Home

Manuals

1. transmission type PDOs Timestamp message Used for re synchronization of the local timers to ensure higher re quirements of synchronization basis for all devices of a system Transmission type The operating mode of a PDO is specified in the communication pro Transmission rate TPDO file of a device via the transmission type parameter CANopen provides the following transmission types for PDOs Synchronous Transmission depends on a SYNC object either Acyclic once or cyclic with each re ception or after a number of SYNC objects specifiable via the transmis sion rate Asynchronous Transmission is triggered by a manufacturer specific event or by an event defined in the device profile Remote Transmission occurs only after a request by another subscriber PDO consumer In cyclic synchronous PDO mode this value represents the number of synchronization messages that must have been received before re transmission of the PDO is allowed Transmit PDO See PDO CANopen Module for canAnalyser3 32 Copyright HMS Technology Center Ravensburg A 2 Specifications A 2 Specifications 1 2 3 4 5 6 7 CiA 301 CANopen Application Layer and Communication Profile Version 4 2 07 December 2007 CiA 302 CANopen Additional Application Layer Functions Part 2 Network management Version 4 1 02 February 2009 CiA 302 CANopen Additional Application Layer Functions Part 6 Network redundancy Versi
2. all CANopen communication objects of each node can be edited and changed freely Analysis configuration is managed via node list In particular these are the context menu com mands Change profile andCAN IDs Assignment that directly lead to the node specific communication objects which are handled in a separate dialog The individual configuration possibilities are described in more detail in the following sections 3 3 1 New configuration When the CANopen Module is started for the first time an initial configuration is active in which each node works according to CANopen base profile CiA 301 This means that it has all the following predefined communication objects according to the Predefined Connection Set Object type Number Labeling Emergency object Emergency Transmit PDO 4 TPDO 1 to 4 Receive PDO 4 RPDO 1 to 4 Server SDO 1 SSDO 1 Error control Monitoring The analysis configuration can be recreated during runtime To do this call the menu com mand File New Configuration which will open up the New Configuration dialog Fig 3 7 Control Meaning None CiA 301 Creates a new configuration consisting of CANopen base profile CiA 301 for all nodes This is the initial state of CANopen Module Select from list gt Creates a new configuration consisting of the selected standardized de vice profile for all nodes Device profile no Selection of a provided standardized CiA device profile OK Accept chan
3. gle communication objects of a node Clear Node Reset the node configuration to CANopen base profile after confirmation Import ConfigStudio Project With the Open File dialog an IXXAT CANopen Configuration Studio Project can be selected for import This project file con tains binary device descriptions of all network nodes After the project import command Show only Known Node I Ds will be applied thereby only the nodes from the project are shown in the node list In addition the imported nodes are Enabled in the node list and all others Disabled This causes UNDE FINED to be shown for all CANIDs not defined in the imported project so the user can easily see inconsistencies Enable All Enables the node related messages display for all nodes at once Disable All Disables the node related messages display for all nodes at once Reload All Re Import all currently assigned device description files Show only Enabled Node IDs Switch to narrow down the entries that are visible in the node list If checked there are only those nodes visible which are Enabled for individual messages display Show only Known Node IDs Switch to narrow down the entries that are visible in the node list If checked only those nodes having an individual device description file are visible CANopen Module for canAnalyser3 11 Copyright HMS Technology Center Ravensburg Chapter 3 Use of the CANopen Module El Import State Error on import of
4. 07h Digital A 0 VEB 15 CANio500 HY 401 boat A Trigger events of digital input 08h Digital A 0 E 10 apa 1617 00 00 8160 10 CANio250 TPDO 5 Trigger events of digital input 09h Digital B 0 Trigger events of digital input OAh Digital B 0 Y 101 as 406 Trigger events of digital input 08h Digital B 0 Y 102 aw 406 Trigger events of digital input 0Ch Digital B 0 Trigger events of digital input 0Dh Digital B 0 v 103 mo 406 Trigger events of digital input Eh Digital B 0 Y 104 as 406 Trigger events of digital input OFh Digital B 0 7 105 ae 406 Trigger events of digital input 10h Digital B 0 5 i 1625 00 004 236 0 1 RPDO 2 533695 C8 E1 0B 8A F5 106 as 006 1 650 00 015 582 0 7 TPDO 4 Y 107 as 406 1 663 00 007 067 0 109 RPDO 2 09 7 108 aw 406 1671 00 004 672 0 1 TPDO 2 2ADE 1 675 00 002 328 0 100 RPDO 2 99 wW 109 av 406 1 681 00 003 039 0 102 RPDO 3 VI 127 IXXAT CME PN boat A 7 m Scroll 2576 Overwrite 189 dba O Running Messages received 2 163 Overruns 0 Inline Logging Off Ready Software Manual 44 AMIS 44 HMS Technology Center Ravensburg GmbH Helmut Vetter Stra e 2 88213 Ravensburg Germany Tel 49 751 56146 0 Fax 49 751 56146 29 Internet www hms networks de E Mail info ravensburg hms networks de Support In case o
5. 16 bit index and an 8 bit subindex CAN in Automation e V Organization of CAN bus manufacturers and users CANopen communication profile 1 A 2 7 A 2l Mandatory specifica tion of the communication model and object dictionary structure for all CANopen devices Starting with Version 4 0 CMS and NMT have been included DBT has been discarded and LMT turned to LSS General specification for programmable CANopen devices 2 A 2 Amongst other things contains the predefinitions for CiA 405 CANopen device profile for generic I O modules CANopen device profile for drives CANopen device profile for IEC 1131 programmable devices CANopen device profile for encoders A client SDO refers to the initiator of an SDO transfer This has access to the object dictionary entries of an SDO server COB Communication object A COB is a message which is transferred in the CAN net COB ID COBID work Data are transported with a COB The COB ID makes the communication connection between a transmit COB and receive COBs and at the same time defines the message pri ority The highest priority ID O is reserved for network management ser vices CANopen Module for canAnalyser3 29 Copyright HMS Technology Center Ravensburg Appendix A Registers Communication cycle period Communication cycle period defines the time interval be tween consecutive sync objects Communication parameters The attributes of a PDO are described in its c
6. Ravensburg Contents A Registers 29 A 1 Definitions Acronyms Abbreviations with CANopen 29 A 2 Specifications bea ba dah AA RARE EEE RE RE 33 35 B1 COpynigNt e a ee Oa Oe ee oe Oe See Be eee ae laa oe 35 B 2 Additional Copyrights 2 2 e o 35 CANopen Module for canAnalyser3 vi Copyright HMS Technology Center Ravensburg Chapter 1 Overview 1 1 General The CANopen Module is an add on module for the canAnalyser3 and provides the display of received layer 2 messages in CANopen notation The messages are displayed in accordance with the configuration and the CAN in Automation 1 A 2 7 A 2 specified commu nication objects assigned to individual nodes their content extracted and output in plaintext In addition it is possible to display the corresponding layer 2 messages of the protocol specific interpretation The interpretation is based on a network model analysis configuration in which the individual nodes connected to the CANopen network to be analyzed are described This description can be carried out by reading in device description files EDS DCF and XDD files 5 A 2 6 A 2 by simple profile assignment default configuration by online node scan or completely manually Top USB to CAN V2 automotive CAN 1 CANopen Scroll Se File Edit View Functions Trace Options Help D EB amp 0 4 3s No Heartbeat Je Ear Em 51 Trigger events of
