4200 Device temperature ACOEMCYERR_DEVICE_HW 0x5000 Device hardware ACOEMCYERR_DEVICE_SW 0x6000 Device software ACOEMCYERR_DEVICE_SW_INTERNAL 0x6100 Internal software ACOEMCYERR_DEVICE_SW_USER 0x6200 User software ACOEMCYERR_DEVICE_SW_DATA 0x6300 Data set ACOEMCYERR_ADDITIONAL_MODULES 0x7000 Additional modules ACOEMCYERR_MONITOR 0x8000 Monitoring ACOEMCYERR_MONITOR_COMMUN 0x8100 Start code of Monitoring Communication ACOEMCYERR_MONITOR_CAN_OVERRUN 0x8110 CAN Overrun Objects lost ACOEMCYERR_MONITOR_PASSIVE_MODE 0x8120 CAN in Error Passive Mode ACOEMCYERR_MONITOR_GUARD 0x8130 Life guard error or heartbeat error ACOEMCYERR_MONITOR_RECOVER_BUSOFF 0x8140 Recovered from bus off ACOEMCYERR_MONITOR_COBID_COLLISION 0x8150 Transmit COB ID collision ACOEMCYERR_PROTOCOL 0x8200 Start code of Protocol error ACOEMCYERR_PDO_LENGTH_INVALID 0x8210 PDO not processed due to length error ACOEMCYERR_PDO_LENGTH_EXCEEDED 0x8220 PDO length exceeded ACOEMCYERR_EXTERNAL 0x9000 External error 21 CANopen Open eAutomation Boundless Integration AD ANTECH eAutomation ACOEMCYERR_ADDITIONAL_FUNC OxFOOO Additional functions ACOEMCYERR_DEVICE_SPECIFIC
45. ate Operational the node enter NMT state Stopped the node transmitted or received a sync frame the node transmitted a PDO frame Application defined callback function Notify application defined when a special event has occurs typedef void TCOnGeneralEvent HACONODE hNode LPVOID pvArg 7 C H N O LU e N Open eAutomation Boundless Integration AD ANTECH eAutomation Notify if the value with specified object index and sub index of object dictionary has changed typedef UNS32 TCOnODDataChangedEvent HACONODE hNode UNS16 wIndex UNSS SubIndex UNSS DataType UNS32 DataLen void pData LPVOID pvArg Notify if SDO READ request is responded or timeout occurs Typedef void TCOnReadSDOResult HACONODEOBJ hNode NODEID_t Nodeld UNS16 wIndex UNS8 SubIndex UNS8 dataType UNS32 dataLen void pData UNS32 abortCode LPVOID pvArg Notify if SDO WRITE request is responded or timeout occurs Typedef void TCOnWriteSDOResult HACONODEOBJ hNode NODEID_t Nodeld UNS16 wIndex UNS8 SubIndex UNS32 abortCode LPVOID pvArg Notify if the slave node receives the emergency message from other nodes typedef void TCOnPostEmcyEvent HACONODE hNode NODEID_t NodeID UNS16 errCode UNS8 errReg UNS8 errManufacField 5 LPVOID pvArg Notify while not receive heartbeat message within the consumer heartbeat time Typedef void TCOnHeartbeatErrorEvent HACONODE hNode NODEID_t Node
46. ave Add a Remote node into network object acoNetworkRemoveSlave Remove a Remote node from network object acoNetworkSetState Send a NMT message to a Slave to change its state acoReqNodeGuard Request a Slave node the Node Guard message acoRegBootupEvent Register an event while receiving slave boot up frame acoNetworkReadSDO Send SDO frame in async mode to read the object dictionary of remote slave node it will call specified callback function after receiving the remote slave s response acoNetworkWriteSDO Send SDO frame in async mode to write the data to the object dictionary of remote slave node it will call specified callback function after completing 12 CANopen Open eAutomation Boundless Integration AD ANTECH eAutomation the process Node acoCreateNode Create a node Master Slave according acoFreeNode Free a node and close the CAN port acoOpenCANPort open the CAN port acoCloseCANPort acoSetBaudrate acoNodeImportEDS acoGetNodeld acoSetNodeld acoGetNodeState acoStartNode acoStopNode acoGetNodeRole acoGetODentry acoSetODentry acoReadSDO acoWriteSDO acoRegODDataChangedEvent acoUnRegODDataChangedEvent acoRegGeneralEvent acoRegEmcyEvent acoSendEmcy acoSendData acoRegHeartbeatEvent acoRegHeartbeatErrorEvent acoRegRecvPDOEvent acoSendPDOwithCOS Close the CAN port Change the CAN port by specified baud rate Import the device profile and assign the node id Get the node Id of t
47. cked and returns the result until the operation is complete or timeout occurs UNS32 acoSetODentry 35 C N O LU e N Open eAutomation Boundless Integration AD ANTECH eAutomation HACONODE hNode UNS16 wIndex UNSS SubIndex UNS8 DataType UNS32 DataLen void pData Parameters hNode in Pointer to the Master or Slave node object handle that returned by acoCreateNode wIndex SubIndex in Which index 16bits and sub index 8bits of entry in the object dictionary want to write DataType in the data type of the pData value See data type constant in acodef h DataLen in the data length of the pData pData in data Return Values If the function succeeds the return value is ACOOD_ SUCCESSFUL If the function fails please reference acoapi error codes and SDO abort codes Remarks According to the content of object dictionary need to check access type before writing data to the entry Does not allow to update data of the entry if the access type of index sub index is read only RO Can be writeable if the index sub index permission of access type is write only WO or read write RW Use acoGetODentry function to read the data of index sub index in local object dictionary Synchronous read write object dictionary means that the method is blocked until the operation is complete and then the method returns its data Recommend that use synchronous method is well access in the local
48. coCreateNode Return Values Return the node identifier of the node object handle that be set by acoNodeImportEDS or acoSetNodeld Return CINVALID_NODEID if node identifier does not set yet Remarks Use acoGetRemoteNodeld to get remote slave node identifier The node identifier is unique identifier for each CANopen device in the network a value in the range of 1 127 specified by CiA DS 301 Example extern HACONODE hSlaveNode 28 C H N O LU e N Open eAutomation Boundless Integration AD ANTECH eAutomation UNS32 Nodeld if hSlaveNode Nodeld acoGetNodeld hSlaveNode acoSetNodeld Assign a unique node identifier to the Master or Slave node object handle UNS32 acoSetNodeld HACONODE hNode NODEID_t Nodeld U Parameters hNode in Pointer to the Master or Slave node object handle that returned by acoCreateNode Nodeld in Specified a unique node identifier in a range of 1 127 Return Values If the function succeeds the return value is ACOERR_SUCCESS If the function fails please reference acoapi error codes Remarks The node identifier is unique identifier for each CANopen device in the network a value in the range of 1 127 specified by CiA DS 301 Changing the node identifier the related COB ID included Node ID of object dictionary will be updated too Example extern HACONODE hSlaveNode UNS32 Nodeld if hSlaveNode 1 if acoSetNodeId hSlaveNode 0x02 ACOERR_
49. coStartNode HACONODE hNode 1 Parameters hNode in Pointer to the Slave node object handle that returned by acoCreateNode Return Values If the function succeeds the return value is ACOERR_SUCCESS If the function fails please reference acoapi error codes Remarks Before starting the Slave node calls acolmportEDS to import EDS of device profile and calls acoOpenCANPort to open CAN port is necessary The Slave node transmits a boot up message to signal that it has entered the state Pre operational after Initializing then it joins the CANopen network Depending on NMT state machine the Slave node later waits the NMT command specifier from NMT master to switch its state Uses acoStopNode function to enter the Stop state by local control Master node auto started by acoStartNetwork and stopped by acoStopNetwork that does not necessary to call acoStartNode or acoStopNode Example HACONODE hSlaveNode NULL Use acoOpenCANPort to set CAN port name and baud rate hSlaveNode acoCreateNode NULL if hSlaveNode 1 printf Create Node SUCCESS if acoNodeImportEDS hSlaveNode slavedict ok eds 0x02 ACOERR_SUCCESS 1 printf Import EDS file ok Bl C N O LU e N Open eAutomation Boundless Integration AD ANTECH eAutomation should be ImportEDS first than OpenCANPort if acoOpenCANPort hSlaveNode CAN1 1000 ACOERR_SUCCESS 1 printf Open CAN1 ok if acoStartNod
