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1. C DCF loX6 840 5 def BL group 1 Control devices EZ node 126 1EC61131 3 PLC 4 EDS plc 4pdo eds DCF plc64pdo 126 def B C node 127 1EC61131 3 PLC I EDS pic64pdo eds DEF pic64pdo_127 def Select Producer Linking Mode unlimited object linking Description Each network is managed as a project within the CANopen Configuration Manager Within a project the devices can be combined to different groups Groups can be assigned arbitrarily according to device properties e g I O devices drives according to node ID ranges or with regard to their physical arrange ment Devices can be added to a group via their EDS files or a network scan PC CAN Interface required CANopen Configuration Manager project files can be reused by the CANopen Device Monitor Object links Configuration of the object links is done by simply marking the objects shown in the table view Internals of the CANopen protocol are hidden from the user and the presentation is application specific CANopen notations like node 3 object 0x6040 subindex 0x00 are replaced by the more descriptive parameter name from the EDS file e g statusword The selection of invalid combinations of application variables due to incompatible datatypes is not possible and so errors are eliminated in the preliminary stages of the configuration Further attributes like priorities or SYNC intervals can be ass
2. The graphical CANopen Design Tool is available for the creation of the object directory the electronic data Sheet EDS file and for the documentation of the device in HTML or text format The CANopen Device Monitor can be utilized for commissioning but also for the implementation and test phase As a fully implemented CANopen master the CANopen Device Monitor with a graphical user interface assures access to all services in the network and also allows analysis of the bus traffic For the development of CAN application monitoring and analyzing the CAN bus traffic is essential The service oriented display of CANopen messages of the CAN REport allows easy and quick interpretation of CANopen messages Besides the communication objects of the CiA 301 several application objects in different device profiles are also specified in CANopen These definitions guarantee a defined behavior of the corresponding device class and enable the interchangeability of CANopen devices For these different device profiles port provides exten sion modules as an add on to the CANopen Library These modules allow the customization of an applica tion based on the CANopen standards All modules are available in ANSI C source code and can be used with all versions of the CANopen Library Please have a look at the information of the data sheet CANopen Library Extension modules System environment The CANopen Library runs on targets with and w
3. WADE Default Values Lamae M hex Supported CPU s port makes available the CANopen Evaluation Soft ware for the following microprocessor families with internal CAN controllers e Atmel T89C51CCO1 e SiLabs C8051F040 e Infineon C505C e Infineon C515C e Infineon C167CR e Infineon XC 164 e Fujitsu MB90F497 e Fujitsu MB90F543 e Freescale HC908 68HC908GZ60 e Freescale HCS12 MC9S12DG128B e Freescale DSP 56807 e Texas Instruments TMS320LF2407 e Texas Instruments TMS320F2812 Using the CANopen Evaluation Software for related controllers is mostly possible without problems In general this means adaption of the initialization soft ware and linking it to the correct addresses 2007 www port de port Compiler The projects on CD were created by the following compilers e Atmel uVision2 Keil C51 e SiLabs uVision2 Keil C51 e Fujitsu Softune Workbench e Infineon family uVision2 Keil C51 Keil C166 Infineon C166 XC166 family Tasking C166 e Freescale family Code Warrior and Cosmic e TI signal processors TMS320F240x TI Code Composer e TI signal processors TMS320F28xx TI Code Composer Studio Hardware Targets Typical hardware targets of different manufacturers are supported the modules produced by Phytec e demo board of Atmel e demo board of SiLabs Cygnal e DIMM Module of Graf Syteco with Fujitsu CPU eZdsp system kit of Spectrum Digital with Texas Instruments D
4. The comprehensive documentation ensures that the driver can be easily ported to another hardware plat form by the user Configuration possibilities The driver provides access to the CAN controller by several means e Memory Mapped Mode addressing the CAN controller via the address space of the CPU e I O Mapped Mode addressing the CAN controller via the I O address space of the CPU e Latched Mode addressing the CAN controller via address latches The used access method for accessing the CAN con troller register depends heavily on the used hardware and can be adopted by means of access macros The driver for the FullCAN controller types provide the usage of FullCAN Mode filtering CAN messages in hardware for all channels available 1 channel for sending or receiving FullCAN mode with 1 transmit channel one transmit channel for all transmit messages all other channels are configured as receiving chan nels using the hardware filter e BasicCAN mode I transmit channel for all CAN messages I receiving channel for all CAN messages The last two modes provide the possibility to use devices with FullCAN controller that support more CAN objects as are provided from the hardware of the CAN controller 2007 www port de port Many drivers do contain code for e step by step initial operation of the driver quick error detection extensions that have been added due to customer requests that can be enable