7. Start message reception Stop message reception Enable disable inline logging Open Display Settings dialog Clear all Views Reset all protocol Interpreters Show hide node list Enable all nodes in node list at once Copy marked lines CSV formatted to clipboard Export screen message buffer to file Configure reception Filters Creates a new configuration Load all module settings from file Save all module settings to file Close the application window Scroll one page ahead in current View Scroll one page backward in current View Scroll 1000 messages ahead in current View Scroll 1000 messages backward in current View Jump to Time Reference message Jump to 10 90 of current View CANopen Module for canAnalyser3 28 Copyright HMS Technology Center Ravensburg Appendix A Registers A 1 Definitions Acronyms Abbreviations with CANopen Application object CANopen object CiA CiA 301 CiA 302 CiA 401 CiA 402 CiA 405 CiA 406 Client SDO The device functionality provided by a device is described by appli cation objects Application objects can be readable or writeable device parameters data or functions The application object can be accessed via an unambiguous address in the object dictionary The functionality of a CANopen device visible via the bus is described by CANopen objects CANopen objects can be data parameters or functions of a device The object can be identified in the object dictionary via a
8. Technology Center Ravensburg 3 5 Menu reference 3 5 4 Functions menu Menu item Meaning Start Starts message reception Stop Stops message reception Available Filters Adjust application wide available message resepction filters Select Filter Selects a message reception filter It is an upstream filter which is applied prior to all other CANopen Module Reception filtering Clear All Deletes all existing messages and resets the receive counter Reset Interpreter Reset the internal protocol interpreter engine and its state machine This way discrepancies resp mismatches e g in the SDO protocol interpreta tion between the protocol interpreter state of the CANopen Module and the current bus traffic can be resolved Sample Devices Initiates a node scan This works as follows By sending corresponding SDO messages to all 127 network nodes the available nodes are detected and displayed in the node list During the scanning process the node list is displayed in grey disabled The detected nodes are Enabled in the node list and all others Disabled We advise against operating the program until the scan is finished At the end of the process the context menu command Show only Enabled Node IDs is called automatically so that the node list intentionally only displays the detected nodes Autosize Columns Regulate ideal column widths Notes The scanning process cannot be stopped Because of the SDO requests transmitted during
9. an import that overwrites a node configuration after confirmation any node can be switched back to a standardized CiA device profile Change Profile orto the CANopen base profile Clear Node EDS Electronic Data Sheet files contain all the object dictionary entries of a CANopen node They are provided by the device manufacturer vendor DCF Device Configuration File files contain the same data as the EDS files plus actual object values such as configured PDOs etc XDD Extended Device Description files are electronic data sheets in XML format It is the EDS replacement FBR is the file format of IXXAT CANopen Configuration Studio Contrary to the device description formats listed above it is a network description rather than a device description Therefore not only a single node but all network participants will be replaced when this file format is opened imported COPPR is the file format of the next generation IXXAT CANopen Configuration Studio Contrary to the device description formats listed above it is a network description rather than a device description Therefore not only a single node but all network participants will be replaced when this file format is opened imported During the import process of device description files the above progress form is shown Fig 3 4 In the event of critical errors the dialog remains open to allow the user to read the error message and checking the fi
10. menu command Trace Active or the corresponding toolbar button or hotkey F2 It is disabled again with the same command Menu item Meaning File Entry of a file name in CSV format An existing file will be overwritten Active Enable disable inline logging CANopen Module for canAnalyser3 25 Copyright HMS Technology Center Ravensburg Chapter 3 Use of the CANopen Module 3 5 6 Options menu Menu item Meaning Upstream Filtering Switches upstream filtering See also sect 3 4 3 Change Detection Color Opens the Colors dialog to select the color with which changed data are highlighted Font Opens a dialog to select the font type in which the data are dis played in the current view Display Settings Opens the Display Settings dialog See also Show Raw PDO Bytes Always displays PDO data uninterpreted This is only relevant for nodes which have a device description file assigned to them Buffered SDO Displays segmented SDO messages in the form of an overall ac cess at the end of SDO transmission 3 5 7 Help menu Menu item Meaning Help Topics Opens the online help About Displays the version information of the CANopen Module CANopen Module for canAnalyser3 26 Copyright HMS Technology Center Ravensburg 3 6 Toolbar Yao ego re FL so of Ji o gt mou 3 6 Toolbar Create new configuration Export displayed messages to CSV Start the message reception Stop the message receptio
11. network by its node number between 1 and 127 This number is used by the predefined connection set for the predefined identifier allocation Node ID 0 is re served for NMT services OD Object dictionary The object dictionary is a data structure via which all objects of a CANopen device can be addressed The object dictionary is divided into an area with general information on the device such as manufacturer name etc a range which contains the communication parameters and a range which describes the specific device functionality Via the entries objects of the object dictionary the application objects of a device such as input and output signals device parameters device services or net work variables are made available in standardized form via the network The object dictionary makes up the interface between the network and the application process OD entry See CANopen object PDO Process data object PDOs represent the actual means of transport for the transfer of process data A PDO is transmitted by a producer and can be re ceived by one or more consumers The process data transmitted by a producer in a PDO can consist of a maximum of 8 bytes A PDO is transferred unacknowledged and requires an identifier clearly assigned to the PDO The meaning of the transferred data is defined by the identi fier it uses and by the PDO mapping assigned to a PDO The priority and operating mode of the PDO is defined with the communication spe
