ProCANopen Questions & Answers
Contents
1. unterstUtzt Fehler im EDS 3944 xyz cannot be mapped since xyz kann nicht gemappt The mapping facilities of the devices the number of mapping entries werden da die Anzahl der are not sufficient for this connection for the node is inconsistent with Mapping Eintrage des Control the devices directly from a the number for the receiver and Knotens nicht mit der Anzahl central ECU both nodes do not support beim Empfanger remapping bereinstimmt und beide Knoten kein Remapping unterst tzen 3945 Mapping entries inconsistent Mapping Eintr ge Verify the correctness of the EDS file inkonsistent 3946 Illegal mapping entries Ung ltige Mapping Eintrage Verify the correctness of the EDS file 3947 xyz is in the default mapping xyz ist im Default Mapping The attributes of the PDOs are in way but should not be received by soll aber von der that the channel has to be transferred the partner station Gegenstation nicht together with other channels This can empfangen werden happen i e with ReadOnly PDOs or if no variable mapping is supported To do Select appropriate mapping partners for all channels If this is not possible for the connection between the two devices then the data should be transferred mapped to a central ECU which then has to redistribute it to all the recipients 3948 Mapping entries inconsistent Mapping Eintrage Verify the correctness of the EDS file inkonsistent Application Note AN IO2. Eintr ge bei Ung ltiger Mapping Eintrag The device s facilities are not sufficient to provide the requested mapping Control the device directly from a central ECU Control the device directly from a central ECU Verify the settings of the transmission types Select same transmission type for sender and receiver In this case the broadcast is not possible or not supported Transfer the data to a central programmable ECU and redistribute it to the target device Several objects shall be transported in the same PDO with different transmission types Select same transmission type for all these objects at the sender and the receiver sides No free COB ID found Potentially the PDOs are marked as reserved in the DBT List This can occur in several cases One case could be that some attributes have been set manually Another case could be a problem of the EDS This will happen i e if the EDS states that the device supports variable mapping but the PDO entries are marked as constant or ReadOnly The device s facilities are not sufficient to provide the requested mapping Control the device directly from a central ECU Verify the validness of the EDS Verify the validness of the EDS If this is correct it could be the case that mapping entries have been defined manually by using inconsistent values vector ProCANopen Questions amp Answers 3934 Does not have any assigned Hat keinen zugeordne
3. vector ProCANopen Questions amp Answers 3959 Illegal mapping entries Ung ltige Mapping Eintrage Verify the validity of the EDS do not match due to dissimilar mappings The following connection cannot be made due to lack of device resources If anode does not support remapping it cannot broadcast to multiple receive channels within another node If anode does not support remapping it cannot broadcast to multiple receive channels within another node WARNING The following connection does not contain a 3995 Timer not supported Table 1 Connection Generation Error Codes 4 0 Additional Resources VECTOR APPLICATION NOTE AN AON 1 1103 5 0 Trademarks passen nicht zusammen wegen unterschiedlicher Mappings Folgende Verbindung kann aufgrund fehlender Gerateressourcen nicht hergestellt werden Wenn ein Knoten kein Remapping unterst tzt kann er keinen Broadcast zu mehreren Empfangskandalen innerhalb eines anderen Knotens Wenn ein Knoten kein Remapping unterst tzt kann er keinen Broadcast zu mehreren Empfangskandlen innerhalb eines anderen Knotens WARNING Die folgende Verbindung enthalt keinen Timer nicht unterstutzt Master and Slave in the CANopen World The mapping facilities of the devices are not sufficient for this connection Control the devices directly from a central ECU The mapping facilities of the devices are not sufficient for this connection Control th
4. N 1 1210 vector ProCANopen Questions amp Answers 3949 xyz is in the default mapping xyz ist im Default Mapping The attributes of the PDOs are in way The counterpart station cannot Die Gegenstation kann that the channel has to be transferred set up the partner channel due aufgrund fehlender Map together with other channels This can to lack of mapping support Unterst tzung nicht den happen i e with ReadOnly PDOs or if zugeh rigen Partner no variable mapping is supported einrichten To do Select appropriate mapping partners for all channels If this is not possible for the connection between the two devices then the data should be transferred mapped to a central ECU which then has to redistribute it to all the recipients 3950 xyz is already in the mapping xyz ist bereits im Mapping The attributes of the PDOs are in way but should not be received by soll aber von der that the channel has to be transferred the counterpart station Gegenstation together with other channels This can happen i e by an inconsistent To do Select appropriate mapping previous manual mapping partners for all channels If this is not possible for the connection between the two devices then the data should be transferred mapped to a central ECU which then has to redistribute it to all the recipients 3952 No mapping entry found Kein Mapping Eintrag Verify the correctness of the EDS file Incomplete DCF gefunden Unvollstandi