5. 97 2007 www port de 28 CANopen Evaluation Software Overview The CANopen Evaluation Software contains all neces sary software components to create and to test full functioning CANopen devices on different hardware targets It is useful to explore of all the advantages and power of the CANopen Library and the associated tool chain To have a fast start ready configured examples and detailed documentation of the CANopen Library and software tools are provided on CD part GmbH Augunsburger Siraba 7b D 46132 Halle Sanin Garman Tal 40 2406 7 77 Rb Fax 44 345 7 77 65 28 anal serdoe port de Wi fear port de Evaluation Software V4 3 5003 dn port GmbH 2004 Description The CANopen Evaluation Software makes it possible to learn more about the CANopen Library and the software tools without a great investment in time and money Available are the object code for the CANopen Library the object code for the CAN driver application examples in C source code the project files for the compiler the User and Reference Manual e design and device commissioning tools The following communication services are supported by the object code library e Minimum Boot Up e NMT services e Service Data Object SDO Process Data Object PDO e Heartbeat All the examples are designed to use only internal resources of the respective micro controllers There fore they mostly can be
6. 0 0260 software source projekte ekami can oj xj File Edit Generate Show Options Help CADERE General Settings Mask Structure Optimization General I EDS Settings Hardware Configuration PDO Settings CH Configuration 0 r Transmission Mode T ype 2 Synchronous C RTR only J Debug Settings CPU Settings E Compiler Settings DCH CAN Settings 0 Asynchronous Manufacturer specific Profile specific H E CAN Settings 1 Nie Rani bk a4 H E CAN Settings 2 e CAN Settings 3 Resulting Value Optional Settings o I Use Sub Index 3 0 65535 100 ps 9 Additional Settings B Object Dictionary a Data Types 3 5 Communica tion Segment F Use Sub Index 5 0 6553 D fr 1000 Device Type Jl 1001 Error Register H fr 1005 COB ID SYNC D al 1007 Synchronous Window ri 1017 Producer Heartbeat Tir 9 Iol 1018 Identity Object The inhibit time ensures that lower prior messages can get the bus JE General Settings IV Enable dynamic PDO Mapping Max dynamic Mapping Entries 16 5 afm 1600 Receive PDO Mapping Manufacturer Segment Device Profile Segment These settings are valid for all PDOs Header files are generated that are included in the CANopen Library The advantages of this tool do not only lie in consistency of dev
7. 6030 Polarity 1 Input Line 1 125 6038 Filter Constant 1 Input Line 1 6050 Interrupt Mask 1 Input Line 1 6060 Interrupt Mask 1 Input Line 1 6070 Interrupt Mask 1 Input Line 1 6100 Read State 16 Input Lines 6102 Polarity 16 Input Lines 6103 Filter Constant 16 Input Lines 6106 Input Interrupt Mask 16 Input 6107 Input Interrupt Mask 16 Input 6108 Input Interrupt Mask 16 Input 6120 Read State 32 Input Lines 6122 Polarity 32 Input Lines bles Filter Constant 32 Input Lines Index Offset E d Import Cancel Import mask for a profile database Generation After an automatic check of the data for consistence missing entries or incompatible data types the following files are created e the XML EDS file e documentation as HTML and plain text optionally an EDS file using the previous CANopen format 2007 www port de port If the check fails errors and warnings are written into ie Ordering Information u 1761 10 POWERLINK XML ED W Profile Databases Full Version Windows 1761 20 POWERLINK XML ED L Full Version LINUXTM The profile databases contain the objects of the corresponding profile Each object is configured Functional demo versions of the software tools are according to the standard and is explained in detail available for download on our web site For every kind of objects in a profile a prototype is http www epl tools com shop html included and this object can be cloned by copyi
8. Diagnostics The company SI Kwadraat is a qualified partner for all ques tions regarding CAN technolo gies in the Benelux countries http www si kwadraat nl mailto info si kwadraat nl SYSTEEM INTEGRATIE INDUSTRIEEL Sistemas Embebidos SA Spain For all Spanish speaking coun tries SISTEMAS EMBE BIDOS S A Espa a is your partner Sistemas Embebidos is a well known Systems Integra tor in Spain Sistemas Embebidos S A http www embebidos com mailto sistemas embebidos com Warwick Controls WCT UK Founded in 1999 Warwick Control Technologies have been providing unparalleled expertise tools and development services for embedded controllers and systems within the automotive and industrial automa tion industries Warwick Control Technologies http www warwickcontrol com mailto enquiry warwickcontrol com 2007 www port de Services port has a long experience in usage of CAN CAN open and POWERLINK fieldbus technology for embed ded systems We provide products like the CANopen Library the POWERLINK Library as well as helpful tools for development of CANopen POWERLINK devices and working with applications that make use of CAN CANopen or POWERLINK We do not only offer our products to customers but offer our customers support for handling application engineering and implementation of CAN CANopen and POWERLINK projects in form of engineering ser vices trainings and