50. codes Remarks 54 C N O LU LC N Open eAutomation Boundless Integration AD ANTECH eAutomation The change of state transmission method simply transmits a TPDO message if the process data in it changes and transmission type is 255 OxFF But it could be affected by inhibited time if it exists Even the data has been changed but it may not send the TPDO until the inhibit time expired So if the process data actually changes several times while the timer is running not all of these changes will be transmitted that means potentially some process data is lost Example Send PDO immediately if transmission type is 255 int tpdoOffset 0 ret acoSendPDOwithCOS hSlaveNode tpdoOffset acoCreateNetwork Create a CANOpen network object in NMT master with the requested attributes HACONETWORK acoCreateNetwork HACOMASTER hMasterNode Parameters hMasterNode in Assign a Master node for this CANopen network A node created by acoCreateNode Return Values If the function succeeds the return value is a network object handle If the function fails the return value is NULL The generality of failed reason could be allocating memory failed Network object includes a Master node and remote node set Master node should be ready first before creating network object Use acoFreeNetwork to free network object Example void DoBootupEvent HACONODE hNode NODEID_t id HACONETWORK hNetworkObj HACOMASTER hMasterNode NOD
51. d be 1 and lower 7 bit is defined as Nodeld The transmit trigger method is defined in sub index 02h transmission type The value is 0 240 and 252 means that the PDO is transferred synchronously and cyclically The transmission type 254 means that defined by manufacturer specific manufacturer specific part of the object dictionary 255 4 C N O LU e N Open eAutomation Boundless Integration AD ANTECH eAutomation means defined by device profile In transmission type 254 and 255 that can use event timer for trigger in an elapsed timer that are in sub index 05h of the TPDO and also support Change Of State COS transmission method simply transmits a TPDO message if the process data is in changes else not transmits even the event timer or inhibited timer is expired PDO Parameters Sub index 00h Number of sub index 01h COB ID 180h NODE ID 02h Transmission type 0 255 03h Inhibit time multiple of 100 ys 04h Reserved Event timer multiple of 1 ms 0 disable 05h For example A node that node identifier is 2h another node is 5h Figure 2 PDO Linking illustrates the relation of the PDO linking that Node 2h transmits TPDO_1 to Node 5h Node 5h receives the PDO as RPDO and update the data to object dictionary of specified index and sub index Node 2h Node 5h TPDO_1 RPDO_1 Node 5h OD TPDO_2 RPDO_2 6000h 03 TPDO_3 RPDO_3 2010h 21 Node 2h OD 6000h 03 2010h 21
52. dd Slave Node Add Slave Node From EDS File Figure 11 Add Slave Node Menu There are two ways to create slave node from EDS file or create empty slave node When clicking the Add Slave Node the following dialog will be displayed 78 C N O LU e N Open eAutomation Boundless Integration AD ANTECH eAutomation New Slave Node Create Slave Port Name slaveNodel NodelD 9 Figure 12 Add Save Node Dialog User input the name and node id click OK and then the empty slave node will be created and add to network When clicking the Add Slave Node from EDS File user should give an EDS file path then the slave node will be created according to EDS file and add to network 4 2 3 Configure Node After create network and add slave node user can configure them further for example create new data type add communication parameters PDO SDO and so on modify the setting even import another EDS file for the master node or slave node After finishing the configuration the network configuration can be saved each port configuration can export to EDS file 4 2 4 Import EDS File R Network ES E MasterNode E Slave Nodes AM slaveNodel Import EDS File Export EDS File Remove the selected CAN port Import EDS File Export EDS File Figure 13 Import EDS File for Master Node and Slave Node User can import EDS file to configure each CAN node After import EDS
53. e extern HACONETWORK hNetworkObj Start remote node 0x02 acoStopRemoteNode hNetworkObj 0x02 acoRegBootupEvent Register an event for receiving Slave boot up message in network object event will be called while master receiving a slave boot up message UNS32 acoRegBootupEvent HACONETWORK hNetworkObject TCOnBootupEvent cb LPVOID pvArg Parameters hNetworkObject in Pointer to network handle that created by acoCreateNetwork cb in Pointer to the application defined function of type TCOnBootupEvent represents the starting address of the function Library will call this function while the master receiving a slave node boot up frame typedef void TCOnBootupEvent HACONODE hNode NODEID_t Nodeld LPVOID pvArg hNode argument in is the pointer to the master node object handle NodeID argument in is the slave node with the node identifier transmits a boot up message pvArg argument in pointer to an argument that is passed through from the callback function pvArg 68 C N O LU e N Open eAutomation Boundless Integration AD ANTECH eAutomation in Pointer to the data to be passed to the callback function or pointer to NULL the type is a void that allows the application to declare define and initialize a structure or argument to hold any information Return Values If the function succeeds the return value is ACOERR_SUCCESS If the function fails please reference acoapi error codes Re
54. e and heartbeat 1 2 1 Service Data Objects SDO Generally in CANopen network each node implements only one SDO server object 1200h that handles read and write request its object dictionary from other nodes as SDO client SDO client defined at object 1280h to 12FFh Master node Slave node Node id ns1 Index 1280 client Index 1200 server Cobld SDO transmited Cobld SDO received Subindex 1 600 ns1 600 ns1 Subindex1 Cobld SDO received Subindex 2 580 ns1 Subindex2 Index 1281 client Slave node Node id ns2 Cobld SDO transmited Cobld SDO reveived index 1200 perver Subindex 1 600 ns2 600 ns2 Subindex 1 Cobld SDO received Cobld SDO transmited Subindex 2 580 ns2 580 ns2 Subindex 2 Index 1 2 2 Process Data Objects PDO PDO can be distinguishing between Transmit Process Data Object TPDO and Receive Process Data Object RPDO One node produces a PDO which is a TPDO for that node Other nodes receive the PDO which is an RPDO consumer The communication parameters for a TPDO are at object dictionary of index 1800h to 19FFh indicating which CAN message is used for the PDO and how is it triggered but index 1804h 19FFh default are disabled by CiA DS301 1 And the mapping parameters are at index 1A00h to 1BFFh acoapi library supports above 4 PDOs up to 512 PDOs The COB ID of above 4 PDOs can be self defined and or using CAN2 0B CAN message format that means the 29 bit of COB ID coul
55. e driven triggered by remote frame triggered by particular events etc NMT Network Management belongs to master slave mode One NMT master can correspond to several NMT Slaves NMT master detects status of each node of the network and completes status conversion It supports the function of monitoring the device s status by heartbeat Node guarding or Life guarding The diagram in Figure 1 illustrates the major states a slave node can be in Starts the CANopen network or power on a node it goes into NMT state Initialisation At the end of initialization the slave node tries to transmit its boot up message to NMT master to report that boot up has been finished and has entered pre operation status An NMT master can switch individual slave node or all nodes back and forth between the three major states Pre operational Operational and Stopped Initialisation Pre Operational Py C Operational C N O LU e N Open eAutomation Boundless Integration AD ANTECH eAutomation Figure 1 State diagram of a node SYNC Synchronization makes the devices in the network possess synchronous capability Only one node can produces the SYNC signal in a system as SYNC producer which can be NMT master or other slave node It is the time period in microseconds with which the SYNC signal occurs the node has this value available in the OD entry 1006h 00h Heartbeat or Node Guarding is a method to detect the node is live or not and retr
