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User Manual COP

1. U3 19200 U4 9600 U5 4800 U6 2400 5 Data handling and transmission Data handling and transmission is the same in CAN and COP mode Characters received on the serial link are packed in a CAN frame which is called transmit process data object TPDO The identifier used is fetched from the parameter data IT command This CAN frame is sent either when 7 characters are received or when the timeout is expired after the last received character Received CAN frames with the identifier parameterized with the IR command are called re ceive process data object RPDO The characters contained in such a frame 1 to 7 are immediately sent to the serial link The CAN frames have a fixed data length of 8 data bytes The identifiers come from the IT and IR command The first data byte contains status information the second up to the eighth data byte contain serial characters 1 up to 7 CAN Identifier DBO DB 1 DB 2 DB 3 DB 4 DB5 DB6 DB7 Transmit receive identifier Status Info SC1 SC2 SC3 SC4 SC5 SC6 SC7 DB Data byte sc Serial character For each transmission a toggle bit is changed so that the remote station can discover double sending of a frame A double sended frame is discarded Status byte is detailed in chapter 5 2 Data flow scheme is shown in the following picture CANgine c COP Data flow CANgine COP There are two buffers e cFoutPdo is a CAN fram
2. 1A00 Because mapping is not supported the number of entries in subindex 1 reads 0 4 3 13 CANopen Parameters 2000 This entry contains 3 fields CAN baud rate read only The CAN baud rate can only be changed by the configuration command S see chap ter 3 10 CANopen auto start read write If auto start is set to 0x00 the device enters the pre operational state after initializuing and stays in that state until a CANopen master send a NMT start_remote_node mes sage If auto start is set to 0x01 the device enters automatically the operational state after initializing CANopen node ID read write Writing the node ID implies setting the four COB IDs for both SDOs the RPDO and the TPDO to their default values derived from the node ID The writable entries can only be written in pre operational state A write attempt in state op erational or stopped leads to an SDO abort 0800 0022 data cannot be transferred or stored because of the present device state 4 3 14 RS232 Parameters 2001 This entry contains the RS232 baud rate in sub index 2 The entry is read write The values are the same as described with the configuration command U see chapter 3 12 UO 115200 U1 57600 U2 38400 ESS Embedded Systems Solutions GmbH Industriestrasse 15 CANgineCOpManualEng_E6 D 76829 Landau PRELIMINARY ESS Mar 2008 E6 Fri page 16 of 24 me CANgine COP User Manual E LG systems solutions
3. The unit is ms milliseconds The timeout value is used to start transmission of a CAN frame after receiving less than 7 characters on the serial link Format Cn CR n 1 65535 Answer CR LF if parameter was accepted and stored Error message on syntax error or invalid parameter ESS Embedded Systems Solutions GmbH Industriestrasse 15 CANgineCOpManualEng_E6 D 76829 Landau CANgine COP User Manual E PRELIMINARY ess Mar 2008 E6 TTT Tm page 12 of 24 ener TET systems solutions 3 12 U Command Uart Baudrate The U command sets the baud rate of the serial link This baud rate is only used in th enor mal operatin modes CAN or COP In the configuration mode CANgine COP always commu nicates with 19 200 baud UO 115200 U1 57600 U2 38400 U3 19200 U4 9600 U5 4800 U6 2400 Format Un CR Answer CR LF if parameter was accepted and stored Error message on syntax error or invalid parameter 3 13 V Command Version information The V command shows the actual version aof CANgine COP Format V CR Answer CANgine COP Vhhff CR LF with hh hardware version and ff firmware version Error message on syntax error 4 Normal operating mode CANgine COP reaches normal operating mode either after reset when the conf string is not received in the flickering time or from the configuration mode if the R command is given 4 1 CAN Layer 2 mode If operat