9. The provided functions fulfill all demands of the stan dard e determination of master device in a network e detection of the active master e priority driven master negotiation e check for multiple master The application is informed about changes of the mas ter state with indication functions CiA 302 Redundancy Communication For employment of communication systems in mar itime applications a redundant bus system is required Because only the communication has to be redundant all services provided by CANopen can be used by this package With function calls the redundant 21 2007 www port de 29 communication is handled automatically by the library Information about other events in the different bus systems like drop out of one bus line restoration of a bus line missing communication and others are provided to the application with indication functions Redundancy needs at least two CAN controllers port offers implementations for stand alone CAN con trollers as well as with microcontrollers with more than one CAN integrated CiA 302 SDO Manager SDO Requesting Devices SDO connections exist exclusively between Client and Server For the operation of configuration and analysis software as well as HMI which are only tem porarily present in a network static SDO connections are not possible For these cases the use of dynamic SDO connections is foreseen With the extension module CiA 302 SDO Manager SDO Reques
10. adapter circuit board for easy connection of oscillo scope probes AC DC adapter with wide range input power cable 1 8 m manual including CD service case 49 2007 www port de 50 CANwatch Highlights fast recognition of installation errors e preventive diagnosis allows increase of system availability scanning of the analog signal and evaluation of the signal quality e suitable for system integrators and plant operators Description CANwatch is an analyzer supporting easy error detec tion during installation and operation of CAN net works CANwatch judges the analog signal on the bus and detects errors like e g Invalid levels overshoots slow slopes and short circuits within the signal lines Besides the diagnosis of problems during installation CANwatch offers the possibility to detect signal defi ciencies below the level causing failures This allows preventive error recognition and thus an increase of the availability of automated systems Errors on the physical level of the CAN bus cannot be detected by protocol analyzers and could until now only be analyzed by specialists with expensive and bulky hardware Due to the easy diagnosis and display with LED s CANwatch offers fast detection and cor rection of errors also to installers and plant operators Display The result of the measurement done at the bus is dis played using 12 different LEDs s CAN OK CANwatch sets this L
11. memory address area of the PC The appropriate data areas are mapped by CPC PCI PCIe and plug amp play software into the memory address space The memory used by CPC PCI PCle is divided in sev eral sections The control registers allow the detection of the interface type similar to the interfaces CPC Card CPC XT and CPC 104 and the generation of interrupts for each CAN controller separately The access to the CAN controllers occurs via a separate memory space for each interface In these memory spaces the sending and receiving buffers as well as the control registers of the CAN controllers are acces sible 57 2007 www port de port Scope of Delivery e Plug in board CPC PCI PCIe e manual e Sample code e CPC drivers for Windows M2000 XP Vista LINU XTM Ordering Information 0665 01 CPC PCI SJA1000S GTIS 1 channel 0665 02 CPC PCI SJA1000D GTID 2 channels 0669 01 CPC PCIe SJA 1000S GTIS 1 channel 0669 02 CPC PCIe SJA1000D GTID 2 channels 0690 10 CPC Serie Development Kit Windows 0690 20 CPC Serie Development Kit LINUX 58 2007 www port de PCI CAN Interface PCI IntelliCAN Highlights Technical Data intelligent PC interface board with fast 16 bit microcontroller for real time applications support of 2 channels CAN Part 2 0B active size 108 x 155 mm power supply from PC temperature range Oto 70 C processor types C165 20 MHz easy interfacing between
12. mine bitrates The bootloader has to be linked on a fixed address within the user code flash memory Some object directory entries are linked statically and cannot be changed The full version without restrictions can be obtained from port GmbH via licensing agreement and doesn t have the restrictions mentioned above For details please contact service Q port de Hardware Requirements Through the use of the hardware independent CAN open Sourcecode Library of port the bootloader can be used on all supported target platforms Solely the flash routines have to be adopted Please inquire for the availability of the targets As a client a PC interface hardware USB CAN CPC USB or USB XS PCI ISA or gateway according to the CiA 309 3 EtherCAN is needed Software Requirements A CANopen software able to do SDO domain trans fers and supported by a CAN interface board is needed A download program runnable under LINUX or Windows as well as some other tools e g to generate aCRC checksum can be downloaded from port s web site Installation and Setup In the upper area of the bootloader the configuration areais located Adjust the values of the configuration according your requirements with a hex editor struct OxCO 3FEO 7 UNSIGNED32 vendor_id S sett 3FEA 7 UNSIGNED32 product_code OxCO 3FES8 UNSIGNED32 revision_number OxCO 3FEC UNSIGNED32 serial_number OxCO Srro