12. 018 2 Manufacturer specific revision number according to OD entry 1018 3 Serial number of the device according to OD entry 1018 4 List of all used communication objects column Object Type relative con secutive number of the object column No and the CAN identifier it takes column ID Switch between hexadecimal and decimal CAN identifier notation Create a new communication object Remove the selected communication object Change CAN identifier and other attributes of the selected communication object If the PDO is valid and not empty the PDO Mapping dialog is opened which shows the mapped object addresses names and lengths Fig 3 10 Accept changes Discard inputs CANopen Module for canAnalyser3 16 Copyright HMS Technology Center Ravensburg 3 3 Analysis configuration fr New configuration Device profile to use None CiA 301 O Select from list gt 401 X E Figure 3 7 Create new configuration 3 3 Analysis configuration The CANopen Module provides flexible configuration possibilities in order to adapt it optimally to an existing CANopen network Analysis and interpretation rests upon a network modeling called analysis configuration which is stored to the canAnalyser3s configuration file The network modeling is to be fit to the physical network as close as possible For this pur pose each node is assigned a standardized device profile initially For refinement
13. 3 High resolution time stamp EY 1014 COB ID EMCY message MB 1015 Inhibit time EMCY H 1016 Consumer heartbeat time 1017 Producer heartbeat time B 1018 Identity object IB sub00 Highest sub index supported E sub01 Vendor ID 3 sub02 Product code B sub03 Revision number fF sub04 Serial number Object Dictionary Node ID 16 CiA device profile 401 Figure 3 5 Readout of an Object Dictionary 3 2 4 Object Dictionary window Using the command Object Dictionary of the node list context menu the object dictio nary of the selected node can be examined Fig 3 5 For standardized device profiles e g CiA 401 the complete object dictionary including CANopen base profile entries is presented For nodes that are assigned an individual device description file only the objects from that device description are shown CANopen Module for canAnalyser3 14 Copyright HMS Technology Center Ravensburg 3 2 Node list Node ID Profile Filename Vendor Revision Object Emergency TSRDO TSRDO TPDO RPDO TPDO RPDO TPDO RPDO TPDO RPDO S5DO S5DO Monitoring CAN identifiers E Node Properties Node ID 16 Type tx rx rom File C Programme IXXAT can v401 codb invalid Product code Oh 0000 0000 Serial number 00000000 0 Dec Hex No CAN ID 1 1 2 2 3 3 4 4 1 1 610 Add Delete Edit Mapping ce Figure 3 6 Node Propertie
14. 47 AmS 11 CANopen Module canAnalyser3 Module for CANopen Protocol Interpretation Software Version 3 2 USB to CAN V2 E pat ss Eile Edit View Functions Trace Options Help DIRLO O i ever Node List x Node ID Device Name Profile Vendo No Time rel Node I Device Nam Object Ty Message s M 1 wal 402 1579 00 002 711 0 10 CANio250 Monitoring Operational mM 2 ive 1 582 00 04 3360 14 CANio500 Emergency Error code not available Man spec errorfield not available v 3 402 Data length error or CANopen V3 bootup message mM 4 ad 402 1 594 00 007 251 0 7 RPDO 2 038D 7 E ys 1 596 00 001 344 0 100 Monitoring ERROR data length 1 598 00 001 024 0 101 RPDO 3 8D713E E 6 Wi 402 1 612 00 008 127 0 10 CANio250 TPDO 1 Read input 01h to 08h Digital A Bo 7 wal 402 Read input 09h to 10h Digital B 0 Read input 10h to 18h 0 v 8 al 402 Read additional inputs 12 Y 9 fi 402 1 614 00 000 660 0 10 CANio250 TPDO 3 Analog input Vin 1738 7 i w 1615 00 000 496 0 10 CANio250 TPDO 4 Trigger events of digital input 01h Digital A 0 IED 10 CANio 250 ES a La Trigger events of digital input 02h Digital A 0 v 11 Mf 401 Trigger events of digital input 03h Digital A 0 VEB 12 CANio500 HY 401 boat A Trigger events of digital input 04h Digital A 0 7 s 4 Trigger events of digital input 05h Digital A 0 I 13 vem EN RL Teck Trigger events of digital input 06h Digital A 0 VER 14 CANio500 H 401 boat A Trigger events of digital input
15. 8 0 00 001 828 0 11 280 166 0 10 Monitoring Operational 50 51 53 7 12 Error register 11 Y 13 Man spec errorfield 42 4F 46 46 52 Y 14 1195 00 499 999 0 00 001 791 0 11 426 544 0 10 TPDO 1 Read input 01h to 08h Digital A 0 a Read input 09h to 10h Digital B 0 v 15 Read input 10h to 18h 0 J 16 Read additional inputs 12 Y 20 1338 00 499 999 0 00 000 260 0 11 078 346 0 10 TPDO 3 Analog input Vin 1 1196 00 499 999 0 00 001 828 0 11 426 544 0 10 TPDO 4 Trigger events of digital input 01h Digital A 0 Y 21 Trigger events of digital input 02h Digital A 0 Y 22 Trigger events of digital input 03h Digital A 0 7 Trigger events of digital input 04h Digital A 0 A 23 Trigger events of digital input 05h Digital A 0 Y 24 Trigger events of digital input 06h Digital A 0 Y 25 Trigger events of digital input 07h Digital A 0 pa Trigger events of digital input 08h Digital A 0 Y 26 1195 00 499 999 0 00 001 828 0 11 426 544 0 10 TPDO 5 Trigger events of digital input 09h Digital B 0 Fal 27 Trigger events of digital input OAh Digital B O Mm 28 Trigger events of digital input OBh Digital B 0 razg Trigger events of digital input OCh Digital B 0 v 46 Trigger events of digital input 0Dh Digital B 0 Mm 47 Trigger events of digital input OEh Digital B 0 a 7 Y E El Ed 4 w r Scroll 4000 Overwrite 2 Messages received 6 139 Overruns 0 Inline Logging Off Figure 3 1 Ov
16. D representation Data hex Data representation Node ID hex Draw Guides Show recent Frames Show also raw CAN data Node List Scroll View Overwrite View Toolbar Status Bar Shows a message s time stamp relative to the previously received message Shows the CAN identifier in the views in hexadecimal notation only applicable if layer 2 messages display is enabled Representation options of the layer 2 CAN identifier column Dis play with leading zero or without You can also right click the re spective column header to toggle the ID representation Shows the data of layer 2 messages in hexadecimal notation only applicable if layer 2 messages display is enabled Representation options of the layer 2 Data column Display with leading zero or with leading space or neither You can also right click the respective column header to toggle the Data representa tion Shows the CANopen Node ID in hexadecimal notation otherwise in decimal notation Draws additional horizontal guides between the CANopen mes sages in grey Always shows the most recent messages scrolls down to bottom Displays additional columns in the message views named ID and Data that show the corresponding uninterpreted CAN layer 2 mes sages Shows resp hides the node list Switches to resp hides the scroll view Switches to resp hides the overwrite view Shows the toolbar Shows the status bar CANopen Module for canAnalyser3 24 Copyright HMS
17. Object types SDO Show SDOs PDO Show Multiplex PDOs Please note that these can be displayed in interpreted or uninterpreted format depending on the corresponding Options menu resp toolbar switch state Monitoring Show error control messages that is Bootup Guarding and Heartbeat Emergency Show emergency objects NMT Show network management objects messages sent with CAN identifier Oh SYNC Show the CANopen sync object with CAN identifier 80h Timestamp Show timestamp objects with CAN identifier 100h according to CANopen spec ification as days milliseconds since 1 1 1984 and also as interpreted local date Local and user settings are taken into account e g 1 12 2010 in Eu rope 12 01 2010 in the USA LSS Show Layer Setting Services and Protocol objects acc to CiA 305 Flying Master Show Flying Master objects acc to CiA 302 SRDO Show safety relevant data messages that is SRDOs acc to CiA 304 Other Show all other messages that could not be interpreted They are displayed as UNDEFINED in the views Color schemes There are three linked switching buttons Colorful Classic and User for quick switching over to a different color scheme The first color scheme named Colorful is the CANopen Module preset It defines different discrete colors for each object type wherever possible The second color scheme Classic is equivalent to the coloring of the initial version of CANopen Module which did not differentiat