5. but have different mapping sizes If none of the devices support more PDOs with variable mapping proceed by transferring the data to a central programmable ECU Then redistribute it to the target device vector ProCANopen Questions amp Answers Device has too few COB ID entries Cannot map to xyz since the former is already assigned to another node Cannot map to xyz Different TransmissionTypes Cannot map to xyz since the former is already entered at another point in the mapping Dissimilar TransmissionTypes assigned No PDO available for communication parameters The following channels are constant or ReadOnly Therefore no new value will be assigned to them No available mapping entry found for xyz Serious error in DCF EDS Number of mapping entries for Illegal mapping entry Application Note AN ION 1 1210 Gerat hat zu wenig COB ID Eintrage Kann nicht auf xyz abbilden da ersterer bereits einem anderen Knoten zugeordnet ist Kann nicht auf xyz abbilden Unterschiedliche TransmissionTypes Kann nicht auf xyz abbilden da ersterer bereits an einer anderen Stelle im Mapping eingetragen ist Ungleiche TransmissionTypes vergeben Kein freier PDO fur Communication Parameter Folgende Kan le sind konstant oder ReadOnly Ihnen wird daher kein neuer Wert zugewiesen Kein freier Mapping Eintrag gefunden f r xyz Schwerer Fehler im DCF EDS Anzahl der Mapping
6. cation Note AN ION 1 1210 Gerate ohne Remapping F higkeit unterst tzen keinen Broadcast zu mehreren Kan len innerhalb eines Empfangsknotens Dieses Ger t unterst tzt den Broadcast zu mehreren Kan len innerhalb eines Empfangsknotens nicht oder nur eingeschr nkt Konstantes Dummy Mapping wird vom Empf nger nicht unterst tzt Anzahl der RX TX PDO ist 0 Es kann daher nicht gemappt werden Eventuell liegt ein Fehler im EDS vor Index Fehler beim Ermitteln der Mapping Structure Index Fehler beim Ermitteln der Mapping Structure Ger t hat zu wenig COB ID Eintr ge Mapping length error Transfer the data to a central programmable ECU copy the data to several locations of a new PDO and redistribute it to the target device Transfer the data to a central programmable ECU copy the data to several locations of a new PDO and redistribute it to the target device The PDO shall be linked to a receiver including an already existing Dummy Mapping Entry on the receiver side It is not known which data should be transmitted on the sender side because the CANopen specification explicitly forbids mapping Dummy Entries in TPDOs Verify the settings in the EDS file Verify the correctness of the EDS file If this is not the reason report the problem to the support team Verify the correctness of the EDS file If this is not the reason report the problem to the support team Two PDOs shall be linked
7. e devices directly from a central ECU The mapping facilities of the devices are not sufficient for this connection Control the devices directly from a central ECU The mapping facilities of the devices are not sufficient for this connection Control the devices directly from a central ECU It is not possible to map a receiver to receiver or a sender to a sender Verify the validity of the EDS One common error is to mark a RW channel as mappable In this case the attributes RWW or RWR have to be used More information is given in the CiA DS 306 EDS specification The device does not support the Event Timer Select another transmission type or set the timer to 0 All mentioned names are either registered or unregistered trademarks of their respective owners Application Note AN ION 1 1210 10 vec tor ProCANopen Questions amp Answers 6 0 Contacts Germany and all countries not named below Vector Informatik GmbH Ingersheimer Str 24 70499 Stuttgart GERMANY Phone 49 711 80670 0 Fax 49 711 80670 111 E mail info de vector com United Kingdom Ireland Vector GB Ltd Rhodium Central Boulevard Blythe Valley Park Solihull Birmingham West Midlands B90 8AS UNITED KINGDOM Phone 44 121 50681 50 E mail info uk vector com USA Canada Mexico Vector CANtech Inc 39500 Orchard Hill PI Ste 550 Novi MI 48375 USA Phone 1 248 449 9290 Fax 1 248 449 9704 E mail info us