13. sort by type place time signal to noise ratio typ 0 75 3 0 V resolution 50 mV online trigger resolution 10ms 1min real time inspection for logical and physic errors bus monitoring permanently with regard to stati cally recessive or dominant respectively or bus running bus workload factor permanent display of percentage value firmware and FPGA configu ration update by USB 2007 www port de port Technical Data Ordering Information trigger output BNC socket 0800 02 CAN Bus Tester II CBT II for oscilloscope galvanically separated When ordering please specify the country connection passive where it should be used to CAN bus bus connection 2x 9 pin SUB D connector design connector with 1 1 connection PC connection USB V1 1 galvanically separated update via USB supply voltage extra low voltage socket accord ing to DIN 45323 supply voltage 9 36V DC power consump 0 55 0 15 A tion size Ixwxh 170 x 125 x 40mm weight 570g enclosure aluminum box safety EN 60950 1 IP 20 protection according to EN 60529 EMC EN61000 3 2 EN55022 interference resistance EN 61000 6 2 temperature operation 5 C 40 C range storage 20 C 60 C Scope of Delivery CAN Bus Tester CAN adapter cable SUB D cable Open Style cable M12 USB cable 3 m BNC cable 1 5m
14. Configuration Manager 7 Safety Communication I 17 Redundancy Supot 7 ssServiees 17 LED Indicator KAKA CiA 401 Framework III GA 402 Framework I 7 All hardware specific parts are decoupled from the CANopen protocol stack through a defined driver interface This provides easy adaptation to different hardware platforms The user application communicates with the CANopen Library through function calls and call back func tions Configuration and scaling of the CANopen Library is done with the help of the CANopen Design Tool 17 2007 www port de 18 port which is delivered as CANopen Design Tool Light ver sion With it the CANopen Library can be tailored to an optimum to the available resources of the applica tion Besides the creation of the object directory all settings for the hardware can be carried out with it Description hardware dependent CANopen Driver Package Timer Interrupt handling The CANopen Library consists of a hardware inde pendent and a hardware dependent part that communi cate with message queues The hardware dependent part consists of controlling software for the CAN con troller and timer functions detailed description can be found in the CANopen Driver Package The application communicates only with the hardware independent part of the CANopen Library That way it is possible to exchange drivers without any influ ence on the functional
15. Library Driver Packages ccccccssesecceeeceeeeeceeeeseeeeeeeeeessaaaees page 24 CANopen Evaluation Software cccccccccccsseeeeeeeceeeeeceeeeseaeeeeeeeeseaeaaes page 28 CANopen Bootlloadekeems rrr Wee N Gs seeeeceecscsseeeeeeseseeees page 30 CANopen Gateway Server COA200 23 page 32 3 CANopen Tools N ofen Diesen OOl H NN page 33 CANopen Device Monitor aoaannunennnnnnnnnersnnnnoerrrnosrrrrrsnrrernrrrrrerrrrennne page 36 CANopen Configuration Manager page 38 4 CANopen Starter Kit Glen ott otar KA eaa WEEN page 41 5 Software Components for DeviceNet DeviceNet Slave Development kt page 43 6 CAN Diagnostic Tools CAN Analyzer CAN Hoor page 45 BUS Tester Il BA As EEN Neves ER page 48 CAN is ica NR gt ER VOR page 50 7 CAN Interface Boards REG SEN 9 2 SD RD page 51 En ANIGINEWAY Benno A en 008 page 52 GENE MERA CA o a page 54 USB CAN Interface CPC USB ee 2 S a page 55 USB CAN Interface USB BASIC XS Get page 56 PCI CAN Interface CPCG PCHbPCle cccccsssseeeeeceeeeeseeeeaesseeeeeeeeeesesaaes page 57 PCI CAN Interface PCliotelC AN page 59 can4linux Linux Device Driver page 60 can4vxworks Device Driver for VXWOTfKS soesssnnsnnnsensrrrerrrerrrerrsrrrene page 61 8 Software Components for Ethernet POWERLINK Introduction to POWERLINK ccccsseccceeseeeeeeceeeeceeeseeseeessaeeeeeesaeseeeessae
16. PCs and CAN networks Hardware configuration via PCI software services memory 8 kB DPRAM 16 bit plug 1 4 12 KB SRAM 16 bit data monitoring 28 kB FLASHROM 8 bit e on board data pre processing optional 512 KB CAN controller SJA 1000 operating system Windows9x NT 2000 XP Description CAN connector CAN I 9 pin Sub Min D CiA standard CAN II 9 pin Sub Min D The increasing number of PCI slots and the high CiA standard demand on real time networks dominate today s PC PC bus interface PCI BUS world The dual channel PCI IntelliCAN board is a PIN C ar onnector serial sync special design for PCs with PCI slots The PCI Intel serial async liCAN s designed for real time data acquisition and 4 x digital in out processing by using a fast 16 bit microcontroller 5 x digital in optional 8x analog in gins 3 ARE 10 bit resolution 0Vto5 V Ae HUDD WII DIOU LE LE S bd 5 S 00 ae Slee WP ee ms oo Ill 1 e G OUT UI HIH lt Scope of Delivery es il Le 2 E Jomo i board PCI IntelliCAN on tg user manual on CD e LevelX user manual on CD Hardware configuration via PCI software services e LevelX drivers for Windows 2000 XP Vista plug and play A DPRAM interface for host inter e examples for Windows facing is available The customer can use LevelX DLL for the easy programming of own complex application
17. Settings EG Obiect Dictionary CI Data Types E CH Communication Segment 1000 Device Type 1001 Error Register 1017 Producer Heartl 1018 Identity Object 1200 Server SDO Pa Ze N 8 000 Number of E ynamic Mapping 8 001 COB ID Cie Structure Optimization PDO Settings Transmission Mode Type Synchronous sr RTR only Asynchronous Manufacturer specific Profile specific Resulting Value Optional Settings _j Use Inhibit Time 0 65535 100 us I Enable dynamic PDO Mapping General PDO Settings Enable bitwise Encoding for PDOs No automatic mapping for SYNC PDOs before sending fra 1400 TPDO Mapping CI Manufacturer Segment CJ Device Profile Segment OG Reserved Area Enable User Function before transmission of synchronous PDOs I Enable RTR PDO Indication Function Description With the CANopen Design Tool a powerful tool is available which frees the developer from error prone and repetitive tasks It guarantees the consistency of the implemented functionality device documentation and Electronic Data Sheet EDS By default the CANopen communication profiles CiA 301 and CiA 302 are delivered with the tool In addition to the CiA 301 database databases are pro vided for a large number of CANopen device profiles and for the CANopen communication profile CiA 304 The object dictionary produced by the CANopen Design Tool supports numerous options of the CANopen Library from port