56. e hSlaveNode ACOERR_SUCCESS printf StartNode success else printf StartNode failed acoCloseCANPort hSlaveNode acoFreeNode hSlaveNode hSlaveNode NULL T else 1 printf Open CAN1 failed acoFreeNode hSlaveNode hSlaveNode NULL y T else 1 printf Import EDS file failed acoFreeNode hSlaveNode hSlaveNode NULL T acoStopNode Stop the slave node into Stop state by local control UNS32 acoStopNode HACONODE hNode U Parameters 3305 C N O LU LC N Open eAutomation Boundless Integration AD ANTECH eAutomation hNode in Pointer to the Slave node object handle that returned by acoCreateNode Return Values If the function succeeds the return value is ACOERR_SUCCESS If the function fails please reference acoapi error codes Remarks The Slave node can be call acoStopNode that enter into Stop state by local control But also in CANopen network that means NMT master can transmit any NMT command to switch its state Use acoCloseCANPort function that can exit the CANopen network without receiving any CAN frames Master node is stopped by acoStopNetwork function that does not necessary to call acoStartNode or acoStopNode Example extern HACONODE hSlaveNode If hSlaveNode 1 acoStopNode hSlaveNode acoCloseCANPort hSlaveNode acoFreeNode hSlaveNode hSlaveNode NULL acoGetNodeRole Identifier the role of a node is Master Slave or remote node
57. eAutomation Boundless Integration AD ANTECH eAutomation broadcasting NMT message to all remote slave nodes to change its state UNS32 acoNetworkSetState HACONETWORK hNetworkObject NODEID_t Nodeld e_acoNodeState newState U Parameters hNetworkObject in Pointer to network object handle that returned by acoCreateNetwork Nodeld in the remote slave node identifier in range 0 127 O means all remote slave nodes newState in the new NMT state Return Values If the function succeeds the return value is ACOERR_SUCCESS If the function fails please reference acoapi error codes Example extern HACONETWORK hNetworkObj Set remote node 0x02 to NMT state Operational acoNetworkSetState hNetworkObj 0x02 ns_Operational acoGetRemoteNodeState Get the NMT state of the specified remote node object handle that kept in NMT master side not really remote slave node state e_acoNodeState acoGetRemoteNodeState HACOREMOTE hRemoteNode U Parameters hNetworkObject in Pointer to network object handle that returned by acoCreateNetwork C N O LU e N Open eAutomation Boundless Integration AD ANTECH eAutomation Return Values Return the currently NMT state of the remote node If return value is ns_Unknown_state indicates the remote slave node may be offline that can not response any message or just request its node guard message and waiting its NMT state acoReqNodeGuard NMT master request the remote s
58. ent HACONODE hNode TCOnHeartbeatEvent cb LPVOID pvArg Parameters hNode in Pointer to the Master or Slave node object handle that returned by acoCreateNode cb in Pointer to the application defined function of type TCOnHeartbeatEvent represents the starting address of the function The function would to be called by the library while master node receives a heartbeat message typedef void TCOnHeartbeatEvent HACONODE hNode NODEID_t Nodeld e_acoNodeState currState LPVOID pvArg hNode argument in is the pointer to the node object handle as a heartbeat consumer NodeID argument in is the node identifier that which the remote slave node producers the heartbeat message currState argument in is the current NMT state of the remote slave node pvArg argument in pointer to an argument that is passed through from the callback function pvArg in Pointer to the data to be passed to the callback function or pointer to NULL the type is a void that allows the application to declare define and initialize a structure or argument to hold any information Return Values 50 C N O O e N Open eAutomation Boundless Integration AD ANTECH eAutomation If the function succeeds the return value is ACOERR_SUCCESS If the function fails please reference acoapi error codes Remarks A heartbeat producer transmits a heartbeat message cyclically so the application defined function would be called cyclically
59. ent parameter and object 1200h to 127Fh SDO server parameter Else there is not receiving any responded message from the remote slave node typedef void TCOnWriteSDOResult HACONODEOBJ hNode NODEID_t Nodeld UNS16 wIndex UNSS SubIndex UNS32 abortCode hNode argument in is the pointer to the remote slave node object handle with node identifier is NodeID NodeID argument in is the remote slave node identifier wIndex and SubIndex arguments in indicate which object to be write abortCode argument is the return value ACOOD_SUCCESSFUL means success else get fails reference acoapi error codes and SDO abort codes Reference acoReadSDO and acoWriteSDO Example extern HACONETWORK hNetworkObj void OnWriteSDOResult HACONODEOBJ hNode UNSS Nodeld UNS16 wIndex UNSS bSubIndex UNS32 abortCode if ACOOD_SUCCESSFUL abortCode printf WriteSDOResult succ RemoteNode 02x object 04x 02x n r Nodeld wIndex bSubIndex 72 C N O LU a N Open eAutomation Boundless Integration AD ANTECH eAutomation else printf WriteSDOResult failed X abortCode UNS8 data 255 access Object Dictionary async method ret acoNetworkWriteSDO hNetworkObj 0x02 0x1800 2 ACODT_UINTE8 sizeof data amp data OnWriteSDOResult 73 C N O O e N Open eAutomation Boundless Integration AD ANTECH eAutomation 3 Advantech CANopen Examples 3 1 Overview Advantech CANopen provides C VB NE
60. eturn immediately Application can continue doing other work To be informed the callback function when receiving the SDO responded or timeout occurs pass the result to the callback function application would get the SDO abort code to understand the result of SDO request If the operation is success the abort code is ACOOD_SUCCESSFUL otherwise SDO abort code is returned defined by CiA DS 301 v4 02 The node with specified node identifier must have the capability of server SDO it is described in index 1200h 127Fh of EDS According to the content of object dictionary also need to check access type before writing the data to the entry in remote object dictionary Does not allow to write the entry if the access type of index sub index is read only RO Access type should be write only WO or read write RW Use acoReadSDO function to read the data of entry index sub index from remote object dictionary which specific node identifier A synchronous method reference acoGetODentry and acoSetODentry acoNetworkReadSDO and acoNetworkWriteSDO are for network object to request the remote slave node Example void OnWriteSDOResult HACONODEOBJ hNode NODEID_t Nodeld UNS16 wIndex UNS8 bSubIndex UNS32 abortCode LPVOID pvArg 40 C N O LU LC N Open eAutomation Boundless Integration AD ANTECH eAutomation if ACOOD_SUCCESSFUL abortCode UNS8 ptr UNSS pData printf WriteSDOResult succ 04x 02x w
61. eturned by acoCreateNode wIndex SubIndex in Which index 16bits and sub index 8bits of entry in the object dictionary want to monitor cb in Pointers to the application defined function to execute by the library while the data of the entry index sub index of the object dictionary being changed pvArg in Pointer to the data to be passed to the callback function or pointer to NULL the type is a void that allows the application to declare define and initialize a structure or argument to hold any information Return Values If the function succeeds the return value is ACOERR_SUCCESS If the function fails please reference acoapi error codes Remarks Application can monitor the data of local object dictionary with specific index and sub index through register a callback function without polling If the data is changed without respect to by local or by remote SDO Client application can get notify and to do something But if register too many callback function for the data changed it decreases the program efficiency Use acoUnRegODDataChangedEvent to un register the callback function Example 42 C N O LU e N Open eAutomation Boundless Integration AD ANTECH eAutomation UNS32 OnODDataChanged HACONODE hNode UNS16 wIndex UNSS SubIndex UNSS DataType UNS32 DataLen void pData LPVOID pvArg To do Return 0 void RegNodeEvents void 1 acoRegODDataChangedEvent hSlaveNode 0x1800 0x0