4. 12 TPDO 1 Mapping Parameter 1A00 errrnnnrnnnnnrvnnnnnnnnnnrnnnnnrnnnnnnnnnnrnnnnnnnnnnne 15 4 3 13 CANopen Parameters 2000 rrnnnnnrnnnnnnnnnnnnnvnnnnnrrnnnnnnnnnnnnrnnnnnnnnnnrnnnnnnnnnnne 15 4 3 14 RS232 Parameters 2001 2 vnervmmnaisreirsmemasejerevdnk eeditneamersdeasvecnets 15 5 Data handling and transmission snvvvrrnnnnnnnornnnnrrrrnnnnnnnrrrnnnrrrnnnennnsrrnnnnrrrnnnenesnsrnnnnnnn 16 TT PN eee eran ener rears renee eee a eae eer ee eee eee eee 17 52 NS 17 5 3 Error SIGNALING RE EE ts EEEE A 18 5 3 1 Error Bits in Error Register OD 1001 arrnnnnnnnnnnnnnnnnnnannnnnnnnnnnnannnnnnnnnnnennnenennn 18 5 3 2 Error Codes in OD 1003 1 to 1003 4 o oo eee etter eet eteeaeeeeeeeeeeeteeeeaaees 18 6 DEN coe cece ee cate eet tie eno se eee ies 18 61 Green R LED 452555 442442 18 6 2 Red Error LED yesscesesecsinntcestce gents ne rdctencetessieeone a aves E E E EAEE ERR 18 Te Problems and Hel Pisssciscunciacasasopanccennideeanedonmmeniumeraauiensnureieectesade ssnunoaneratelanvesnebdiemumelanae 19 ESS Embedded Systems Solutions GmbH Industriestrasse 15 CANgineCOpManualEng_E6 D 76829 Landau CANgine COP User Manual r PRELIMINARY ESS Mar 2008 E6 TYTN Ti page 6 of 24 a TT systems solutions 1 Introduction Thank you for choosing a product of our CANgine product family The CANgine family is based on high performance 8 bit microcontrollers with integrated full CAN interface and flash memory With these
5. The output format in operating mode COP M1 is shown below The values shown are the factory default settings Configuration settings in CANopen mode M1 A Autostart 0 off H Heartbeat 1000 ms N Node ID 0x40 64 IT TPDO Ox1CO0 IR RPDO 0x240 S CAN baud rate 5 250k T Timeout 10 ms U RS232 baud rate 3 19 2k 3 2 A Command Autostart This parameter is only for the operating mode COP In setting A1 on the CANopen slave does not wait for a CANopen master to start the node but switches automatically from pre operational to operational after initialization Format An CR n 0 1 Answer CR LF if parameter was accepted and stored Error message on wrong parameter format 3 3 H Command Heartbeat Zeit The H command sets the heartbeat time in ms If the time 0 is selected the heartbeat func tion is switched off Format Hn CR n 0 65535 Answer CR LF if parameter was accepted and stored Error message on syntax error or invalid parameter 3 4 IT Command Identifier Transmit The IT command sets the identifier used for the CAN transmit frame Depending on the active protocol std or ext the parameter has a different range Format ITn CR n 0 32767 or 10x0 0x7FF if P 0 n 0 1073741823 or 10x0 0x3FFFFFFF if P 1 Answer CR LF if parameter was accepted and stored Error message on syntax error or invalid parameter ESS Embedded Systems Solutions GmbH Industriestrasse
6. U Command Uart Baudlrat ss sicscccicesseesexsaseacvacinnsteveiseietvoanmesaxeaeniassounvodemeuteiiawie 12 3 13 V Command Version information erraronnnnnvrrrnnnnnnnnnnnnnnrrrnnnnnnnnnrnnnnnrrrnnnennnennn 12 4 Normal operating NOC REE EE 12 4 1 CAN Layer 2 MOOG si xiismcsrtpetecrncesensrseetonnsker tien maiateccheedieinieeeeeneutteesenreatieemmiense 12 4 2 CANopen fe 6 EE NE EE NE eee eer eee 12 AS ENN 13 4 3 1 Device Type 1000 Luse dekade amebiaventauenakunsavsntdaitn 13 4 3 2 FORSET IL ae aksene 13 4 3 3 Manufacturer Status Register 1002 rrrrarrnnnvrrrrnnnnnnnonnnnnvrrrnnnnennrennnnnrrnnnnn 14 4 3 4 Predefined Error Field 1003 nnnronnnnnnannrnnnnnrnnnnnnnnnnnrnnnnnrnnnnnnnnnnrnnnnnnnnnnne 14 4 3 5 Manufacturer Device Information 1008 to 100A urrsrrrnnnnvrrrnnnnnnnnennnnnrrrnnnn 14 436 Producer Heartbeat Time 1017 iccssisssscrtietccsccerastexsetersreeendivesnticeeneesmasastenes 14 437 Identity Object 1018 esccsisessccitestentineuiassssasoiedsueusassscnene nrumeeamamateperorenilaciusedonene 14 4 3 8 SDO1 Server Parameter 1200 rrrrrnnnnnnnonnnnnnrrrnnnnnnnnennnnnnrrrnnnnensnernnnnrrnnnnne 14 4 3 9 RPDO 1 Communication Parameter 1400 rrrrrvnnnnnnnnnnnnnrrrrnnnnnnnrnnnnnnrrrnnnne 15 4 3 10 RPDO 1 Mapping Parameter 1600 rrrrrrnnnnnvvrrnnnnnnnnnnnnnnrrrrnnnnnnnrrnnnnnrrnnnnne 15 4 3 11 TPDO 1 Communication Parameter 1800 rrrrrrnnnnnnnonnnnnvrrrnnnnnnnnnnnnnnrrnnenn 15 4 3