18. and PC 104 or an Ethernet interface like the standalone CANopen Gateway Server EtherCAN of port System Requirements Operating System Windows 2000 XP Vista LINUXTM Processor Pentium IV or later RAM 256 MByte Harddisk Space gt 20 MByte available Ordering Information 0642 10 CANopen CDM W Full Version Windows 0642 20 CANopen CDM L Full Version LINUXTM 0642 11 CDM CiA304 Safety Extension 0642 12 CDM CiA305 LSS Extension 0642 13 CDM CiA402 Drives Extension Functional demo versions of the software tools are available for download on www canopen tools com 37 2007 www port de 38 CANopen Configuration Manager Overview Large CANopen networks with several devices and a multiplicity of inputs and outputs can have a complex ity that is hard to manage without powerful tools The CANopen Configuration Manager is such a tool that simplifies the configuration of CANopen net works Using the CANopen Configuration Manager connec tions between devices and their configuration settings can be configured conveniently So the PDO linking is simplified enormously D s HF t T gs amp J CANopen Network BE 03 group 0 10 devices BH node 1 CANopen IO X5 I node 2 CANopen IO X2 B 037 node 3 CANopen 10 X3 C EDS loX3_24D0 eds I DCF loX3_24DO_3 def 8 node 4 CANopen IO X4 i 4 EDS 10X4_8Al eds DEF loX4_8Al_4 def BE 07 node 5 CANopen 10 X6 C EDS loX6_8A0 eds
19. ble without additional or modified software over LAN dialup or Internet connections www port de CANopen Library Overview The CANopen Library provides all required services for a CANopen compliant communication according to the communication profile CiA 301 V 4 1 It facili tates easy and fast development of master and slave devices and is able to serve one or multiple CAN Controller in one device The CANopen Library is available in different expan sion stages e Slave Small e Slave e Master Slave The functional range can be extended by additional modules LSS Redundancy Flying Master CANopen safety see CANopen Library Extension mod ules Access to the hardware is carried out via a defined driver interface which is available for many CPU and CAN controller with and without operating sys tem see CANopen Driver Package Application The CANopen Library is based on ground of the com munication profile CiA 301 V4 1 of the CiA e V CANopen Application Layer and Communication Profile and EN50325 4 respectively and provides all services specified therein It is completely written in ANSI C and can be compiled with every ANSI C compliant compiler Depending on the required scope of functionality the CANopen Library is available in different expansion stages For development of small sensors and actua tors with limited CANopen services the Slave Small Version is available Its limitation
20. d 3 d VAR EXTERHAL 5 Hbd Wreitedutputihtoth BYTE E HE Wreitedutputihtoth BYTE 7 H70 Writeoutputflhto h BYTE HT _ResadInputihtosh BYTE 3 HT _ResadInput3htol h BYTE 10 HES Analoginputih IHT 1i HES Analoginputzh IHT 12 HES Analoginputsh IHT 13 HES Analoginput4h IHT IEC61131 Variable declarations 2007 www port de port Program outputs The following files are generated after completion of Ordering Information the configuration e DCF files e Concise DCF files 0545 10 CANopen CCMbasic W e JEC61131 Variable declarations for PLCs Windows e a detailed project documentation 0545 12 CANopen CCMpro W Windows 0545 20 CANopen CCMbasic L Parameter download LINUX When the computer is connected via a CAN interface 0545 22 CANopen CCMpro L to the network the complete configuration or only LINUX changes of a single node can be sent directly to the 3 devices on the network Similarly it is possible to Functional demo versions of the software tools are read the configuration of a node or even a complete available for download on www canopen tools com network Additionally the CANopen Configuration Manager is able to control devices with NMT com mands Advantages simplified PDO linking consistency of the configuration throughout the net work direct parameter download possible support of CANopen PLCs detailed project documentation reuse of the project fil
21. developed standards are con stantly incorporated into the CANopen Library In order to take profit of the changes port offers all its customers a maintenance agreement with the fol lowing conditions O updates free of charge for the contracted period O free of charge support for the CANopen Library and topics of CANopen e Support for initial operation In order to provide a quick and effective access to the development of CANopen devices we recom mend to do the initial operation of the CANopen device together on the target platform Customer experiences of his her hardware and the used com piler and the experience of our engineers with 19 2007 www port de pert CANopen and the CANopen Library can comple ment each other This leads to reduced development times and a CANopen conform device Conformance Test In preparation of the charged Conformance test of the CiA we provide you our service knowledge and equipment With the preparation and execution of preliminary tests possible problems can be detected and removed System analysis consulting and support Take profit of our Know How during planning and development of your CANopen devices and net works An ideal design requires knowledge about the used protocols and the system environment Our competent engineers create together with you a cost efficient solution that fits your needs to an opti mum Software development services for CAN CANopen and DeviceN