62. f the network object HACOREMOTE acoNetworkAddSlave HACONETWORK hNetworkObject NODEID_t Nodeld char pFileName U Parameters hNetworkObject in Pointer to network object handle that returned by acoCreateNetwork Nodeld in a node identifier pFileName in Device profile path and file name of remote slave node it can be NULL Return Values If the function succeeds the return value is a remote node object handle If the function fails the return value is NULL Call GetLastError to get error code Remarks The node identifier should be a unique value in a range of 1 127 defined by CiA DS 301 So that the maximum count of the remote nodes in network object is 126 one node identifier is reserved for Master node If the number is over the limit get error code Inserting a node to remote node list the remote node list in network object would re sort by node identifier so that the memory location would be rearranged If the application keeps the pointer of the remote node that caused to pointer to different remote node Therefore recommends that call acoGetRemoteNode or acoGetRemoteNodebyPos each time to retrieve the current pointer of the remote node object from the list do not keep the pointer of the remote node Example Reference to acoCreateNetwork example 62 C N O LU e N Open eAutomation Boundless Integration AD ANTECH eAutomation acoNetworkRemoveSlave NMT master removes
63. file the original configuration is replace by the new EDS file 4 2 5 Create new data type User can define new data type and use it when adding manufacture data select the Data Type tree node of the CAN port right click the mouse and then click the Create New Type menu item 79 C N O O e N Open eAutomation Boundless Integration AD ANTECH eAutomation e Network E SU MasterDict 1 OK gt L DEBATES H E Create New Data Type Ly aaee a Eia 1280 Client SDO Parameter Figure 14 Create New Data Type Menu User can input the new data type name and index the index value must be between 0x40 and OxFFF For example we create a new data type named AI in index 0x40 Create New Date Type ES Index 0x40 Name EJ Figure 15 Create New Data Type Click OK button gt new data type is created Right click mouse and choose Add New Variable menu to add data member to the new data type For example add AI1 AI2 AI3 AI3 variables to AI E 00234DENTITY 8 Ex DEURA 17 Add New Yariable N Remove this Data Type 003 413 Communication Parame Figure 16 add data member to new data type How to use the new data type will be introduced in later section 4 2 6 Configure the communication parameters Select the Communication Parameters tree node right click the mouse and click Add Remove Communication menu item 80 eAutomation
64. gration AD ANTECH eAutomation Configuration Network1 lt SU MasterDict 1 0K L Data Type Subindex View L4 Communication Parameters 1600 1 L4 SDO Parameters Ardo 1600 sne Fi RPDO Parameters Name 11d mapped Object lt La RPDO Mapping UNSIGNED32 gt Ey 1800 RxPDO1 mapping Boel c Ls ou L3 000 number of mapped Access Read Only v 3 001 1rd mapped Object 14 TPDO Parameters Value 0420000108 Ly TPDO Mapping 2000sub01 411 L4 Manufacture Segment L4 Device Profile Segment BIB Slave Nodes 2000sub02 412 2000sub03 A13 Figure 24 Add PDO Mapping Variable User can remove PDO by click Remove this PDO menu item and also can change PDO parameters number by click PDO parameter Configuration Network1 SA MasterDict 1 0K L Data Type Communication Parameters La SDO Parameters APDO Parameters ES BS 1400 AxPDOO parameter PDO Parameter Configuration Remove this PDO L4 Manufacture Segment L4 Device Profile Segment lt BIB Slave Nodes A SlaveDict 1 0K Figure 25 PDO Parameter Configuration Menu Item The following picture is the dialog to add or remove the PDO parameters 84 LC N O O en Open eAutomation Boundless Integration AD ANTECH eAutomation PDO Parameter Configutation Source Destination 004 compatibility 001 C0B ID used by PDO 002 transmssion type 003 inhibit time 005 event timer Figure 26
65. he device profile for this node object handle and assign the node id UNS32 acoNodeImportEDS HACONODE hNode char pProfile NODEID_t pNodeld 1 Parameters hNode in Pointer to the Master or Slave node object handle that is the returned by acoCreateNode pProfile in Device profile path and file name pNodeld in out Specified the node id or return the Id if included in Profile Also can be changed by acoSetNodeld Maximum the number of node id is 127 27 C N O O e R Open eAutomation Boundless Integration AD ANTECH eAutomation Return Values If the function succeeds the return value is ACOERR_SUCCESS If the function fails the returns value is acoapi error codes Remarks EDS describes the behavior of CANopen device with respect to the contents of object dictionary Its content should be conforming to CANopen standard necessary to avoid incomplete or erroneous data sheets Else the working model of the device in CANopen network may not running well as you expected Use external test tool called CANchkEDS exe to check the valid content of EDS first before importing EDS or use a configuration utility to modify the content Example Reference acoOpenCANPort example acoGetNodeld Get node identifier of the Master or Slave node object handle NODEID_t acoGetNodeld HACONODE hNode Parameters hNode in Pointer to the Master or Slave node object handle that is the returned by a
66. he network object represents the set of all modules in a CANopen network that must include one node called master node and at most 126 node objects specified by CIA DS301 1 totally 127 nodes in CANopen network It administers whole the life cycle of a CANopen network through the master In other word the network object exists in master side 10 C N O O e N Open eAutomation Boundless Integration AD ANTECH eAutomation m The remote node object Each slave node is managed by the NMT master is represented by a remote node object on the network object R The node object A CANopen device in the network is considered as a node The role of node can be master or slave depended on its capability Each node has uniquely node identifier in the network defined in CiA DS301 1 For each slave there must exist one remote node object with the same node identifier on the network object that master node in A slave node object and the remote node object that has the same node identifier are called peers A unique node identifier is assigned to a slave node object and its peer by the master network object Master in the network object communicates with each remote node object via CANopen protocol to its peer slave node 2 3 Runtime Environment Windows 2000 Windows xp 32 bit and 64 bit Windows 2003 32 bit and 64 bit Windows vista 32 bit and 64 bit Window 7 32 bit and 64 bit 11 C N O LU e N Open eAutomation Boundless In
67. he node object Set the node id of the node object Get the state of the node Start a slave node into Pre Operational state that waiting NMT message Stop a slave node into Stop state Get node role Master or Slave by node handle Read local object dictionary info SDO upload or read remote slave node of OD by SDO in sync method Write data to local object dictionary SDO download or write remote slave node of OD by SDO in sync method A slave node reads other slave node of OD by sending SDO frame in async mode A slave node writes the data to other slave node of OD by sending SDO frame in async mode Register an event for the entry index subindex of Object Dictionary changed Un register an event for the entry changed Register a call back function that for a general event Register an event for slave received EMCY message Slave sends emergency message actively Transmit a specified data to other nodes Registers a callback function that will be called while receiving a heartbeat message Registers a callback function that will be called while detecting a heartbeat error or node guard error occurs Registers an event is for receiving a PDO message Send TPDOs if any data has changed Change Of State only transmission type 255 OxFF is supported yet E C N O O N Open eAutomation Boundless Integration AD ANTECH eAutomation 2 4 2 Flow chart m Master side