18. T slave to trans mit its current node status This request must be answered within the node lifetime The node lifetime of a node results from the lifetime factor multiplied with the guard time of the node The NMT slave does not carry out monitoring of the NMT master if the guard time is parameterized with 0 However the node guarding protocol is answered The reactions to infringements of node guarding are described in the CANopen specifi cation 301 Granularity The maximum possible number of objects that can be entered in a PDO is defined by the granularity object length in bits of the application objects The maximum data field size of a PDO is 8 data bytes So with a granularity of 8 at most 8 byte application objects can be mapped into a PDO With a granularity of 1 even 64 Boolean application objects are supported Inhibit time A process data object PDO may only be re transmitted after this time has expired NMT Network management Service element of the application layer in the CAN refer ence module which consists of configuration initialization and error con trol of the network as well as network wide process synchronization The network management has a master slave structure CANopen Module for canAnalyser3 30 Copyright HMS Technology Center Ravensburg A 1 Definitions Acronyms Abbreviations with CANopen Node guarding Cyclic monitoring of a node Node ID An individual device is unambiguously defined in the
19. cific parameters For the management of PDOs both PDO producers and PDO consumers require congruent data structures The data required by a PDO producer are managed in the form of so called TxPDO OD en tries the data to be received by a PDO consumer in the form of so called Rx PDO OD entries PDO linking PDO linking represents the communication connection between transmit PDO and corresponding receive PDOs The communication connection emerges by the allocation of the same PDO identifier to transmit and receive PDO s PDO mapping Allocation of the data field max 8 bytes of a PDO with application objects is defined by PDO mapping It can be static i e constant or dynamic i e changeable Predefined connection set Predefined connection set means predefined identifier assign ment based on the Node ID and on the function code For the follow ing communication objects the predefined connection set regulates the COB ID Node guarding heartbeat emergency object sync message timestamp server SDO 1 RPDO 1 to 4 and TPDO 1 to 4 RPDO Receive PDO see also PDO Scan timeout Time frame within which a device must answer to the network after being called in order to be recognised as present CANopen Module for canAnalyser3 31 Copyright HMS Technology Center Ravensburg Appendix A Registers SDO Service data object An SDO is a CANopen communication object used for configu SDO timeout Server SDO Sync object ration an
20. d CiA device profile 401 3 2 1 Description of columns Column Meaning Check Enable node individual messages display Node ID CANopen Node ID in decimal or hexadecimal notation depending on whether View menu item Node ID hex is checked or not Device Name Name of the device according to its object dictionary entry 1008 Profile Number of the standardized CiA device profile which the node complies with Using context menu command Change Profile itcanbe switched any time An empty column means that CANopen base profile CiA 301 1 A 2 is active Vendor Manufacturer of the device according to OD entry 1018 1 Provided that the Vendor ID is registered with CiA the name will be shown accordingly otherwise just the number Product Manufacturer specific hexadecimal product code according to OD entry 1018 2 Filename Name of the underlying device description file or of the default profile descrip tion CANopen Module for canAnalyser3 9 Copyright HMS Technology Center Ravensburg Chapter 3 Use of the CANopen Module Enabled Disabled OE Color Select Color Reset Import EDS file Import DCF file Import XDD file Bee Object Dictionary Change Profile CAN IDs Assignment Clear Node Import ConfigStudio Project a fa Import ConfigStudio Project Enable All Ctrl A Disable All Reload All Show Only Enabled Node IDs Show Only Known Node IDs Figure 3 3 C
21. d decimal CAN identifier notation Accept changes Discard input CANopen Module for canAnalyser3 19 Copyright HMS Technology Center Ravensburg Chapter 3 Use of the CANopen Module Display Settings Object types Color scheme Y SDO Y PDO Monitoring Emergency NMT SYNC Select All Timestamp LSS color Select Flying Master color None 1 SRDO s Invert the color Selection Apply Cancel Figure 3 11 Display Settings dialog of CANopen Module 3 4 Message filtering concept CANopen Module has two different superimposed display filters and an optional reception filter Since these three different possibilities often provoke confusion in daily use and with newcomers they will be discussed and explained in this section 3 4 1 Display filtering according to object type Menu command Options Display Settings the corresponding toolbar button and the keystroke F7 open up the non modal Display Settings dialog Fig 3 11 It is used to select the object types to be shown in the message display i e the views In addition the display color of each communication object can be set The buttons Select All Select None and Invert Selection allow for fast un checking i e selecting of all the available object types CANopen Module for canAnalyser3 20 Copyright HMS Technology Center Ravensburg 3 4 Message filtering concept Meaning of the items in
22. d parameterisation of CANopen devices resp for transmission of long data Device object dictionary entries can be accessed read or write by SDOs The desired OD entry is addressed by index and subindex An SDO forms a direct 1 1 communication channel between any two nodes An SDO request must be answered within the timeout time The time is given in milliseconds Each device must support at least one server SDO and thus enable ac cess to the entries in its object dictionary The specification of a SDO server object requires one CAN identifier defined for each transfer direc tion because it is an acknowledged service Optionally the associated client or server node provided that dynamic creation of SDO connec tions is supported can be given The CAN identifiers of the first Server SDO are dependent on the Node ID and they are strictly regulated The sync object is used for synchronized data collection synchronized command strobing and cyclic transfer of process data The reception of a SYNC object triggers updating and transmission of synchronous mes sages For this one device sync producer transmits the high priority sync object cyclically The sync object requires the specification of the communication cycle period parameter and of the synchronous window length parameter for its full description If a parameter is initialized with O it has no effect Synchronous window length Window after a sync object for sending the synchronous
23. desired action parts of the dialog are invisible or deactivated Fig 3 9 A description of all the existing controls is given in the following CANopen Module for canAnalyser3 18 Copyright HMS Technology Center Ravensburg 3 3 Analysis configuration Control Object type Object number Node ID 9 1 Transmit PDO CAN ID 189h Sub Object 01 02 03 04 05 06 07 08 Read inputi Read input2 Read input3 Read input4 Read input5 Read input Read input Read inputs 0 00 00 00 00 00 100 w Figure 3 10 PDO data Mapping Meaning Used to select the object type RPDO TPDO SSDO etc Relative consecutive number of the object if appli cable CAN ID CAN ID rx CAN ID normal CAN identifier of the object For SDOs the CAN CAN ID tx CAN ID invert PDO Type Standard PDO Type Multiplex Mapping Dec Hex OK Cancel identifier of the SDO request for SRDOs the CAN identifier of the first normal transmission For SDOs the CAN identifier of the SDO response for SRDOs the CAN identifier of the second invert transmission Regular PDO Multiplex PDO No need to differentiate Source Ad dress Mode SAM and Destination Address Mode DAM here because the identification takes place upon actual reception If the PDO is valid the PDO Mapping dialog is opened which shows the mapped object ad dresses names and lengths Fig 3 10 Switch between hexadecimal an