22. i EMS delivers CAN products Loe ae and software for a wide range of industrial applica tions http www ems wuensche com mailto marketing ems wuensche com Embedded Solutions AG USA EMS Embedded Solutions supports and distributes a range of prod ucts in the USA The port tools are supported on their S ARM and ARM9 based products ES AG runs Embed ded Linux and Windows CE http www es usa com mailto info es usa com I ME Actia I ME ACTIA GmbH is e 100 subsidary of the French iv em ACTIA Group I ME ACTIA 7 L Emp ny ofthe ACTIA gou micro electronics and serial ACTA networks like CAN VAN J1850 http www ime actia de mailto info ime actia de is a specialist in the area of Neomore France Neomore offers open efficient NeoMore and innovative solutions for fast development of embedded and real time applica tions http www neomore com mailto sales O neomore com Pyramid Solutions Inc USA PYRAMID SOLUTIONS Software Engineering amp Systems Integration port is using the DeviceNet experiences of Pyramid Solu tions to provide a complete spectrum of CAN protocols in Europe Pyramid Solu tions is a recognized leader in software engineering and systems integration with a comprehensive techni cal staff http www pyramidsolutions com mailto gbeal Qpyramidsolutions com SI Kwadraat Netherlands SI KWADRAAT Machine Network ing Vision and
23. in Automation to integrate the CANopen communication and device profiles in Eth ernet POWERLINK together The combination of the advantages of real time Ethernet using POWERLINK and the CANopen profiles offers a continuity from the simple sensor network over fast motion control sys tems up to the factory network The integration of the open device profiles is already completed Service providers like port GmbH offer software tools and services for the POWERLINK device development Meanwhile the EPSG works on useful extensions like the time synchronization in complete enterprise net works and the integration of security relevant func tions POWERLINK development goals e Fast Ethernet according IEEE802 3u 100BASE TX as a transmision medium e Use of standard network hubs and standard cables deterministic transmitting of cyclical data with a minimal cycle time of 200 us Jitter smaller than 1 us Transmitting of deterministic and time uncritical data e Use of standard IP protocols TCP UDP HTTP POWERLINK mode of operation In POWERLINK all data transmissions are checked by a manager Managing Node MN to avoid frame colli sions in the Ethernet network The network devices Controlled Node CN only send when they are asked for it by the manager An POWERLINK cycle is divided into two time domains A Start of Cyclic SoC frame sent by the manager as a broadcast message to all controllers starts the s
24. initial operation Support in this form is very efficient and reasonable when the project schedule is tight Software development Services port provides the following engineering services implementation of the CANopen and POWERLINK communication profile implementation of CANopen device profiles implementation of DeviceNet device profiles consultation in the field of CAN CANopen and POWERLINK application specific implementation and extensions customer specific Embedded LINUXTM develop ments for Ethernet The success of port is based on solutions for tasks of different areas of controlling systems that cannot be solved with standard software Benefits for our customers We are of benefit for our customers by long standing experience in the industrial sector of fieldbus technology good expertise as provider of software based solu tions high flexibility in development of customer specific solutions flexible adoption of products of port to customer requirement on time realization of challenging customer projects Starting with the definition of the requirements and continuing with steps for system design implementa tion and integration up to software testing port pro vides all its customers a complete development from one source At all steps contact to the customer plays an important role This guarantees adherence to the project schedule and adherence to the planned costs as well as security in reproducibility of
25. interpretation of CAN messages is provided by a sup plementary software module This module contains commands to establish commu nication channels and to read and write object attributes It can be used to test the DeviceNet com munication of devices built using the DSDK Ordering Information 0245 01 DeviceNet Slave Developers Kit AMD80188EM SJA 1000 0245 02 DeviceNet Slave Developers Kit C167CR 0245 03 DeviceNet Slave Developers Kit LINUX can4linux 0245 04 DeviceNet Slave Developers Kit CodeComposer TI TMS320F240x 0245 05 DeviceNet Slave Developers Kit CodeComposer TI TMS320F2812 on request 0245 0x add on module Position Control 0570 11 DeviceNet SDK Integration Support 0580 10 CAN REport W Vollversion Windows 0580 20 CAN REport L Vollversion LINUXTM 0580 12 CAN REport DeviceNet Extension 44 2007 www port de CAN Diagnostic Tools CAN Analyzer CAN REport Overview The CAN Analyzer CAN REport s an efficient and versatile tool for analysis and commissioning of CAN based networks according CAN 2 0A and 2 0B like CANopen and DeviceNet The built in scripting capability allows to use it uni versally at development and test of CAN devices besides the normal possibilities of displaying the received CAN messages It is especially useful in the field of industrial CAN networking The separation of hardware interface CAN access and visualization software allows