68. ieves the status of a node Recommend using heartbeat instead of node guarding less bandwidth is more flexible The node as heartbeat producer transmits heartbeat message cyclically consisting of a 1 byte the current NMT state the node is in EMCY Emergency will be triggered if fatal errors occur inside the device similar to error interrupt mode The relation between NMT states and communication objects shows in Table 1 NMT states and communication objects It defines the communication objects can be serviced in the appropriate NMT state if the CANopen devices support For example the PDO is a critical message can be transmitted only in NMT state Operational otherwise can not Table 1 NMT states and communication objects State Object Pre operational Operational Stopped PDO SDO SYNC TIME EMCY NMT lt lt lt lt lt lt lt lt lt lt lt 1 2 Object Dictionary setting The object dictionary is generated from the EDS file describes all properties and communication object of the CANopen device It is the core that the behavior of the CANopen device depends on Detail information reference CiA DS301 1 Communication profile This section describes how to 3 C N O O e N Open eAutomation Boundless Integration AD ANTECH eAutomation configure the Object Dictionary for a node to be a SDO client or SDO server can transmit receive PDO message and send SYNC messag
69. ion Boundless Integration AD ANTECH eAutomation 4 3 4 Exit Run Mode Click Network gt Exit Run Mode to exit run mode then it will return configuration mode user can configure the network again Figure 44 Exit Run Mode 92 C N O LU e N Open eAutomation Boundless Integration AD ANTECH eAutomation APPENDIX This appendix describes all the Objects and Data types supported by Advantech CANopen stack Data type support list Data Type according to Object Dictionary Data Types of CANopen DS 301 v4 02 p 80 Data Type Value Comment BOOLEAN 0x01 Boolean 1 bit INT8 0x02 a 8 bit integer INT16 0x03 a 16 bit integer INT32 0x04 a 32 bit integer UINT8 0x05 a 8 bit unsigned integer UINT16 0x06 a 16 bit unsigned integer UINT32 0x07 a 32 bit unsigned integer REAL32 0x08 a 32 bit real COB ID support list COB ID according to pre defined connection of CANopen DS 301 v4 02 p 77 Object COB IDs I ndex NMT O SYNC 128 80h 1005h EMERGENCY 129 81h 255 FFh 1014h TxPDO1 385 181h 511 1FFh 1800h RxPDO1 513 201h 639 27Fh 1400h TxPDO2 641 281h 767 2FFh 1801h RxPDO2 769 301h 895 37Fh 1401h TxPDO3 897 381h 1023 3FFh 1802h RxPDO3 1025 401h 1151 47Fh 1402h TxPDO4 1153 481h 1279 4FFh 1803h RxPDO4 1281 501h 1407 57Fh 1403h SDO Server 1409 581h 1535 5FFh 1200h SDO Client 1537 601h 1663 67
70. is the data length of pData pData argument in is the data of object index sub index abortCode argument is the return value ACOOD_SUCCESSFUL means success else get fails reference acoapi error codes and SDO abort codes Reference acoReadSDO and acoWriteSDO Example extern HACONETWORK hNetworkObj void OnReadSDOResult HACONODEOBJ hNode NODEID_t Nodeld UNS16 wIndex UNS8 bSubIndex UNS8 dataType UNS32 dataLen void pData UNS32 abortCode if ACOOD_SUCCESSFUL abortCode 70 C N O LU N Open eAutomation Boundless Integration AD ANTECH eAutomation UNS8 ptr UNSS pData printf ReadSDOResult succ Remote node 02x object 04x 02x DataLen d Data 02x Nodeld wIndex bSubIndex dataLen ptr else printf ReadSDOResult failed x abortCode access Object Dictionary async method acoNetworkReadSDO hNetworkObj 0x02 0x1800 0x02 ACODT_UINT8 OnReadSDOResult acoNetworkWriteSDO Write the value at the index and sub index to remote object dictionary of the node whose node identifier is Nodeld through SDO protocol This function is an asynchronous method it starts a task is returned immediately without waiting for a result When the task finishes the function notifies the application that the message was successfully processed and pass the result to the callback function UNS32 acoNetworkWriteSDO HACONETWORK hNetworkObject NODEID_t Nodeld UNS16 wIndex UNS8 SubIndex
71. ject of remote node set return value is remote node handle If it is not existing return value is NULL Remarks According to remote node object handle use acoGetRemoteNodeld function to get node identifier or use acoGetRemoteNodeState to get the current state of the remote node acoGetRemoteNodebyPos Get remote node object at a specified position in remote node list HACOREMOTE acoGetRemoteNodebyPos HACONETWORK hNetworkObject 59 C N O LU LC N Open eAutomation Boundless Integration AD ANTECH eAutomation size_t DOS U Parameters hNetworkObject in Pointer to network object handle that returned by acoCreateNetwork _Pos in the index number of the remote node The base is 0 Return Values The return value specifies the remote node object in the remote node list of position If the position is over the number of remote nodes return value is NULL Example extern HACONETWORK hNetworkObj void DoMasterInitialization HACOMASTER hMaster 1 Update Master Local Object Dictionary RPDO 0x1400 0x1403 to Receive TPDO which node id allowed UNS32 CcobID 0x200 0x300 0x400 0x500 for unsigned int i 0 i lt min 4 acoGetRemoteNodeCount hNetworkObj i 1 HACOREMOTE hRemote acoGetRemoteNodebyPos hNetworkObj i UNS32 cob CcobID i acoGetRemoteNodeld hRemote acoSetODentry hMaster 0x1400 i 1 ACODT_UINT32 sizeof cob amp cob acoGetRemoteNodeld Get node identifier of
72. lave node an extra a node guard message If the slave replies the node guard message the state of the remote node will be updated in network object UNS32 acoReqNodeGuard HACONETWORK hNetworkObject NODEID_t Nodeld ye Parameters hNetworkObject in Pointer to network handle that created by acoCreateNetwork Nodeld in the remote slave node identifier in range 0 127 O means all remote slave nodes Return Values If the function succeeds the return value is ACOERR_SUCCESS If the function fails please reference acoapi error codes Remarks NMT master application transmit guarding requests single to remote slave node or all nodes the state of asked remote nodes in network object would be into ns_Unknown_state state update the newly state until the guarding is achieved if the slave node supports node guarding protocol For a later a cycle of CAN message Call acoGetRemoteNodeState to get the latest state of remote slave node The state of remote slave nodes update cyclically if the device supports the heartbeat mechanism does not need to request the node guarding alone The heartbeat mechanism for a device is established by cyclically transmitting the heartbeat message by the heartbeat producer If the heartbeat cycle fails for the heartbeat producer the heartbeat consumer will be informed the event reference acoRegHeartbeatErrorEvent Example extern HACONETWORK hNetworkObj 65 C N O LU e N Open eAutomation
73. ld LPVOID pvArg Notify while receiving a heartbeat message from heartbeat producer remote slave nodes typedef void TCOnHeartbeatEvent HACONODE hNode NODEID_t Nodeld e_acoNodeState currState LPVOID pvArg Notify while master receiving a slave boot up message Typedef void TCOnBootupEvent HACONODE hNode NODEID_t Nodeld LPVOID pvArg Notify while receiving a PDO message from another node typedef void TCOnRecvPDOEvent HACONODE hNode int rpdoIndex UNS32 cobId UNSS bRTR UNS8 size void pData LPVOID pvArg 2 4 4 Error codes acoapi error codes Table 9 acoapi error codes Definition Value Description ACOERR_SUCCESS 0 Success ERROR_INVALID_DATA 13 The data or input parameter is invalid or NULL ERROR_OUTOFMEMORY 14 Not enough memory to allocate 18 CANopen Open eAutomation Boundless Integration AD ANTECH eAutomation ACOERR_INVALID_EDS_CONTENT 0x25100001 Wrong EDS file content ACOERR_SDO_READ_FAILED 0x25100002 SDO read operation failed Ex no SDO entry in EDS ACOERR_SDO_WRITE_FAILED 0x25100003 SDO write operation failed ACOERR_STATE_CHANGED_FAILED 0x25100004 Fail to change node state ACOERR_INVALID_MASTER 0x25100005 Master node is not exist ACOERR_INVALID_NODEID 0x25100006 Invalid node id for example node id is over NMT_MAX_NODE_ID ACOERR_INVALID_NODE 0x25100007 Invalid node object