24. digital input ODh Digital B 0 Trigger events of digital input OEh Digital B O Trigger events of digital input OFh Digital B 0 53 Trigger events of digital input 10h Digital B 0 X Node List 1x E Node ID Device Name Profile Vend No Time rel ID Data hex N Object Ty Message gt MED 10 CANio250 401 boat Trigger events of digital input 07h Digital A 0 1 Trigger events of digital input 08h Digital A 0 5 409 00 000 500 0 68A 0000000000 00 00 00 10 TPDO 5 Trigger events of digital input 09h Digital B 0 vi 12 Trigger events of digital input OAh Digital B 0 13 Trigger events of digital input OBh Digital B 0 wl 14 Trigger events of digital input OCh Digital B 0 _ Trigger events of digital input ODh Digital B 0 Y 15 Trigger events of digital input OEh Digital B 0 Tal 16 Trigger events of digital input OFh Digital B 0 mI 20 Trigger events of digital input 10h Digital B 0 5 430 00 476 607 0 70A 05 10 Monitoring Operational v 21 5 441 00 022 132 0 18A 0000 000C 10 TPDO 1 Read input 01h to 08h Digital A 0 Eal 22 Read input 09h to 10h Digital B 0 Read input 10h to 18h 0 Ed 23 Read additional inputs 12 Y 24 5 442 00 000 260 0 38A CC06 10 TPDO 3 Analog input Vin 1740 F 25 5 433 00 000 496 0 484 0000 00 00 00 00 00 00 10 TPDO 4 Trigger events of digital input 01h Digital A 0 Trigger events of digital input 02h Digital A 0 Ed 26 Trigger events of digital input 03
25. e between SDOs and PDOs The third color scheme User allows for individual choice of a display color for each object type by clicking on the small color button to the right of the control The user settings can be Reset to the Colorful preset by clicking on the corresponding button 3 4 2 Display filtering according to Node ID In the node list the display of node related messages can be enabled or disabled for each node individually using the checkbox of the first column This has been explained earlier 3 4 3 Reception filtering CANopen Module utilizes downstream display filtering by default This means that all CAN mes sages are always being received and the interpreted CANopen messages are only filtered when displayed on the basis of the filter options described in the previous section The main advantage of this non destructive filtering is that all interpreted messages are always available and users only see the currently relevant messages during the network analysis It allows for real time re arrangement of the visible objects according to the currently selected display filters Unfortunately this approach requires rather a large amount of memory Since mem ory is always limited it could happen that the internal message buffer which is organized as a ring buffer is overwritten quite quickly particularly with high bus loads Therefore seldom sent messages might be disregarded because of their short lifetime in the m
26. erwrite View 3 1 2 Overwrite View On the Overwrite tab Fig 3 1 the messages are listed by their CAN identifier in ascending order The last received information of a message is always displayed A change detection working character by character highlights changed data in color The change detection compares to the most recently received message contents Additional columns show reception statistics The following information is listed in detail Column Meaning Counter Total number of received messages of this identifier Cycletime Time elapsed since the last reception of this message by right clicking on the column heading the display of hours and minutes can be switched on or off Min Cycletime Minimum cycletime occurred i e measured so far by right clicking on the column heading the display of hours and minutes can be switched on or off Max Cycletime Maximum cycletime occurred i e measured so far by right clicking on the column heading the display of hours and minutes can be switched on or off Time rel abs Time stamp of the reception optionally absolute in UTC time format or relative to the previously received message the display of hours can be switched on and off by right clicking on the column heading This column is visible only if layer 2 messages display is enabled ID hex dec CAN identifier of received message This column is visible only if layer 2 messages display is enabled CANopen Module for canAnalyse
27. essage buffer Incidentally the capacity of the message CANopen Module for canAnalyser3 21 Copyright HMS Technology Center Ravensburg Chapter 3 Use of the CANopen Module CAN message buffer screen buffer Upstream Downstream filter filter ma Bo iy coma ee ll am Figure 3 12 Idea of reception filtering buffer is configured according to customs in the canAnalyser3s Control Panel under Configuration Preferences Modules Size of scroll view in Receive M CANopen Module takes four times the configured number of messages for its internal line oriented message buffer If a longer lasting analysis session is carried out or if very rarely occurring CANopen messages are definitely to be found the CANopen Module can be switched to upstream filtering This is done with the menu command Options Upstream Filtering In this operating mode the CAN messages are immediately rejected at the time of reception according to their object type Therefore only the filtered CANopen communication objects get to the message buffer thus filling it more slowly However this also means that display filtering is no longer able to show hitherto hidden messages because they are simply not present in the internal message buffer The Display Settings dialog no longer controls the display filtering in this mode but the reception filtering instead Fig 3 12 When using upstream filtering the Node ID is not taken into account on
28. f unsolvable problems with this product or other HMS products please contact HMS in written form Fax 49 751 56146 29 E Mail support ixxat de Further international support contacts can be found on our webpage www hms networks de Copyright Duplication copying printing microfilm or other forms and the electronic distribution of this document is only allowed with explicit permission of HMS Technology Center Ravensburg GmbH HMS Technology Center Ravensburg GmbH reserves the right to change technical data without prior announcement The general business conditions and the regulations of the license agreement do apply All rights are reserved Registered trademarks All trademarks mentioned in this document and where applicable third party registered are absolutely subject to the conditions of each valid la bel right and the rights of particular registered proprietor The absence of identification of a trademark does not automatically mean that it is not protected by trademark law Document number 4 02 0145 20000 Version 3 8 Contents Contents 1 1 1 General acr g aui gos i iia al al a a RA 1 1 2 System requirements 000 eee ee ee 2 1 3 HIQMUIQMIS s lt edad DE e Ded DES Dee Sd wR REY SE Eee Oe BE OG 2 2 Installation and start up 3 2 1 System requirements e ee eee ee eee 3 2 2 Installation a 3 2 3 Starting the CANopen Module 22 2 52000 3 5 3 1 Mes
29. ges Cancel Discard input CANopen Module for canAnalyser3 17 Copyright HMS Technology Center Ravensburg Chapter 3 Use of the CANopen Module Note The ne 7 Add object Node ID 11 Object type S5DO y Object number gt ES CAN ID rx CAN ID tx Dec 685 BAS O Hex Figure 3 8 Add CANopen communication object e g SDO E Edit object Node ID 14 Object type PDO Type TPDO O Standard Object number Multiplex CAN ID Dec Mapping O Hex Figure 3 9 Changing object settings e g PDO w configuration will overwrite all existing nodes It is not possible to switch back once the OK button has been pressed 3 3 2 Add ing deleting or changing communication objects In the Node Properties dialog Fig 3 6 which is opened via the Context menu of node list com mand CAN I Ds Assignment communication objects can be added deleted or edited using the corresponding buttons below the objects list A prerequisite for changing is that no specific device description file DCF or FBR COPPRJ is assigned Even with the other two possible file formats EDS and XDD it is not possible to add or remove communication objects because this simply would not be congruent with the actual device outfit as documented in its description file However existing objects can be freely edited For any change the Object Settings dialog Fig 3 8 is used Depending on the