26. is accelerated It is a tool with which device databases can be pro duced and processed These databases contain infor mation which describe the interface for the POWER LINK network of the device These parameters con trol and status information that are accessible over the network are stored in the Object dictionary The major task of the POWERLINK Design Tool is to administer and create these data in an object database and to create code for the POWERLINK Library from it Ethernet POWERLINK Object dictionary The generated code which contains the object dictio nary s included into the user modules This ensures that each user variable can be accessed directly via its index and sub index The produced object dictionary represents the data interface between library and user appliction Ethernet POWERLINK Library Configuration To configure the POWERLINK Library a header file is created which contains the hardware settings and the configuration of the used POWERLINK services These services are derived automatically from the object dic tionary EDS File A fourth result of the tool is the Electronic Data Sheet EDS The EDS belongs to the standard documents that have to be supplied with a POWERLINK device It is an XML text file according to ISO 15745 which contains all relevant information about the application device These files are used by configuration tools and control devices in order to install POWERLINK devi
27. of objects with the Controlled Nodes CN and a large buffer for asynchronous TCP IP communication with CNs The MN may act as an POWERLINK Router appearing to the host as a network adapter Technical Data Supply voltage SV 3 3V Max 12W Bus Frequency 33MHz 100x170x21 mm HxLxD PCI Slot approx 1508 Temperature range 0 C 50 C opt 20 C 70 C Ordering Information 0552 01 POWERLINK PCI SHF 2007 www port de POWERLINK Gateway Overview port s universal POWERLINK Gateway s a small box with two Ethernet ports The real time port is con nected to an POWERLINK network The other port acts as an interface to an IP network Running SND s HyNetOS operating system and POWERLINK V2 0 stack it can be used either as CN based gate way router or as MN based gateway router With this Gateway an POWERLINK network can be integrated seamlessly into an intranet allowing to access POW ERLINK devices from every PC in your office Any PC connected can thus reach any Powerlink node v a TCP IP ping HTTP FTP etc without disturbing the real time cycle Optionally port offers special software interfaces for PC based configuration tools like POWERLINK Device Monitor as well as an interface for the analysis tool POWERLINK REport Description The gateway consists of two units with one Micro WebTarget MWT2 XS Board each Every board has an 128MHz E1 16XS processor from Hyperstone and an Ethernet C
28. on scan ObjFlags I Refuse write on download ObjFlags fri 1648 NWL IpGroup REC f 1F82 NMT FeatureFlags U32 fm 1F83 NMT_EPLVersion_U8 Value al 1F93 NMT EPLNodelD REC Upper Limit fr 1F94 NMT HostName STR a 1F9E NMT ResetCmd US LI Manufacturer Segment LI Device Profile Segment J Valid after reset ObjFlags D E fra 6000 Read State 8 Input Lines 8 000 Number of Elements _ Default Values Mest 8 001 digital Inputs 1 8 E 002 digital Inputs 9 16 BE fri 8200 Write State 8 Output Lines zl p 3 000 Number of Elements D hex Description With the POWERLINK Design Tool a tool is available which frees the developer from error prone and repeti tive tasks It guarantees the consistency of the imple mented functionality device documentation and Elec tronic Data Sheet EDS By default the POWERLINK communication profile s delivered with the tool In addition to the POWERLINK specific communication database other databases are provided for the CAN open device profiles CiA 401 CiA 402 CiA 406 and CiA 417 The object dictionary produced by the POW ERLINK Design Tool supports numerous options of the POWERLINK Library from port e g segmented struc turing A tree representation of all implemented parameters and data facilitates the maintenance of the device software The POWERLINK Design Tool eases the first step into the POWERLINK protocol and device development
29. programming of own complex applications under WINDOWS 9x 2000 NT XP ME An easy to use and install CAN monitor application the PcCANControl is containd in the scope of deliv ery High demands are satisfied with the CAN ana lyser application CAN REport Technical Data PC bus interface USB version 1 1 full speed mode Microcontroller C165 18 634MHz Memory 512k 16bit RAM 512 byte EEPROM 128k 8bit FLASH 512k optional Power supply 8 24VDC Power consump typ lt 100mA 12VDC Temp range 0 to 55 C Housing plastic Weight 200g Size 150 x 68 x 25 mm CAN connector 15 pin Sub Min D female Scope of Delivery e BASIC XS hardware e RS232 and USB cable 75cm e LevelX manual on CD e LevelX driver for Win 2000 XP Vista Power supply is not included Ordering Information 0703 01 BASIC XS Set 0580 10 CAN REport W 0580 20 CAN REport L Functional demo versions of the software tools are available for download on www canopen tools com 2007 www port de CAN Interface CPC PCI PCIe Highlights passive CAN interface for PCI and for PCIe slots one or two CAN controller NXP SJA 1000 optional galvanic separation of the CAN channels optional separate power supply of the CAN chan nels with integrated DC DC converter supports 11 bit frames and 29 bit frames e development kit for Windows and LINUXTM available Description The CAN interface