74. lisation et_STATE_PREOPERATIONAL the node is into NMT state Pre operational et_STATE_OPERATIONAL the node is into NMT state Operational et_STATE_STOPPED the node is into NMT state Stopped et_STATE_SYNC the node transmits or receives a sync frame et_STATE_POST_PDO the node transmits a PDO frame cb in Pointer to the application defined function to be called by the library while specific the event is triggered typedef void TCOnGeneralEvent HACONODE hNode LPVOID pvArg hNode argument is pointer to Master or Slave node object handle indicates which the node enters this event pvArg argument in pointer to an argument that is passed through from the callback function pvArg in Pointer to the data to be passed to the callback function or pointer to NULL the type is a void that allows the application to declare define and initialize a structure or argument to hold any information Return Values If the function succeeds the return value is ACOERR_SUCCESS If the function fails please reference acoapi error codes C N O LU e R Open eAutomation Boundless Integration AD ANTECH eAutomation Remarks Master or Slave node can be aware its current state by notify automatically do not need to call acoGetNodeState In application defined NMT state changed event callback function application can do something in the state For example Master can change transmission type of slave Transmit PDO as it
75. marks The NMT slave transmits a boot up message to indicate the state transition occurred from the NMT state Initialisation to the NMT state Pre operational It is ready to CANopen network In application defined function Master can change the object dictionary settings of remote slave node by SDO request or request the remote slave node enter the NMT state Operational to start operation Example Reference acoCreateNetwork example acoNetworkReadSDO Read an entry with specified index and sub index from remote object dictionary of specified node identifier through SDO protocol This function is an asynchronous method it starts a task is returned immediately without waiting for a result When the task finishes the library notifies the application that the message was successfully processed and pass the result to the callback function UNS32 acoNetworkReadSDO HACONETWORK hNetworkObject NODEID_t Nodeld UNS16 wIndex UNS8 SubIndex UNS8 DataType TCOnReadSDOResult pf 1 Parameters hNetworkObject in Pointer to network handle that created by acoCreateNetwork Nodeld in specified a SDO server node identifier read its object dictionary 69 C N O LU e N Open eAutomation Boundless Integration AD ANTECH eAutomation wIndex SubIndex in Which index 16bits and sub index 8bits of entry in the object dictionary want to read DataType in the data type of the index sub index value See data
76. mit the SYNC object Other value in us means the node generate the SYNC object in every lt t gt US DefaultValue or if allow bit 30 is set at index 1005h Example DefaultValue 0x001E8480 transmit every 2 seconds 1 2 4 Heartbeat According to CiA DS301 1 a CANopen node must support either heartbeat or node guarding protocol that can be monitoring the node is live or not The heartbeat protocol is preferred since with the less bandwidth so that the producer heartbeat time at index 1017h must be implemented Table 6 Producer Heartbeat Time 1017h setting example Index 1017h value description The time period is 0 means disable transmission of heartbeat message 0 by the node Other value specifies in milliseconds the time between DefaultValue or transmissions of heartbeat messages t Example DefaultValue 0x1388 the node transmits the heartbeat message every 5 seconds Other nodes heartbeat consumers can monitor the node whether the heartbeat is transmitted in specified time as heartbeat consumer time If the heartbeat is not received within the heartbeat consumer time a heartbeat error event will be trigger The index 1016h of object dictionary specifies the maximum time to wait for a heartbeat from a specific node which maximum 7Fh nodes The consumer heartbeat time should be greater than the producer heartbeat time Table 7 Consumer Heartbeat Time 1016h setting example Index
77. mum value ACOSDOABT_TOGGLE_NOT_ALTERNED 0x05030000 ACOSDOABT_TIMED_OUT 0x05040000 ACOSDOABT_UNKNOW_COMMAND 0x05040001 Client Server command specifier not valid or unknown ACOSDOABT_INVALID_BLOCK_SIZE 0x05040002 Invalid block size block mode ACOSDOABT_INVALIC_SEQ_ NUM 0x05040003 Invalid sequence number block mode ACOSDOABT_CRC_ERROR 0x05040004 CRC error block mode ACOSDOABT_OUT_OF_MEMORY 0x05040005 Size data exceed SDO_MAX_LENGTH_TRANSFERT ACOSDOABT_GENERAL_ERROR 0x08000000 Error size of SDO message ACOSDOABT_DATA_TRANS_STORE_ERROR 0x08000020 Data cannot be transferred or stored to the application ACOSDOABT_LOCAL_CTRL_ERROR 0x08000021 Data cannot be transferred or stored to the application because of local control 20 CANopen Emergency error codes Emergency error codes please see DS 301 v4 02 p 60 Open eAutomation Boundless Integration AD ANTECH eAutomation Table 11 Emergency error codes Definition Value Description ACOEMCYERR_RESEST 0x0000 Error reset or No error ACOEMCYERR_GENERIC 0x1000 Start code of Generic error ACOEMCYERR_CURRENT 0x2000 Start code of Current ACOEMCYERR_CURRENT_DEVICE_INPUT 0x2100 Current device input side ACOEMCYERR_CURRENT_DEVICE_INSIDE 0x2200 Current inside the device ACOEMCYERR_CURRENT_DEVICE_OUTPUT 0x2300 Current device output side ACOEMCYERR_VOLTAGE 0x3000 Start code of Volt
78. o the length of index sub index value in object dictionary or zero for retrieving the data as expect pData out the data of index sub index value in object dictionary If input is NULL do not output the value return current data type and data length that the entry index sub index is Return Values If the function succeeds the return value is ACOOD_SUCCESSFUL If the function fails please reference acoapi error codes and SDO abort codes Remarks According to the content of object dictionary need to check access type before reading the entry Does not allow to read the entry if the access type of index sub index is write only WO Retrieve the data if the index sub index permission of access type is read only RO or read write RW Use acoSetODentry function to write the data of index sub index in local object dictionary Asynchronous method acoReadSDO and acoWriteSDO function is to read write the data of index sub index to remote object dictionary Example extern HACONODE hSlaveNode UNS32 ret UNSS data 16 0 UNS8 DataType 0 UNS32 DataLen 8 ret acoGetODentry hSlaveNode 0x1017 0 amp DataType amp DataLen amp data if ACOOD_SUCCESSFUL ret printf ReadObjDict succ DataType x DataLen d DataType DataLen else printf ReadObjDict failed X ret acoSetODentry Write an entry to the local object dictionary This function is a synchronous method it is blo
79. on Sub index 00h 2 Oth 0x182 180h Node ID 0x2 02h 200 the PDO is transmitted every reception of lt 200 gt SYNC Index 1600h value description Sub index 00h 2 write the number of data embedded in the PDO 1byte Oih 0x60000308 Where to find of data embedded and the size 8 bytes Format index 2 bytes sub index 1 byte size in bits 1 byte DataX is at object 6000h 03h with 8 bits 02h 0x20102120 where to find the second data embedded an the size 8bytes DataY is at object 2010h 21h with 32 bits 1 2 3 SYNC setting A node as SYNC producer broadcasts the synchronization object periodically which provides the basic network synchronization The time period in us between SYNC is defined at index 1006h Communication cycle period of object dictionary And mandatory if the node generates the SYNC object the allow bit 30 at object 1005h must to be set Table 4 SYNC COB ID 1005h setting example Index 1005h value description 0x00000080 Example 11 bit SYNC COB ID is 80h DefaultValue or Bit 30 set to O means the node does not generate the SYNC object 0x40000080 Bit 30 set to 1 means the node generates the SYNC object Table 5 Communicate Cycle Period 1006h setting example 6 C H N O LU LC N Open eAutomation Boundless Integration AD ANTECH eAutomation Index 1006h value description The time period is 0 means do not trans