7. controllers we are able to build extremely small but powerful CAN units In its standard case CANgine FMS only measures 53 x 34 x 16 mm 2 08 x 1 34 x 0 63 inch If this does not fit for some applications CANgine FMS can be delivered in other cases or without case in customer specific variants Due to the modular concept of CANgine in hardware and firmware this is possible even at lower production volumes Email or call our sales de partment if you have special requirements The serial link of CANgine FMS supports baud rates from 2 400 up to 115 200 bps The CAN baud rate is fixed to 250 kbps as defined by the FMS standard Setting into operation and troubleshooting is made easy due to the two LEDs CANgine COP connects RS232 based peripheral devices in CAN or CANopen environments if serial lines are not present or not desired Due to ist small form factor CANgine COP can be used in nearly all applications With a few configuration steps CANgine COP can be adopted to the actual application CANgine works in one of two operation modes CAN mode or CANopen COP mode CAN In CAN mode CANopen features are disabled The serial byte stream is packed into CAN layer 2 frames and sent on the bus and vice versa The CAN identifiers used are configurable COP In COP mode CANgine COP behaves like a CANopen slave node with one receive PDO RPDO and one transmit PDO TPDO ESS Embedded Systems Solutions GmbH Industriestrasse 15 D 76829 L
8. rw 0x00 0x00 0x01 O 2001 RS232 Parameters O 0 Highest index supported U8 ro 0x01 O 1 RS232 Baudrate U8 rw 0x00 0x03 0x06 O 2002 0 Timeout to send 0 1 ms units U16 rw 0x01 Ox0A OxFFFF O NID actual Node ID default 0x40 ro read only rw read and write allowed const constant value 4 3 1 Device Type 1000 As CANgine COP doesn t follow a standardized device profile this entry contains 0 4 3 2 Error Register 1001 Meaning generic error 0 0 0 Bit 0 1 2 3 4 communication error overrun hh ist he two digit hardware version ff ist he two digit firmware version Actually not supported CANgineCOpManualEng_E6 ESS Embedded Systems Solutions GmbH Industriestrasse 15 D 76829 Landau CANgine COP User Manual E E PRELIMINARY ess Mar 2008 E6 TYTN TTT page 14 of 24 embedet systems solutions Bit Meaning 5 0 6 0 7 0 In any error condition Bit 0 is set If the error disappears bit 0 in the error register is reset 4 3 3 Manufacturer Status Register 1002 Bit Meaning Bit Meaning 0 reserved 8 reserved 1 serial transmitter overflow 9 CAN receive error detected A CAN object with characters for serial output CAN receiver detected a stuff crc form ack was received but the serial transmit buffer had error no more entries 2 NMT receive overflow 10 reserved A NMT frame was receive
9. than 7 characters must be handled the maximum UART baud rate is 38400 baud UART baud rate Time per char us Time per 7 chars ys 2400 4 167 29 167 4800 2 083 14 583 9600 1 042 7 292 19200 521 3 646 38400 260 1 823 57600 174 1 215 115200 87 608 CAN bit rate kbit s Standard frame us Extended frame jus Best case times no stuff bits 10 11 100 12 900 20 5 550 6 450 50 2 220 2 580 100 1 110 1 290 125 888 1 032 250 444 516 500 222 258 800 138 75 161 25 1 000 111 129 Worst case times max stuff bits 10 13 550 15 800 20 6 775 7 900 50 2 710 3 160 100 1 355 1 580 125 1 084 1 264 250 542 632 500 271 316 800 169 375 197 5 1 000 135 5 158 5 2 Status byte 7 6 5 4 3 2 1 0 RESET dataByteCnt usBO csBO res1 sTB ESS Embedded Systems Solutions GmbH Industriestrasse 15 CANgineCOpManualEng_E6 D 76829 Landau CANgine COP User Manual B PRELIMINARY ess Mar 2008 E6 TT embedded page 18 of 24 STB res csBO usBO dataByteCnt RESET TET systems solutions Send toggle bit The transmitting CAN node toggles this bit the receiving CAN node controls this bit If it doesn t toggle the receiving node discard the last frame as it was send twice reserved CAN send buffer overflow Data coming from the serial link could not be written into CAN transmit PDO Data w