8. figuration Settings and select your NMT Master as the CANopen Manager see Figure 1 If it is a real CANopen Manager you have to open the Device Access dialog of this device and define it on page CANopen Manager see Figure 2 e nsert all other devices e Perform the command Project Master Slave System Dependent on the Master you can now follow the steps that are required by this Master Refer to the hints in the user manual Application Note AN ION 1 1210 vec tor ProCANopen Questions amp Answers Q13 How do treat centralistic Master Slave System with a Schneider PLC BCAN259 A13 Follow the steps listed in A12 Afterwards configure the object 1F80H in the Device Access dialog Q14 How do I have to continue if want to insert further devices later on A14 Just insert these devices and continue at the point Project Master Slave System 2 4 Miscellaneous Q15 How do model two or more CAN lines A15 For each CAN line create an own project It is possible to open ProCANopen with several instances in parallel Q16 Can simulate several CAN lines A16 Yes Treat each CAN line separately in ProCANopen and generate the corresponding model for CANoe In CANoe you can enter several busses How to define the device common to both lines is described in the CANoe online help Search for the entry Gateway Q17 How do I control on w
9. ges DCF 3953 No COB entry found Kein COB Eintrag gefunden Verify the correctness of the EDS file Incomplete DCF Unvollstandiges DCF 3954 Index error while determining Index Fehler beim ermitteln Verify the correctness of the EDS file the mapping structure der Mapping Structure 955 has no available COB ID hat keinen freien COB ID The mapping facilities of the devices entry anymore The following Eintrag mehr Folgende are not sufficient for this connection connection cannot be made Verbindung kann nicht Control the devices directly from a hergestellt werden central ECU 3956 The mapping is incompatible Das Mapping passt nicht The mapping facilities of the devices The following connection zusammen Folgende are not sufficient for this connection cannot be made Verbindung kann nicht Control the devices directly from a hergestellt werden central ECU has already been mapped ist bereits gemappt The mapping facilities of the devices The following connection Folgende Verbindung kann are not sufficient for this connection cannot be made nicht hergestellt werden Control the devices directly from a central ECU cannot be made due to kann nicht hergestellt The mapping facilities of the devices dissimilar mapping sizes werden wegen are not sufficient for this connection unterschiedlicher Mapping Control the devices directly from a Gr en central ECU Application Note AN ION 1 1210
10. hich CAN line ProCANopen works A17 The following is true for all Vector CAN cards It is explained for the example of the CANcardX Correspondingly it is also true for CANsetter e Start the CAN Driver Configuration Tool You will find it in Windows System CAN Hardware e With the menu Edit Add application you can open the application settings dialog If the entry ProCANopen does not already exist enter ProCANopen in the field Application name Ensure the number of CAN channels to be set on 1 e Return with the button OK e Below CANcardX 1 you can open the channels If you right click with the mouse on the Channel 2 a local menu appears Select the entry ProCANopen e Afterwards you can start ProCANopen and connect to the bus That s it e You may also switch this afterwards between the channels again and again by simply right clicking on the channel and selecting ProCANopen What you need to do is always to disconnect from the bus then switch and then connect again Q18 How do change the Node ID of a module in the project A18 Changing a Node ID is a process with more impacts than can be imagined on the first view For example what happens with the COB Ids Some may be pre configured and depend on the Node ID Others may be configured by the user and will not change when changing the Node ID In order to avoid insecure behavior ProCANopen does not allow changing the Node ID directly With the following steps a new node wi
11. ng COB IDs according to an internal complex set of rules Q2 Can I assign priorities to PDOs A2 ProCANopen offers the possibility to assign priorities to PDOs This is similar to the concept of the CANopen predecessor CAL Synchronous PDOs are always assigned a priority of 2 whilst asynchronous PDOs can be assigned a priority of 3 5 Besides some other rules ProCANopen takes the priorities as decision base for assigning the COB IDs Q3 What are the rules for assigning COB IDs A3 ProCANopen observes the access attribute of PDO entries the priority rules and has an algorithm for distributing COB IDs for finding a solution for the requested set of connections How this is done in detail is not published Copyright 2011 Vector Informatik GmbH Contact Information www vector informatik com or 49 711 80 670 0 vector ProCANopen Questions amp Answers Q4 How do force ProCANopen to use the pre defined connection set A4 To use the pre defined connection is only possible in pure Master Slave Architectures For this the Master has to fulfill the definitions of CA DS 302 If that is the case the graphical connection dialog shows an additional button Insert PDOs On that button ProCANopen will assign the pre defined COB IDs for the slave and create network variables according to the mentioned DS 302 In the case that all connections shall apply to the pre defined connection se