30. h Digital A 0 V 27 Trigger events of digital input 04h Digital A O 7 28 Trigger events of digital input 05h Digital A 0 Trigger events of digital input 06h Digital A 0 E 46 Trigger events of digital input 07h Digital A 0 Y 47 Trigger events of digital input 08h Digital A 0 el 48 5 434 00 000 500 0 684 000000 00 00 00 00 00 10 TPDO 5 Trigger events of digital input 09h Digital B 0 on Trigger events of digital input OAh Digital B 0 Y 49 Trigger events of digital input OBh Digital B 0 E 50 Trigger events of digital input OCh Digital B 0 E Y V 4 m Scroll 4000 Overwrite 27 Messages received 5 444 Overruns 0 Inline Logging Off p Ready Figure 1 1 CANopen Module CANopen Module for canAnalyser3 1 Copyright HMS Technology Center Ravensburg Chapter 1 Overview 1 2 1 3 System requirements Installed canAnalyser3 Highlights Interpretation of layer 2 messages in CANopen format Continuous display of the bus traffic in real time Cumulated display sorted by CAN identifier in ascending order with highlighted changed data and statistical data Output of data contents and descriptive names of objects transmitted in PDOs Nondestructive display filter according to node ID and object type SDO PDO NMT etc Output of segmented SDO transfers as complete message or individual messages Freely configurable CAN identifiers for every node with import of EDS DCF XDD f
31. he canAnalyser3 starts the CANopen Module automatically by loading this analysis configuration the next time Starting separate instances of CANopen Module on different CAN lines is supported not possi ble with canAnalyser3 lite These instances work independently and can therefore be configured individually with regard to filter settings device description files colors etc CANopen Module for canAnalyser3 3 Copyright HMS Technology Center Ravensburg Chapter 2 Installation and start up File View Control Configuration Tools Window Help DERIO M2 Modules a he Analysis Configuration CAN a ID Trace Script Host o LAN 4 USB to CAN V2 automotive indi 1 Signal Transmit Transmit E Sequencer 6 Signal Transmit 6 CAN USB to CAN V2 automotive CAN i S Receive m Transmit of Signal MO Signal Transmit Figure 2 1 Control Panel with CANopen Module CANopen Module for canAnalyser3 4 Copyright HMS Technology Center Ravensburg Chapter 3 Use of the CANopen Module 3 1 Message display Interpreted messages can be displayed one by one in the order of their reception or cumulated sorted by CAN identifier in ascending order The one by one display is referred to as scroll view and can be found on the Scrol1 tab whereas the cumulated view is displayed on the Overwrite tab Use hotkey Ctr1 TAB to switch between the views For each of the views the following dis
32. iles Support of SDO block transfer protocols multiplex PDOs and SRDOs Indication of non interpretable messages Display of the raw non interpreted CAN telegrams Analysis of the SDO command and protocol bytes in plaintext Interpretation of the LSS protocol 4 A 2 Interpretation of the Flying Master protocol 3 A 2 On line logging of the interpreted messages to file Configurable display color for each object type Colored background of all messages related to a certain node Network scan with automatic identification of device profile and device identity Changing of device profiles during runtime CANopen Module for canAnalyser3 2 Copyright HMS Technology Center Ravensburg Chapter 2 Installation and start up 2 1 System requirements The requirement for installation of CANopen Modules is an installed functional canAnalyser3 or higher 2 2 Installation To install the CANopen Module insert the provided program CD into the drive of your computer Windows will automatically start the installation program of the CANopen Module If this is not the case please run the file CANopenModule32 exe 2 3 Starting the CANopen Module In order to start the CANopen Module the canAnalyser3 must first be called The module now appears in the Modules Window of the Control Panel Fig 2 1 From here the module can be dragged to a CAN line For more information see the canAnalyser3 user s manual If the configuration is saved t
33. le to import where appropriate CANopen Module for canAnalyser3 12 Copyright HMS Technology Center Ravensburg 3 2 Node list By pressing the Pause key during import process the window also remains open regardless of the import success Button Copy allows for copying the listed messages to the clipboard When importing device description files the node number of the following object dictionary en tries is assigned according to the rules of the so called Predefined Connection Set Index Subindex Designation CAN identifier 1014h 0 Emergency 80h 1200h 1 1 Server SDO rx 600h 1200h 2 1 Server SDO tx 580h 1400h 1 1 Receive PDO 200h 1401h 1 2 Receive PDO 300h 1402h 1 3 Receive PDO 400h 1403h 1 4 Receive PDO 500h 1800h 1 1 Transmit PDO 180h 1801h 1 2 Transmit PDO 280h 1802h 1 3 Transmit PDO 380h 1803h 1 4 Transmit PDO 480h CANopen Module for canAnalyser3 13 Copyright HMS Technology Center Ravensburg Chapter 3 Use of the CANopen Module IB 1001 Error register i 1002 Manufacturer status register H 1003 Pre defined error field EB 1005 COB ID SYNC message EB 1006 Communication cycle period EH 1007 Synchronous window length abl 1008 Manufacturer device name 3 abi 1009 Manufacturer hardware version abl 100A Manufacturer software version MB 100C Guard time IB 100D Life time factor a 1010 Store parameters 1011 Restore default parameters EB 1012 COB ID time stamp message 101
34. lt LEDstateRef gt information LEDstateRef LED_red_on Error on import of lt parameter gt information accessList attribute Error on import of lt parameter gt information accessList attribute Error on import of lt parameter gt information accessList attribute Error on import of lt parameter gt information accessList attribute Error on import of lt parameter gt information accessList attribute Error on import of lt parameter gt information accessList attribute Error on import of lt Object gt information object 1800 00 Figure 3 4 Status window when importing device description files 3 2 3 Import of device description files When importing a device description file using the menu commands Import EDS file Import DCF file Import XDD file and also Import ConfigStudio Project there is a binary conversion into a CANopen Module specific format The data imported will be stored to the canAnalyser3 configuration file so that the original device description file s are not needed for message interpretation With the import node specific interpretation rules are gathered from the different object descrip tion files and formats that provide for full real time decoding of all the CANopen communication objects transmitted and received by an individual node An explicit re import of device descriptions from the above mentioned files and formats is made possible with the menu command Reload A11 Even after