80. pen Tool Utility Manager Figure 3 Advantech CANopen Protocol Architecture Base on the acoapi library to develop a CANopen node as master or slaves the functionality of slaves and of a master specified by CANopen can configure and manage remote nodes is covered by the library R Read and write object dictionary local or by SDO R Control or monitor the node NMT state NMT master m PDO transmission mode on request by SYNC time driven event driven R Support 512 TPDOs and 512 RPDOs m SYNC producer and consumer R Heartbeat producer and consumer C N O O e N Open eAutomation Boundless Integration AD ANTECH eAutomation m Emergency objects The acoapi library uses event driven to notify the application to complete the tasks indicate that an event has occurred For example Notify the application when the NMT state of a master slave node has changed that can decide to do something in state changing notify SYNC message received or transmitted or PDO frame transmitted the CANopen node object dictionary of object index and sub index data has changed etc 2 2 Object Diagram The acoapi library references CiA DS203 1 NMT Service Specification 2 to deal with the CANopen network aspect Figure 4 The NMT model illustrates the NMT model of a CANopen network the acoapi library implemented NMT Master NMT Slave ect Figure 4 The NMT model There are three objects to model a CANopen network R The network object T
81. plication to declare define and initialize a structure or argument to hold any information Return Values If the function succeeds the return value is ACOERR_SUCCESS If the function fails please reference acoapi error codes Remarks Example extern HACONODE hMasterNode sgia C N O LU a N Open eAutomation Boundless Integration AD ANTECH eAutomation CALLBACK function for RPDO void OnRecvPDOEvent HACONODE hNode int rpdoIndex UNS32 cobId UNSS bRTR UNSS size void pData LPVOID pvArg 1 int i j unsigned char ptr unsigned char pData printf RPDO d 04X rpdoIndex 1 cobld for i 0 i lt size i printf 02X ptr i t Register callback function for receiving PDO event acoRegRecvPDOEvent hMasterNode OnRecvPDOEvent NULL acoSendPDOwithCOS Send PDOs if any data has changed Change Of State only transmission type 255 OxFF is supported yet This function should be called every time a PDO has changed and sent to foreign nodes immediately UNS32 acoSendPDOwithCOS HACONODE hNode int tpdoIndex 1 Parameters hNode in Pointer to the Master or Slave node object handle that returned by acoCreateNode tpdoIndex in Which TPDO offset 0 511 of the object dictionary 1800 19FF to be sent if the data has changed or 1 for all TPDO Return Values If the function succeeds the return value is ACOERR_SUCCESS If the function fails please reference acoapi error
82. port EDS file can be imported if needed Network E MasterNode E Import EDS File S F Slave Export EDS File Network1 ES Master Node Slave Nodes Y SlaveDirt 1 0K Import EDS File Export EDS File Remove the selected CAN port Figure 33 Import and Export EDS File 86 C N O LU e N Open eAutomation Boundless Integration AD ANTECH eAutomation File View Project Network gt Open Project lA Save Project Save Project 4s Close Project Exit Figure 34 Save the Network Configuration 4 3 Manger CANopen network 4 3 1 Enter run mode Utility can enter run mode to manger the CANopen network it control and monitor the whole CANopen network by sending CANopen messages to slaves through Master node that is to say We can get slave node state node id PDO data value read and write the local or remote object dictionary Click Run menu item to enter the run mode and start the whole CANopen network after configuration File View Project Network Configuration R Network Figure 35 Enter Run Mode The main window of running mode is as follows 87 LC f N O O en Open eAutomation Boundless Integration AD ANTECH eAutomation Advantech CANopen Network Utility View o Network Help ag f Network Read Value Write Value Send Message ES Network1 Send Message by Master Node CoblD Hex 1 Length 8 RTR Data Hex o fo o o
83. port first before start the CANopen network UNS32 acoOpenCANPort HACONODE hNode char pPortName int kbits 1 Parameters hNode in Pointer to the Master or Slave node object handle that is the returned by acoCreateNode pPortName in Specifies the CAN port name that is null terminated string to open For example specify CAN1 CAN2 as the CAN port kbits in The baud rate Kbits of the CAN port According to CiA Draft Standard 301 1 recommend bit rates are listed below Target value Setting value 10 Kbit s 10 24 C N O LU e N Open eAutomation Boundless Integration AD ANTECH eAutomation 20 Kbit s 20 50 Kbit s 50 125 Kbit s 125 250 Kbit s 250 500 Kbit s 500 800 Kbit s 800 1000 Kbit s 1000 Return Values If the function succeeds the return value is ACOERR_SUCCESS If the function fails please reference acoapi error codes Remarks Use the acoCloseCANPort function to close the CAN port Example UNS32 ret HACONODE hSlaveNode Use acoOpenCANPort to set CAN port name and baud rate hSlaveNode acoCreateNode NULL if hSlaveNode 1 printf Create Node SUCCESS if acoNodeImportEDS hSlaveNode slavedict ok eds 0x02 ACOERR_SUCCESS printf Import EDS file ok should be ImportEDS first than OpenCANPort if ret acoOpenCANPort hSlaveNode CAN1 1000 ACOERR_SUCCESS printf Open CAN1 ok el
84. r UNS32 A 32 bit unsigned long integer NODEID_t Type definition of node identifier HACONODE Pointer to slave node object HACOMASTER Pointer to master node object HACOREMOTE Pointer to remote node object HACONODEOBJ Pointer to a node object may be slave node object master node object or remote node object HACONETWORK Pointer to network object CBROADCAST_NODEID Node identifier is 0 for broadcast CANopen message CINVALID_NODEID 1 indicates invalid node identifier MAX_PORTNAME Maximum length of CAN port name Object Dictionary Data Types ACODT_BOOLEAN 0x01 Boolean ACODT_INT8 0x02 a 8 bit integer ACODT_INT16 0x03 a 16 bit integer ACODT_INT32 0x04 a 32 bit integer ACODT_UINT8 0x05 a 8 bit unsigned integer ACODT_UINT16 0x06 a 16 bit unsigned integer ACODT_UINT32 0x07 a 32 bit unsigned integer ACODT_REAL32 0x08 a 32 bit real ACODT_VISIBLE_STRING 0x09 visible string ACODT_OCTET_STRING Ox0A octet string ACODT_UNICODE_STRING Ox0B Unicode string ACODT_TIME_OF_DAY Ox0C TIME_OF_DAY structure ACODT_TIME_DIFFERENCE 0x0D TIME_DIFFERENCE structure ACODT_DOMAIN OxOF domain an arbitrary large block of data ACODT_INT24 0x10 a 24 bit integer ACODT_REAL64 0x11 a 64 bit real ACODT_INT40 0x12 a 40 bit integer ACODT_INT48 0x13 a 48 bit integer 16 C
85. ronous method it starts a task is returned immediately without waiting for a result When the task finishes the function notifies the application that the message was successfully processed and pass the result to the callback function UNS32 acoWriteSDO HACONODE hNode NODEID_t Nodeld UNS16 wIndex UNS8 SubIndex UNS8 DataType UNS32 DataLen void pData TCOnWriteSDOResult pf Parameters hNode in Pointer to the Master or Slave node object handle that returned by acoCreateNode Nodeld in specified a SDO server node identifier write to its object dictionary wIndex SubIndex 39 C N O O e N Open eAutomation Boundless Integration AD ANTECH eAutomation in Which index 16bits and sub index 8bits of entry in the object dictionary want to write DataType in the data type of the pData value See data type constant in acodef h DataLen in the data length of pData pData in the data of index sub index value pf in Pointer to the application defined function of type TCOnWriteSDOResult represents the starting address of the function The function will be executed if SDO request is responded or timeout occurs Return Values If the function succeeds the return value is ACOOD_SUCCESSFUL If the function fails please reference acoapi error codes and SDO abort codes Remarks Asynchronous read write object dictionary means that the function does not block the procedure r