12. ping only consists of Es wird angenommen dass if some entries have been edited xyz das Mapping nur aus xyz manually and inconsistent or if the besteht EDS is not correct 3941 Variable sizes do not match Variablengr en passen nicht Two objects with different sizes have zusammen been mapped Normally this happens only in some few cases Mapping has been read on line from the devices Mapping has been manipulated by external influences Mapping has been edited manually If the application requires to map exactly this way the the automatic generation cannot be used One work around may be to mark the PDO as fixed The other possibility is to define all mappings manually Application Note AN ION 1 1210 vector ProCANopen Questions amp Answers a receiver einen Empfanger one same receiver object beschreiben If the application requires this then transmit the data to a central ECU which can logically combine the data 3942 Xyz is already mapped More xyz ist bereits gemappt Es It is absolutely forbidden that two or than one sender cannot write to k nnen nicht mehrere Sender more devices transmit data to control and then controls the target device 3943 xyz cannot be mapped since xyz kann nicht gemappt Verify the validness of the EDS the number of mapping entries werden da die Anzahl der is 0 and the device doesn t Mapping Eintrage 0 ist und support remapping Error in das Gerat kein Remapping the EDS
13. s a CANopen Master A8 This is discussed in detail in the application note Master and Slave in the CANopen World Q9 How do model a slave with NMT Master functionality A9 A Master with an object dictionary is described in its EDS file ProCANopen has full knowledge about all features of an EDS and of the CiA DS 302 that describes the behavior of a Master Concerning PDO communication nothing specific has to be considered If the pre defined connection set shall be use read the chapters in 2 1 The configuration of node guarding and heartbeat can be done in pages of the Device Access dialog that show up only if the EDS states that the used Master supports these features Application Note AN ION 1 1210 vector ProCANopen Questions amp Answers Q10 A10 What do I have to do for ProCANopen to recognize a node as the NMT Master Open the dialog Options Settings Configuration Settings and select your NMT Master as the CANopen Manager see Figure 1 If it is a real CANopen Manager you have to open the Device Access dialog of this device and define it on page CANopen Manager see Figure 2 Settings A V mx Device Access ID 1 Master oE Configuration Setti Deeg Zi Master CANopen Manager CANopen Manager F SORE SIONS seuns GEN Si x Device State NMT Startup etwork name open netwar SYNC z Configuration Storage Ra
14. t refer to chapter 0 Q5 How can I change the COB ID assignment A5 The COB IDs assigned by ProCANopen are thought as a proposal for one possible solution Of course there are many different solutions In order to change the COB IDs the Device Access dialog should be used There the values can be edited directly Once the graphical connection is opened again all these values could be changed by ProCANopen again In order to avoid this it is possible to fix the PDOs This is done with in the PDO list that can be displayed with the command View PDO List Q6 Do need to use the graphical connection A6 The graphical connection dialog has the purpose to provide a very comfortable way of creating connections between several devices It is specifically helpful and optimized for distributed systems with slave to slave communication But assigning PDOs can also be done by the traditional way directly entering the values for the PDO entries in the object dictionary This is a more painful work but has the advantage of more transparency Q7 How do have to interpret the error messages of the connection generation report A7 There can be many reasons for error reports here Often the background is missing mapping facilities of the device or an invalid EDS description of the device For a list of the most important reports refer to chapter 0 2 2 Master Device Q8 What i