10. 15 CANgineCOpManualEng E6 D 76829 Landau CANgine COP User Manual B PRELIMINARY ess Mar 2008 E6 TTT TT page 10 of 24 enuen THOTT systems solutions 3 5 IR Command Identifier Receive The IR command sets the identifier used for the CAN receive frames Depending on the active protocol std or ext the parameter has a different range Format IRN CR n 0 32767 or 10x0 0x7FF if P 0 n 0 1073741823 or 0x0 0x3FFFFFFF if P 1 Answer CR LF if parameter was accepted and stored Error message on syntax error or invalid parameter 3 6 M Command operating mode The M command sets the operating mode to either CAN n 0 or COP n 1 If operating mode is switched from CAN to COP the two identifiers are set according to the actual node ID PDO transmit NodelD 0x180 PDO receive NodelD 0x200 In operating mode COP only the standard protocol with 11 bit identifiers is allowed Format Mn CR n 0 1 Answer CR LF if parameter was accepted and stored Error message on syntax error or invalid parameter 3 7 N Command Node ID The N command sets the node ID Setting the node ID also sets the two identifiers to their CANopen default values PDO transmit NodelD 0x180 PDO receive NodelD 0x200 Format Nn CR n 1 127 Answer CR LF if parameter was accepted and stored Error message on syntax error or invalid parameter 3 8 P Command Protocol The P command sets the protocol ei
11. 2 ro 0x00 O 1003 0 Number of errors U8 rw 0x00 O 1 newest error number U32 ro 0x0000 0000 O 2 U32 ro 0x0000 0000 O 3 EE U32 ro 0x0000 0000 O 4 oldest error number U32 ro 0x0000 0000 O 1008 0 Manufacturer device name VIS_STR const CANgine COP O 1009 0 Manufacturer hardware versions VIS_STR const HW version O 100A 0 Manufacturer software version VIS_STR const FW version O 1017 0 Producer heartbeat time U16 rw 0x0000 Ox3E8 OxFFFF O 1018 Identity Object IDENTITY M 0 Highest index supported U8 ro 0x04 M 1 Vendor ID U32 ro 0x0000 01E2 M 2 Product Code U32 ro 0x0201 0101 O 3 Revision Number U32 ro 0x0000 hhff O 4 Serial Number U32 ro OxFFFF FFFF O 1200 1st SDO server parameter SDO_PAR M 0 Highest index supported U8 ro 0x02 M 1 COB ID client gt server U32 ro NID 0x0600 M 2 COB ID server gt client U32 ro NID 0x0580 M 1400 ist RPDO communication parameter PDO COM M 0 Highest index supported U8 ro 0x02 M 1 COB ID used by PDO U32 rw NID 0x0200 M 2 Transmission type U8 ro OxFF M 1600 1st RPDO mapping parameter PDO_MAP M 0 Number of mapped objects U8 ro 0x00 M 1800 1st TPDO communication parameter M 0 Highest index supported U8 ro 0x02 M 1 COB ID used by PDO U32 rw NID 0x0180 M 2 Transmission type U8 ro OxFF M 1A00 1st TPDO mapping parameter M 0 Number of mapped objects U8 ro 0x00 M 2000 CANopen Parameters O 0 Highest index supported U8 ro 0x03 O 1 CAN Baudrate U8 ro 0x00 0x05 0x08 O 2 CANopen Node ID U8 rw 0x01 NID 0x7F O 3 CANopen autostart U8
12. User Manual CAN gine COP a TYYTtT Tt ti Edition 6 March 2008 embedded PRELIMINARY system solutions CANgine COP User Manual B PRELIMINARY ess Mar 2008 E6 ALA page 2 of 24 ee TETEN systems solutions The information given in this document was compiled and checked carefully Nevertheless ESS assumes no liability for any mistakes ESS also assumes no liability for any damage resulting from use of this manual or products described herein ESS reserves the right to make changes on information given in this document and on fea tures of products described herein without prior notification Publication and reproduction of this document or parts of it are only allowed with written agreement of ESS ESS Embedded Systems Solutions GmbH Industriestrasse 15 D 76829 Landau CANgineCOpManualEng E6 m CANgine COP User Manual TY eCSS PRELIMINARY TY Ti Mar 2008 E6 embedded page 3 of 24 systems solutions Version history Edition Date State 6 Mar 2008 OD entries 2000 2 and 2000 3 exchanged 5 Feb 2008 Modifications in object dictionary 4 Jul 2007 Additions corrections 3 Jul 2007 first edition in English based on German edition A3 Copyright 2006 2008 ESS Embedded Systems Solutions GmbH Industriestr 15 D 76829 Landau 49 6341 3487 0 49 6341 3487 29 info ESSolutions de www ESSolutions de www CANgine com ESS Embedded Systems Solutions GmbH Industriestrasse 15 CANgineCOpMan