35. ly the object type There fore display filtering according to Node ID will work as usual CANopen Module for canAnalyser3 22 Copyright HMS Technology Center Ravensburg 3 5 Menu reference 3 5 Menu reference 3 5 1 File menu Menu item Meaning New Configuration Creates a new configuration Import Options Imports previously exported settings such as display filters loaded de vice descriptions window layout etc from a file Export Options Exports the current settings such as display filters loaded device de scriptions window layout etc to a file Export Messages Writes the exact contents of the view to an ASCII file Effectively this is a screenshot of the current view incorporating all display filters Exit Exits CANopen Module 3 5 2 Edit menu Menu item Meaning Copy CSV Copies marked lines CSV formatted to clipboard Toggle Marker Sets or Removes a Marker for selected message Previous Marker Jumps to previous Marker no wraparound Next Marker Jumps to next Marker no wraparound Set Release Time Reference Sets Timestamp Zero for selected message Releases previ ously set Timestamp Zero Jump to Time Reference Jumps to previously set Timestamp Zero message Only available in Scroll View CANopen Module for canAnalyser3 23 Copyright HMS Technology Center Ravensburg Chapter 3 Use of the CANopen Module 3 5 3 View menu Menu item Meaning Time relative ID hex I
36. n Clear the screen Open Filter and Display Settings dialog Select a reception filter Configure reception filters Show always the most recent frames Set Release Time Reference Display the timestamp in relative format Display the CAN Identifier in hex notation Display the CAN data in hex notation Display CANopen Node ID in hex notation Also show CAN layer 2 columns Display PDO as raw data uninterpreted Display SDO transfers as buffered Optimize Column Widths Show program information Figure 3 13 Toolbar of CANopen Module The main functions of the CANopen Module can also be called via the toolbar Fig 3 13 3 7 Status bar The status bar contains an LED icon that displays the status of the Control Panel or of the CANopen Module LED color Meaning Green Control Panel and CANopen Module are started Flashing red Control Panel is stopped Red CANopen Module is stopped CANopen Module for canAnalyser3 27 Copyright HMS Technology Center Ravensburg Chapter 3 Use of the CANopen Module 3 8 Hotkeys TAB Ctrl TAB F1 F2 Shift F2 Ctrl F2 F5 Shift F5 F6 F7 F8 Ctrl F8 F11 Ctrl A Ctrl C Ctrl E Cirl l Ctrl N Ctrl 0 Ctrl S Ctrl W PageDown PageUp Ctrl PageDown Ctrl PageUp Ctrl 0 Ctrl 1 9 Switch between node list and message views Switch between Scroll view and Overwrite view Online Help Go to Next Marker in Scroll View Go to Previous Marker in Scroll View Toggle Marker in Scroll View
37. o its device description file Object Type Type of CANopen communication object The following object types are distinguished Server SDO SSDO Client SDO CSDO Transmit PDO TPDO Receive PDO RPDO Multiplex RPDO M RPDO Multiplex TPDO M TPDO Network management NMT Emergency object Emergency Node error control Monitoring Time stamp object Times tamp Sync Object Sync Layer setting services LSS Flying master message FLY MASTER Transmit safety relevant data object TSRDO Receive safety relevant data object RSRDO The relative consecutive number of the object is appended where applicable Message Interpreted CANopen message This multi line column finally shows the plaintext CANopen message CANopen Module for canAnalyser3 6 Copyright HMS Technology Center Ravensburg 3 1 Message display Lo USB to CAN V2 automotive CAN 1 CANopen Overwrite Vi Sex File Edit View Functions Trace Options Help D ELS 0 9 notenves Ja 2 0 ALE Node List a e 3 Node ID Device Name Profile Vend Coun Cycletime Min Cycleti Max Cyclet N Object Ty Message MER 10 CANio250 A 401 boat 00 001 992 0 0 000 308 0 36 227 122 Error frame Yi 11 3 36 239 421 0 36 239 421 0 354 062 391 0 10 Emergency Error code 8140 Communication recovered from bus off 48 Trigger events of digital input OFh Digital B 0 Trigger events of digital input 10h Digital B 0 49 1195 00 499 99
38. ommunication parameters These attributes include transmission type inhibit time and of course COB ID Device profiles The device functionality is described via standardized functions in the area of the standardized device profile for manufacturer specific device functions in the area of the manufacturer specific device profile Dummy Dummy entry Dummy mapping is needed to fill gaps in receive PDO mapping DCF Device configuration file The DCF file describes a real existing configured device in a network The structure of the DCF file corresponds to that of the EDS file plus the project specific configuration of this device Amongst other things the configuration contains the baud rate PDO mapping project specific device name set Node ID and the parameterization of the application objects EDS Electronic data sheet The EDS describes the device functionality This file must be provided by the Vendor Manufacturer It contains general and special device data some statistical information about the file itself and most of all the detailed complete Object Dictionary description Emergency object By a high priority emergency object a device signals the occurrence of a fatal internal device error or the reset of one or all internal device errors Support of the device error message is optional The emergency error code specifies the error type in accordance with CiA 301 Guard time The NMT master cyclically transmits a request to the NM
39. on 4 1 02 February 2009 CiA 305 CANopen Layer setting services LSS and protocols Version 2 2 26 August 2008 CiA 306 CANopen Electronic data sheet specification Version 1 3 01 January 2005 CiA 311 CANopen device description XML schema definition Version 1 0 2 17 July 2007 EN 50325 4 Industrial communications subsystem based on ISO 11898 CAN for controller device interfaces Part 4 CANopen CANopen Module for canAnalyser3 33 Copyright HMS Technology Center Ravensburg Appendix B Copyrights B 1 Copyright O 2008 2015 HMS Technology Center Ravensburg GmbH B 2 Additional Copyrights This software contains material that is O 1994 2000 DUNDAS SOFTWARE LTD all rights re served This software installs or updates Microsoft OS components MSXML3 SP5 which are copy righted by O Microsoft Corp This product includes software developed by The Apache Software Foundation apache org Portions of this software was originally based on the following e software copyright c 1999 IBM Corporation This product includes SQLite http www sqlite org This product includes muParser by Ingo Berg CANopen Module for canAnalyser3 35 Copyright HMS Technology Center Ravensburg
40. ontext menu of node list CANopen Module for canAnalyser3 10 Copyright HMS Technology Center Ravensburg 3 2 Node list 3 2 2 Context menu of node list Menu item Command Enabled Enables node related messages display Disabled Disables node related messages display Color Select Selects node background color Opens up the Colors dialog that already contains 16 custom pastel colors but also allows to define own colors The selected colors are used through out the CANopen Module to accentuate all the node specific messages resp settings Color Reset Clears the node background color Import EDS file With the Open File dialog a custom EDS file can be assigned to a node whose Object Dictionary entries and CAN identifiers are read from it Import DCF file With the Open File dialog a custom DCF file can be assigned to a node whose Object Dictionary entries and CAN identifiers are read from it Import XDD file With the Open file dialog a custom XDD file can be assigned to a node whose Object Dictionary entries and CAN identifiers are read from it Object Dictionary Opens the Object Dictionary window Change Profile Opens the Node Properties dialog to choose the standardized CiA device profile for the node Like the EDS DCF XDD Import this has an instant effect on the Object Dictionary entries and potentially the CAN identifiers CAN IDs Assignment Opens the Node Properties dialog to change and edit the sin