86. se printf Open CAN1 failed x ret yelse printf Import EDS file failed 25 C N O LU e N Open eAutomation Boundless Integration AD ANTECH eAutomation acoCloseCANPort Close the CAN port UNS32 acoCloseCANPort HACONODE hNode Parameters hNode in Pointer to the Master or Slave node object handle that is the returned by acoCreateNode Return Values If the function succeeds the return value is ACOERR_SUCCESS If the function fails please reference acoapi error codes Example extern HACONODE hSlaveNode if hSlaveNode 1 acoStopNode hSlaveNode acoCloseCANPort hSlaveNode acoFreeNode hSlaveNode hSlaveNode NULL T acoSetBaudrate Set the CAN port baud rate UNS32 acoSetBaudrate HACONODE hNode int kbits Parameters hNode in Pointer to the Master or Slave node object handle that is the returned by acoCreateNode 26 C N O LU LC N Open eAutomation Boundless Integration AD ANTECH eAutomation kbits in The baud rate Kbits of the CAN port According to CiA Draft Standard 301 1 recommend bit rates are listed below Target value Setting value 10 Kbit s 10 20 Kbit s 20 50 Kbit s 50 125 Kbit s 125 250 Kbit s 250 500 Kbit s 500 800 Kbit s 800 1000 Kbit s 1000 Return Values If the function succeeds the return value is ACOERR_SUCCESS If the function fails please reference acoapi error codes acoNodelmportEDS Import t
87. tegration AD ANTECH eAutomation 2 4 API Functions 2 4 1 Overview The acoapi DLL implements a set of functions which together provide CANopen functionality Each function of first parameter is an object handles that pointer to master slave node remote node or network object Network object is in master side for management the CANopen network it must need a Master node for creating a CANopen network and at most 126 remote slave nodes included totally nodes is 127 in CANopen network Remote slave node can be inserted to network object first before starting network or inserted later if receiving the slave node boot up message Table 8 acoapi function list Function Description Network object Master side acoCreateNetwork Create a CANopen network topology must input a Master Node acoFreeNetwork Free network object instance and remote nodes acoStartNetwork Start network all nodes will be into Operational state acoStopNetwork Stop network all nodes will be into Stop state acoStartRemoteNode Start a remote node by Nodeld acoStopRemoteNode Stop a remote node by Nodeld acoGetRemoteNodeld Get node id of remote object acoGetRemoteNodeState Get the node state of remote object acoGetRemoteNodeCount Get remote nodes count acoGetRemoteNode Get remote node handle by Nodeld acoGetRemoteNodebyPos Get Remote node handle by position acoRemoteNodeExist Check the Remote node is already exist in network object acoNetworkAddSl
88. the remote node object handle NODEID_t acoGetRemoteNodeld HACOREMOTE hRemoteNode Parameters 60 C N O LU e N Open eAutomation Boundless Integration AD ANTECH eAutomation hRemoteNode in Pointer to remote node object handle Return Values Return the node identifier of the remote node object handle that be set by acoNetworkAddSlave Return CINVALID_NODEID if remote node object is invalid Remarks The node identifier is unique identifier for each CANopen device in the network a value in the range of 1 127 specified by CiA DS 301 Example Reference to acoGetRemoteNodebyPos example acoRemoteNodeExist Check the node identifier whether exist in remote node list or not BOOL acoRemoteNodeExist HACONETWORK hNetworkObject NODEID_t Nodeld 1 Parameters hNetworkObject in Pointer to network object handle that returned by acoCreateNetwork Nodeld in Specified a unique node identifier in a range of 1 127 Return Values Nonzero indicates the remote node with specified node identifier exists in remote node list of network object Zero indicates the node identifier does not exist in remote node list Example Reference to acoCreateNetwork example 61 C N O LU e N Open eAutomation Boundless Integration AD ANTECH eAutomation acoNetworkAddSlave NMT master creates a remote node object with the requested attributes and inserts it to the remote node set o
89. ues If the function succeeds the return value is ACOERR_SUCCESS If the function fails please reference acoapi error codes Example Send NMT Node Guarding to Node 2 acoSendData hSlaveNode 0x702 0 0 NULL acoSendEmcy Transmit an emergency message from an emergency producer on the CANopen device Emergency objects are triggered by occurrence of a CANopen device internal error situation and the error register 1001h are specified 46 C N O LU e N Open eAutomation Boundless Integration AD ANTECH eAutomation the messages shall contain the error field with pre defined error and additional information UNS32 acoSendEmcy HACONODE hNode UNS16 errCode UNS8 errRegMask UNS16 addInfo Parameters hNode in Pointer to the Master or Slave node object handle that returned by acoCreateNode errCode in emergency error codes errRegMask in This value is filled in at the location of object 1001h error register That means it must include object 1001h in EDS Bit M O Meaning 0 M Generic error 1 O Current 2 O Voltage 3 O Temperature 4 O Communication error overrun error state 5 O Device profile specific 6 O Reserved always 0 7 O Manufacturer specific addInfo in Application specific additional information is defined by other profile specifications Return Values If the function succeeds the return value is ACOERR_SUCCESS If the function
90. vent acoRegHeartbeatErrorEvent hMasterNode DoHeartbeatErrorEvent NULL 52 C N O LU e N Open eAutomation Boundless Integration AD ANTECH eAutomation acoRegRecvPDOEvent Register a event is for receiving a PDO message This function should be called every time a PDO has received from foreign nodes UNS32 acoRegRecvPDOEvent HACONODE hNode TCOnRecvPDOEvent cb LPVOID pvArg U Parameters hNode in Pointer to the Master or Slave node object handle that returned by acoCreateNode cb in Pointer to the application defined function of type TCOnRecvPDOEvent represents the starting address of the function The function would to be called by the library while the node receives a PDO message typedef void TCOnRecvPDOEvent HACONODE hNode int rpdoIndex UNS32 cobId UNSS bRTR UNSS size void pData LPVOID pvArg hNode argument in is the pointer to the node object handle rpdoIndex argument in indicates Which RPDO offset 0 511 of the object dictionary 1400 15FF to received cobId argument in indicates the COB ID of the RPDO message bRTR argument in is the RTR flag of RPDO message size argument in is the data length of pData in bytes pData argument in is the data of RPDO message pvArg argument in pointer to an argument that is passed through from the callback function pvArg in Pointer to the data to be passed to the callback function or pointer to NULL the type is a void that allows the ap
91. y Master Node Y SlaveDict 1 0K CoblD Hex 1 Length lg pT Data Hex o fo J o fo PDO Mapping Index Sublndex _ Name _Mappinglnto _ Type Value fox1600 Tn Tia mapped Obiect 0x20000108 UNSIGNEDS a 0x1600 0x02 2rd mapped Object 0x20000208 UNSIGNEDS 0x1600 0x03 3rd mapped Object 0x20000308 UNSIGNEDS Items Value 0x1600 0x04 4rd mapped Obiect 0x20000408 UNSIGNEDS NodelD 1 0x1600 0x05 5rd mapped Object Ox20000508 UNSIGNEDS Status Operational 0x1600 0x06 6rd mapped Object O0x20000608 UNSIGNEDE 0x1600 0x07 7rd mapped Obiect 0x20000708 UNSIGNEDS 01600 0x08 8rd mapped Object 0x20000808 UNSIGNEDS Notes Master node enter Pre Operation mode Notes Master node enter Operation model PDO Message Status o Master received PDO count 229462 Figure 38 Run Mode Master Node Window From above Figure we can see left top view of the utility show the CANopen network topology structure when use select one node its node id and status will be shown as follows ltems Value NodelD 2 Status Operational Figure 39 Node State View The right view display the selected node PDO Mapping data value if any data changed this monitor view will update the data value in time 4 3 3 Control Network Master Node can send message to any node in the network by send message function tab The entire node in the network Master or slave can read value

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