13. andau CANgineCOpManualEng_E6 m CANgine COP User Manual THOTT TTY ess PRELIMINARY TE Mar 2008 E6 DE page 7 of 24 2 Installation The picture shows how to connect OM CANgine COP to the power sup ply the CAN bus and the host CAN node CANgine is powered via pin 9 and pin 3 of the CAN connector as EE aber recommended by CiA The maximum supply voltage is 30 V Applying higher voltages will lead 3 F to damages Terminate the CAN zl pa CANgine S oe Host bus with a terminating resistor of 5 ba 120 Ohm on each side As After switching power on the red LED flashes one time while FIT CAN node CANgine COP initializes If a se E vere error is detected while initial FIT CAN node izing the hardware the red LED stays lit After successful initializa tion the green LED flickers for a few seconds If in this time the string conf CR is received CANgine COP switches to con figuration mode instead of starting in normal operating mode Read chapter 3 for details on configuring the device 120 OHM Otherwise CANgine COP switches in normal operating mode which is either CAN or COP CANopen mode See chapter 4 1 for details of CAN and chapter 4 2 for details of COP mode The factory settings for the serial link are Baud rate 19200 8 data
14. as lost UART send buffer overflow Data coming from CAN could not be written into the uart transmit buffer Data was lost Number of serial characters transmitted 1 7 If this bit is set all error information is reset Also communication is reset 5 3 Error signaling 5 3 1 Error Bits in Error Register OD 1001 Bit No Meaning Generic error CAN frame error 0 0 0 CAN communication error buffer overflow 0 0 NIDIA Go PO o UART transmitter overflow 5 3 2 Error Codes in OD 1003 1 to 1003 4 Code Meaning 00xx No Error 1001 CAN Layer 1 Error 1002 UART Transmitter Overflow 8110 CAN Overrun 8120 CAN in Error Passive 6 Display 6 1 Green Run LED LED green LED red CAN Mode CANopen Mode Flickering Off Configuration mode Configuration mode On Normal operating mode NMT operational Flashing n a NMT Preoperational Flashing once n a NMT stopped 6 2 Red Error LED LED red LED green Meaning On Off Severe hardware error CANgine not operating ESS Embedded Systems Solutions GmbH Industriestrasse 15 D 76829 Landau CANgineCOpManualEng_E6 R E CANgine COP User Manual ess PRELIMINARY TL Mar 2008 E6 eee page 19 of 24 solutions On On CAN bus off Flashing four times Overflow of send or receive buffer Flashing once CAN bus error passive Off O
15. bits no parity 1 stop bit no handshake 1 CANinAutomation www can cia org ESS Embedded Systems Solutions GmbH Industriestrasse 15 CANgineCOpManualEng_E6 D 76829 Landau CANgine COP User Manual E PRELIMINARY ESS Mar 2008 E6 TA page 8 of 24 Sun LG systems solutions 3 Configuration CANgine COP switches to configuration mode if after reset the string conf CR is received while the green LED flickers This seril input is always checked with a baud rate of 19 200 baud independent from the setting of baud rate in operation mode While CANgien COP is in configuration mode the green LED flickers Configuration mode is used to set the operating parameters The table below shows the dif ferent parameters and commands Depending on the parameterized operation mode not all of the commands are active All parameters are stored in non volatile memory EEPROM and therefore valid after power off Befehl Bedeutung active in M Factory default CR Show parameter settings 0 1 na An CR Autostart off n 0 or on n 1 0 1 0 Hn CR Set heartbeat time ms 1 1000 ITn CR Set Identifier for transmit frame 0 1 Ox1C0 IRN CR Set Identifier for receive frame 0 1 0x240 Mn CR Set operating mode to CAN n 0 or CANopen n 1 0 1 0 Nn CR Set CANopen node ID n node ID in hex 1 0x40 Pn CR Set protocol to Std 11 Bit ID n 0 or to ext 29 Bit ID n 1 0 0 R CR Restart after