41. ows a tabular overview of the names Node IDs profiles and identities of all 127 possible CANopen nodes In addition an individual background color can be assigned to node related messages The selected background color will also be applied to the Node Properties dialog Abb 3 6 Moreover the node list allows for node centered message filtering By clicking on the checkbox the display of all node individual messages can be enabled or disabled Node list supports multiple selection Using key sequence Ct r1 A all nodes can be selected or by clicking single CANopen nodes while holding the Ct r1 key a group of particular CANopen nodes can be selected The subsequent context menu command e g Color Reset or Change Profile then applies to all currently selected nodes CANopen Module for canAnalyser3 8 Copyright HMS Technology Center Ravensburg 3 2 Node list Node Device Name Profile Vendor Product Filename 9 1 H 401 Oh v401 Y 2 M4 401 Oh v401 E M 3 EH 401 Oh v401 Y 4 H 401 0h v401 9 5 4 401 0h v401 Y 6 4 401 0h v401 Y 7 Mf 401 Oh v401 Y 8 H 401 Oh v401 7 9 H 401 Oh v401 9 10 H 401 Oh v401 Y 11 U4 401 Oh v401 Y 12 H 401 Oh v401 Y 13 MN 401 Oh v401 Y 14 H 401 Oh v401 Y 15 401 Oh v401 Y 16 3 401 0h v401 Y 17 M4 401 Oh v401 Y 18 M4 401 Oh v401 Y 19 H 401 Oh v401 Y 20 3H 401 Oh v401 Y 21 H 401 Oh v401 7 22 Ham Ah wd x Figure 3 2 Node list Showing all use of standardize
42. play options can be set e Various column values can be displayed in hexadecimal or decimal format The display format for the individual columns is selected via the menu View the toolbar or by right mouse click on the corresponding column header e To display the corresponding layer 2 messages in two extra columns named ID and Data the menu command View Show also raw CAN data has to be enabled e The font and face can be freely selected This is done using the menu command Options Font CANopen Module for canAnalyser3 5 Copyright HMS Technology Center Ravensburg Chapter 3 Use of the CANopen Module 3 1 1 Scroll View In this view the messages are listed in order of their reception with the following information Fig 1 7 Column Meaning No Continuous distinct number of received message Time rel abs Time stamp of the reception either absolute in UTC time format or relative to the previously received message the display of hours can be switched on and off by right clicking on the column heading ID hex dec CAN identifier of received message This column is visible only if layer 2 messages display is enabled Data hex dec Received CAN data bytes readout This column is visible only if layer 2 messages display is enabled Node ID dec hex CANopen Node ID in decimal or hexadecimal notation depending on whether the View menu item Node ID hex is checked or not Device Name Name of the device according t
43. r3 7 Copyright HMS Technology Center Ravensburg Chapter 3 Use of the CANopen Module Column Meaning Data hex dec Received CAN data bytes readout This column is visible only if layer 2 messages display is enabled Node ID dec hex CANopen Node ID in decimal or hexadecimal notation depending on whether View menu item Node ID hex is checked or not Device Name Name of the device according to its device description file Object Type Type of CANopen communication object The following object types are distinguished Server SDO SSDO Client SDO CSDO Transmit PDO TPDO Receive PDO RPDO Multiplex RPDO M RPDO Multiplex TPDO M TPDO Network management NMT Emergency object Emergency Node error control Monitoring time stamp object Times tamp Sync Object Sync Layer setting services LSS Flying master message FLY MASTER Transmit safety relevant data object TSRDO Receive safety relevant data object RSRDO The relative consecutive number of the object is appended where applicable Message Interpreted CANopen message This multi line column finally shows the plaintext CANopen message 3 2 Node list To the left of the messages view there is the node list Fig 3 2 It is essential for CANopen Module usage not only for its comprehensive context menu Fig 3 3 which includes commands not present anywhere else in the application but also as the node list represents the CANopen network because it sh
44. s dialog 3 2 5 Node Properties dialog In Node Properties dialog all communication objects in use by a node are listed They are colored according to the application global filter and color settings This dialog is also used to switch over the appropriate standardized device profile to be used and it even supports the import of device description files When the device profile is changed or a device description file is imported the list of used CAN identifiers is recalculated according to Predefined Connection Set rules or DCF contents CANopen Module for canAnalyser3 15 Copyright HMS Technology Center Ravensburg Chapter 3 Use of the CANopen Module Control Meaning Node ID Current Node ID of the device Profile Selection of a provided standardized device profile for the node An empty entry means that CANopen base profile CiA 301 1 A 2 is active From File Shows the Open File dialog for assignment of a particular device description file EDS DCF XDD Filename Full name and path of the underlying device description file or of the default profile description Vendor Manufacturer of the device according to OD entry 1018 1 Provided that the Product code Revision Serial number CAN identifiers Dec Hex Add Delete Edit Mapping OK Cancel Vendor ID is registered with CiA the name will be shown accordingly other wise just the number Manufacturer specific product code according to OD entry 1
45. sage display 2 00 ee ee 5 ok Ge ie beg tos Heat ds oia o Ba ee a 6 po nea Se Ee Re RS Sok ve oe de SS 7 3 2 Nodelistt ooa e 8 3 2 1 Description of COMMS ooa daa ERD ED OS 9 3 2 2 Context menu of node list a aoao a a 11 3 2 3 Import of device description files a 12 AR dd A E 14 3 2 0 Node Properties dialog lt lt lt lt lt lt lt 0 lt 0 lt lt eee eee eee 15 3 3 Analysis configuration 2 ee ee es 17 3 3 1 Newconfiguration 2 2 a 17 3 3 2 Adding deleting or changing communication objects 18 3 4 Message filtering concept 2 00000 ee eee ee 20 3 4 1 Display filtering according to object type 20 3 4 2 Display filtering according to Node ID 21 3 4 3 Reception filtering 2 4 52482 ese be eee eb eee ES 21 be Re fer jos ee ee eee a ee oS 23 3 5 1 Elle Menll sss ss ane sas aoe rats eee bee 2 8 doi oe oiis 23 3 5 2 EQU aoe w eh ere ia tte halt one ie oR ae ee eon ee eG ek e 23 3 5 3 Viewmenu 0 2 24 3 5 4 Functionsmenu 0 0 00 2 ee ee ee 25 3 5 5 Trace Meal 2 2 a h on e a a aea E aea a a a 25 3 5 6 Options menu oaoa Bae BS a A RSS 26 3 9 7 Help AA EEE 26 3 6 toolbar har i oprie han ee 27 3 7 Status Dal lt s si a ss a we eee a a a i a a 27 3 0 HOIKGYSle zi dee rra A A e a 28 CANopen Module for canAnalyser3 v Copyright HMS Technology Center
46. the node scan the CANopen Module behaves as an active participant rather than a silent observer with regard to the CANopen network This might irritate and even disturb an existing active CANopen Master During the scanning process the complete analysis configuration of the CANopen Module is overwritten with the default settings of the detected standardized CiA device profiles It is there fore best to perform a scan immediately after program start with an empty analysis configuration To sum up the node scan should only be used sparingly and with awareness of the risk involved 3 5 5 Trace menu Simultaneously to the continuous display on the screen the interpreted messages can be written in real time and unfiltered to a CSV file This is referred to as Inline logging and thus also displayed in the status bar of the CANopen Module Please note that the corresponding log file grows rapidly and that the logging itself puts a strain on the computer Especially when using anti virus scanners with real time scanning serious restrictions in the reaction time may occur If this is the case please use the Trace module of the canAnalyser3 A single log file is limited to 1 GiB size Above this a self acting segmentation takes place by creating a new log file with contiguous segment numbering name scheme Before using inline logging the file name of the log file must be entered using the menu command Trace File Then logging can be enabled via the

Manuals

Contents

Download Pdf Manuals

Related Search

Related Contents