15. ter The attributes of the PDOs are in way partner but is in the default Partner ist aber im Default that the channel has to be transferred mapping Mapping together with other channels This can happen i e with ReadOnly PDOs or if no variable mapping is supported To do Select appropriate mapping partners for all channels If this is not possible for the connection between the two devices then the data should be transferred mapped to a central ECU which then has to redistribute it to all the recipients 3935 Dissimilar TransmissionTypes Unterschiedliche Verify the settings of the transmission TransmissionTypes types Select same transmission type for sender and receiver ES Receiver does not have any Empfanger hat keinen COB ID Verify the validness of the EDS Ee ID entry Eintrag 3937 The receiver COB is already Der Empfanger COB wird One COB ID can always be being used by another sender bereits durch einen anderen transmitted only by one device It is devices transmit data to control one Sender benutzt absolutely forbidden that two or more same receiver object If the application requires this then transmit the data to a central ECU which can logically combine the data and then controls the target device 3939 No or incomplete mapping Kein oder unvollstandiger The mapping entries are described in entry exists It is assumed that Mapping Eintrag vorhanden an inconsistent way This can happen the map
16. th the requested Node ID can be created without loosing all information 1 Copy the node into the clipboard 2 Insert it again with paste Enter the new Node ID Application Note AN ION 1 1210 vector ProCANopen Questions amp Answers 3 Remove the old node 4 Check all settings 5 Create new connections 3 0 Connection Generation Error Codes The connection generation mechanism tries to resolve possible problems autonomously Anyhow in many cases this is not possible The following list gives an overview about the most important error codes Some of the texts occur more than once but with different codes this is intended Some of the messages are generated dynamically Therefore the list can give only samples The exact texts sometimes may differ slightly No Sample Message English Sample Message German Description Workaround Devices without remapping capability do not support broadcast to multiple channels within a receiver node 3402 This device does not support broadcast to multiple channels within a receiver node or only with limitations 3403 Constant dummy mapping in receiver not supported 3910 Number of RX TX PDO is 0 Therefore mapping is not possible Possible error in EDS 3914 Index error in determining mapping structure 3915 Index error in determining mapping structure Device has too few COB ID entries 3916 Mapping length error Appli
17. vector ProCANopen Questions amp Answers Version 1 3 2011 07 21 Application Note AN ION 1 1210 Author s Juergen Klueser Restrictions Public Document Abstract This Document gives answers on typical questions on ProCANopen application Table of Contents 1 0 OLETA E E E E E EEE E E A E E E 1 2 0 Questions and Answers sssssssesseseeeeieeririririririritirirititititittstststrt srst St SESE SESE SESE SESE SESE SESE SESE SES ESSES nenese ne 1 2 1 PDOs and Connechons snert sssr e nenn nn nnne nn nn nnan nn EEEE EEEE aE EE EEEE EE anaE EEan EEE EnE nannan 1 2 2 Master ewe E E E A E E E Sa oe cuca E bas cod vc EE E E E E E E 2 2 3 Centralistic Master Slave SySt6MS ocsi iai ai ERAAN 3 2 4 Miscelane sS sarnana a EE E K REEE AE Aa aE aE E aaa Aa EKAA 4 3 0 Connection Generation Error Cod iseseisana aa E aa aaa E 5 4 0 Eeer Re 10 5 0 Cl un EE 10 6 0 Tu 11 1 0 Overview The ProCANopen user manual gives hints for using ProCANopen Anyhow a manual is not intended to discuss every possible application This document has the task to close this gap step by step 2 0 Questions and Answers 2 1 PDOs and Connections Q1 Does ProCANopen change COB IDs A1 ProCANopen checks the settings in the EDS file If the COB ID entries are read only it takes them Dependencies on the Node ID are described with a formula of the style NODEID 0x180 If the entry has the attribute read write ProCANopen assumes that it has the freedom of assigni
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19. w value 1F80H hex 01 Detail CMT Settings Network number 1 CANopen Manager Process Image F CANdb Baud rate kBit s 125 x scn Heartbeat Slave Assignment Password SE EI Name iD Ted Rety 1F81 Flags Application Profile G Object Dictionary 0 Device 1 10 0 0 01 Application Settings ii Devica Master L Deaice 2 11 0 0 IO CANchkEDS View CAN Hardware Global Apply to Slaves Abbrechen Ubemehmen Hilfe CMT CANopen Manager 1 Masted X d Figure 2 Configure the CANopen Manager I Configuration Manager Abbrechen Hite Figure 1 Set the NMT Master 2 3 Centralistic Master Slave Systems Q11 What is a centralistic Master Slave System in this context A11 This term applies for systems with a dedicated CANopen Manager All connections in the system are connections between the Master and the Slaves There is no Slave to Slave communication Q12 How do treat a centralistic Master Slave System in ProCANopen with lowest effort A12 If it is a Master providing dynamic network variables follow the steps below Otherwise treat it as a normal device in a Multi Master System This description is valid for ProCANopen Version 5 0 SP2 and later e Create a project e Inthe Options Settings PDO enable the option PDO COB IDs which are described in EDS should not be invalidated on loading e Insert the node for the Master device e Open page Con
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