16. configuration 0 1 na Sn CR Set CAN baud rate 0 1 5 250 kb s Tn CR Set timeout value for transmission of less than 7 characters ms 0 1 10 Un CR Set RS232 baud rate 0 1 3 19200 V CR Show versions Information 0 1 na If the operating mode is switched or if a new node ID is set some of the parameters are set to their default values In CANopen mode only the standard protocol with 11 bit identifier is pos sible Switching the operating mode from CAN to CANopen sets the protocol to standard IT to 0x180 Node ID and RI to 0x200 Node ID Entering a new Node ID in CANopen mode sets receive and transmit identifier to their stan dard values IT 0x180 Node ID and RI 0x200 Node ID After this the values can now be changed If neccessary 3 1 Command Show parameter settings Shows the actual operating parameters Format CR Answer Parameter display Error information on syntax errors The output format in operating mode CAN MO is shown below The values shown are the factory default settings The default operating mode is CAN MO Configuration settings in CAN mode MO IT ID Transmit Ox1CO0 IR ID Receive 0x240 ESS Embedded Systems Solutions GmbH Industriestrasse 15 D 76829 Landau CANgineCOpManualEng E6 TTY CANgine COP User Manual ess PRELIMINARY titter Mar 2008 E6 imbedded page 9 of 24 P Protocol 0 Std S CAN baud rate 5 250k T Timeout 10 ms U RS232 baud rate 3 19 2k
17. d before the previous NMT frame was executed 3 SDO receive overflow 11 reserved A SDO frame was received before the previous SDO frame was executed 4 PDO transmit overflow 12 reserved Characters received from the serial link but previous TPDO not yet sended 5 NMT transmit overflow 13 reserved Attempt to transmit a NMT frame while the previous NMT frame not yet sended 6 SDO transmit overflow 14 reserved Attempt to transmit a NMT frame while the previous NMT frame not yet sended 7 CAN error passive state 15 reserved CAN controller has entered the error passive state All the reserved bits and bit 16 to 31 read as zero 4 3 4 Predefined Error Field 1003 This entry shows the last four errors occurred as described in the DS 301 Writing a zero to sub index 1 clears all four error entries 4 3 5 Manufacturer Device Information 1008 to 100A The device name shows the string CANgine COP hardware and software version entries contains a string similar 4 2 in which the digits before the decimal point shows a version number the digits after the decimal point shows a revision number 4 3 6 Producer Heartbeat Time 1017 The cycle time in milliseconds for the generation of heartbeat messages on the CAN bus If zero no heartbeat messages are generated 4 3 7 Identity Object 1018 Contains Vendor ID of ESS Product code Version number OxFFFFFFFF as serial n
18. e which holds up to seven the received serial characters e uartTraBuf is a 128 byte character buffer which holds the characters to send to the serial link ESS Embedded Systems Solutions GmbH Industriestrasse 15 D 76829 Landau CANgineCOpManualEng E6 ESS AE embedded systems solutions 5 1 Performance On setting the serial baud rate and the CAN speed make sure that no data overrun can occur due to wrong baud rates The exact values depend from your application To assist you in calculating these values find the two tables below which shows transmission times for UART and CAN depending from different bit rates CANgine COP User Manual PRELIMINARY Mar 2008 E6 page 17 of 24 Consider that CANgine COP works interrupt controlled As soon as a RPDO is completely received on the bus the frame is read by an interrupt handler and the characters are put in the UART transmit buffer As long as characters are in the UART transmit buffer these char acters are sent by the UART transmit interrupt handler On the other hand if a character is received on the UART this character is packed in the transmit PDO If seven consecutive characters are received or if the timeout value is reached the transmit PDO is send on the CAN bus This is the critical situation because while copying the CAN frame to the CAN hardware reg isters the UART interrupt must be disabled Copying needs 220 us Therefore in applications where continuous data streams longer
19. ing mode CAN MO is stored in the parameter data CANgine COP switches to nor mal operating mode after initialization In this mode all characters received are packed into CAN Layer 2 frames with the identifier stored with IT command and sent to the bus More details on these functions are found in chapter 5 4 2 CANopen mode If operating mode COP M1 is stored in the parameter data the behavior after start of nor mal mode depends from the parameter Autostart see chapter 3 2 With Autostart off AO CANgine COP acts like a standard CANopen slave and stays in mode pre operational A CANopen master must bring CANgine COP to operational by a NMT command With Autostart on A1 CANgine COP doesn t wait for a CANopen master but switches automati cally from pre operational to operational The functions used for sending and receiving char acters at the serial link is the same in CAN and CANopen mode Details on these functions are found in chapter 5 ESS Embedded Systems Solutions GmbH Industriestrasse 15 D 76829 Landau CANgineCOpManualEng_E6 TITTET CANgine COP User Manual ess PRELIMINARY TE Mar 2008 E6 aT page 13 of 24 solutions 4 3 Object Dictionary Index Sub Name Type Acc Wert Max M O 1000 0 Device Type U32 ro 0x0000 0000 M 1001 0 Error Register U8 ro 0x00 M 1002 0 Manufacturer status register U3
20. n Normal operation without errors 7 Problems and Help Problem Cause Help After powering up the red LED There is no other CAN node on the Connect another CAN node with blinks one time and later four times bus and the CANgine is parameterized the appropriate baud rate to work in COP mode with heartbeat The heartbeat frames leads to an overflow of the CAN send buffer ESS Embedded Systems Solutions GmbH Industriestrasse 15 CANgineCOpManualEng_E6 D 76829 Landau CANgine COP User Manual TET PRELIMINARY ess Mar 2008 E6 TYTN Ti page 20 of 24 a Notes ESS Embedded Systems Solutions GmbH Industriestrasse 15 D 76829 Landau CANgineCOpManualEng_E6 A CANgine COP User Manual ESS PRELIMINARY HTA Mar 2008 E6 revne page 21 of 24 Notes ESS Embedded Systems Solutions GmbH Industriestrasse 15 CANgineCOpManualEng E6 D 76829 Landau CANgine COP User Manual TET PRELIMINARY ess Mar 2008 E6 TYTN Ti page 22 of 24 smbedket Notes ESS Embedded Systems Solutions GmbH Industriestrasse 15 D 76829 Landau CANgineCOpManualEng E6 A CANgine COP User Manual ess PRELIMINARY TY Ti Mar 2008 E6 imbedded page 23 of 24 Notes ESS Embedded Systems Solutions GmbH Industriestrasse 15 CANgineCOpManualEng_E6 D 76829 Landau CANgine COP User Manual 5 PRELIMINARY ess Mar 2008 E6 TYTN TTT page 24 of 24 ee THOTT systems solutions Disclaimers Life support These products are n
21. ot designed for use in life support appliances devices or systems whe re malfunction of these products can reasonably be expected to result in personal injury ESS Embedded Systems Solutions GmbH customers using or selling these products for use in such applications do so at their own risk and agree to fully indemnify ESS Embedded Sys tems Solutions GmbH for any damages resulting from such application Right to make changes ESS Embedded Systems Solutions GmbH reserves the right to make changes without no tice in the products and or software described or contained herein in order to improve de sign and or performance ESS Embedded Systems Solutions GmbH assumes no responsi bility or liability for use of any of these products conveys no license or title under any patent copyright or masks work to right to these products and makes no representations or warran ties that these products are free from patent copyright or mask work right infringement unless otherwise specified ESS Embedded Systems Solutions GmbH Industriestrasse 15 D 76829 Landau Germany Phone 49 0 6341 34870 info ESSolutions de Copyright 2006 2008 ESS Embedded Systems Solutions GmbH All rights reserved Printed in Germany ESS Embedded Systems Solutions GmbH Industriestrasse 15 D 76829 Landau CANgineCOpManualEng_E6
22. ther to standard 11 bit identifier parameter s or to ex tended 29 bit identifier parameter e This command is only used if operating mode CAN is active ESS Embedded Systems Solutions GmbH Industriestrasse 15 D 76829 Landau CANgineCOpManualEng E6 E CANgine COP User Manual ESS PRELIMINARY TE Mar 2008 E6 Aer page 11 of 24 systems solutions Format Pc CR c S sj El e Answer CR LF if parameter was accepted and stored Error message on syntax error or invalid parameter 3 9 R Command Restart after configuration With the R command the configuration mode is terminated and the CANgine COP is started with the stored parameters Keep in mind that the serial baud rate in configuration mode is always 19200 baud while the baud rate after the restart is set according to the stored value see chapter 3 12 U Command Format R CR Answer if command was executed gt no answer CANgine COP is now in operating mode Error message on syntax error 3 10 S Command The S command sets the baud rate of the CAN bus to one of the CiA recommended values SO 10 KBit S1 20 kBit S2 50 kBit S3 100 kBit S4 125 kBit 55 _ 250 kBit S6 _ 500 kBit S7 _ 800 kBit S8 1 MBit Format Sn CR Answer CR LF if parameter was accepted and stored Error message on syntax error or invalid parameter 3 11 T Command Timeout The T command sets the timeout value
23. ualEng_E6 D 76829 Landau CANgine COP User Manual TET PRELIMINARY ess Mar 2008 E6 TYTN TTT page 4 of 24 embedet systems solutions Related documents CiA Draft Standard 4 01 Special characters CR Enter key or ASCII character code carriage return 0x0D LF ASCII character code linefeed Ox0A BELL ASCII character code bell 0x07 ESS Embedded Systems Solutions GmbH Industriestrasse 15 D 76829 Landau CANgineCOpManualEng E6 E CANgine COP User Manual ess PRELIMINARY TY TY Mar 2008 E6 TT page 5 of 24 Contents OR 015100 1 RE E NE 6 EE EE EE EE NE EE EE eee 7 3 TN 8 3 1 Command Show parameter settings mrrrnrrrnnnnnrrnnnnnnannrnnannrrnnnnnnnennrnnnnnrnnnnne 8 3 2 A Command AGE re 9 3 3 H Command Heartbeat Zeit rrrannrnnnnnrrnnrnnnnonvrnnnnnrnnnnnnnnnnrnnnnnrnnnnnnnnnnnrnnnnnnnnnnne 9 3 4 IT Command Identifier Transmit rsnnnorrnnnrnnnnnnnnrnnnnvnnnnnnnnrrnnnnrrrnnnennnnrnrnnnnrrnnnnne 9 3 5 IR Command Identifier Receive rrrrnnnnennnrnnnnnnnnrnnnnvnnnnnvnnnrnnnnnnennnnneennnnnnnnnnnnnne 10 3 6 M Command operating mode u asennmsrnesmemneeiiusnvinvu anbe 10 37 NEomm nd Node ID si tpn e REER EEKE EEA 10 3 8 P Command PrOlGcOlLgamssenssumalenegenmmmeeemneumi evt 10 3 9 R Command Restart after configuration rxxrrrnnnvrrrrnnnrnnnnnnnnnrrrrnnnnnnnrnrnnnnrrnnnnne 11 3 10 S COMMANA RE EE NN 11 3 11 T Command MOL eee eee ree rrr ee ee eee 11 3 12
24. umber is not supported 4 3 8 SDO 1 Server Parameter 1200 Contains the COB ID used by the client to server SDO and the server to client SDO Entries are read only ESS Embedded Systems Solutions GmbH Industriestrasse 15 D 76829 Landau CANgineCOpManualEng_E6 E CANgine COP User Manual ESS PRELIMINARY TE Mar 2008 E6 eee page 15 of 24 systems solutions 4 3 9 RPDO 1 Communication Parameter 1400 The COB ID is read write while the transmission type shows OxFF and is read only The COB ID can only be written in pre operational state A write attempt in state operational or stopped leads to an SDO abort 0800 0022 data cannot be transferred or stored because of the present device state After writing a new COB ID a communication reset has to be executed to transfer the new values to the CAN controller hardware 4 3 10 RPDO 1 Mapping Parameter 1600 Because mapping is not supported the number of entries in subindex 1 reads 0 4 3 11 TPDO 1 Communication Parameter 1800 The COB ID is read write while the transmission type shows OxFF and is read only The COB ID can only be written in pre operational state A write attempt in state operational or stopped leads to an SDO abort 0800 0022 data cannot be transferred or stored because of the present device state After writing a new COB ID a communication reset has to be executed to transfer the new values to the CAN controller hardware 4 3 12 TPDO 1 Mapping Parameter

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