30. send data from the PC into the POWERLINK network or log the POWERLINK traffic on the PC Thereto port offers a special software interface for the PC based configuration tool POWERLINK Device Monitor as well as an interface for the analysis tool POWERLINK REport Description The card which is to be plugged into a free PCI Slot of the PC consists of three Ethernet ports You can configure up to two real time or generic ports The third port is linked with an intern hub to one of the two networks and belongs consequently to this net work The three Ethernet connections are labeled 0 1 and 2 Connection 0 has its own controller called Interface 0 while connections 1 and 2 are connected to the sec ond ethernet controller with an integrated hub called Interface 1 All communication between the host system and the local processor is done via the Dual Port RAM DPR which has a size of 512KB Every Ethernet port has two LEDs which indicates a link resp net work activity Furthermore the card has several status and error LEDs With an address switch the user can set the node id of the device So the card can act as a Controlled Node too Every node id unequal to 240 causes the function as Controlled Node The object indices are references to the Ethernet POWERLINK specification Most objects of the Man aging Node MN are mapped directly into the Dual Ported Ram The Managing Node supplies buffers for a direct exchange
31. site http www halle de Berlin LEI Berlin J Hamburg Hannover Bo 1 BRO Bitterfeld nn Halle Leipzig Bruckdorf L 1 Leipzig Berlin M nchen Merseburg Dresden Halle Ammendort J Radewell ge Osendorf Frankfurt Main Nurnterg Our business premises are located in the southern part Ag of Halle This district of Halle Saale is called Merseburg Ammendorf The easiest way is from the south on the Heli Main rnberg main road B91 In addition coming from other direc tions you arr ve at Ammendorf directly by all means on the main road B91 in a southward direction 10 82 2007 www port de pert On the city map of Ammendorf you can see how to find port GmbH there B91 Zentrum a Leipzig p ae N f A 7 d T E lt Am Gr nen Weg Merseburg B91 Parking Places Parking places are available on the road in front of the business premises or on the parking place at the back side of the house 10 83 2007 www port de port Notes 10 84 2007 www port de
32. slp rsnr Icon L ssnr SCON Command L tid rsp seg 7776867812 Kg e 168 100 110 gt 194 173 33 141 8495 sp0 slp rent omman rsp 0 a 0 seg G 7776873785 81 194 17 33 141 gt 192 168 200 110 3819 SDO slp rent mmand Layer tid 2 rsp D 0 seg 0 cid 2 Icon 4 ssnr 0 0 1 1 1 1 0 1 0 rcon 1 ssnr 1 scon 2 I 2 0 scon 2 0 2 2 2 rcon 2 ssnr 2 scon ead by Index 1000 00 1776881810 ae 192 168 100 110 gt 194 173 38 141 8495 SDO air rsnr 2 rcon 2 ssnr 1 scon 2 a tid rs a seg ci ss sad pet Index Response 000000000040402044657669 0x00000000 7776889783 90 194 173 33 141 gt na 168 100 110 3819 slp rsnr 1 rcon 0 ssnr 3 scon D tid D 0 a 0 seg 0 sae ae 7797342701 81 194 173 33 141 gt 192 168 100 110 3819 SDO slp rsnr 0 rcon 0 ssnr 1 scon 1 Command Tarver tid N ren asf aen sl rid f as N Node 110 14 of 98304 connected to 194 173 33 140 v1 0 A special feature of the POWERLINK REport is the interpretation of SDO messages The sequence layer and command layer protocol is analyzed in detail and all important information is extracted Additionally different SDO message types are displayed with different colors Diagnosis With it numerous diagnostic features the POWERLINK REport can be used for the diagnosis of running networks A monit
33. the user Extensions to control drives according to CiA 402 a CANopen Safety Plugin CiA 304 and a LSS mod ule CiA 305 are additional available The CAN communication can be logged saved and evaluated afterwards The console is an extra feature With the console an interactive access to the CANopen network is possible by using commands for e SDO and PDO transfers network management services e Heartbeat and Node Guarding Time Stamp SYNC Emergency Eile Console Edit Prefs History pic3 58 2 67 r 0x1000 0 u32 a 67 r 0x1008 D vs pics 59 X 67 w Ox1017 0 ulG 0x3e8 pic3 60 Z 67 preop K Complete sequences of commands can be combined to procedures by the embedded scripting language The scripting language is available for different oper ating systems By using the CANopen Library and the CANopen Design Tool from port the developer gets a closed tool chain for creating CANopen compatible devices Through the scripting language access to elements of the graphical interface is also available The graphical representation of values or test results is therefore application specific extensible port GmbH can perform special adaptions to the GUI or behavior to meet CANopen device characteristics for service or assembly testing CAN Interfaces The usage of the CANopen Device Monitor requires a CAN interface CAN interfaces are currently avail able for USB ISA PCI parallel port serial port
34. 1 Network Client device n Ek Internet CANopen node 2 DSP309 1 DSP309 services services CANopen node 1 TCP IP DSP309 3 1 or local TCP IP connec tion I CANopen node 127 CANopen network n It can operate on an arbitrary number of TCP IP clients and CANopen networks The CANopen CiA 301 services NMT SDO PDO EMCY Heart beat and Nodeguarding are supported as described within the CiA 309 1 With the SDO domain transfer services it can carry out up and downloads of firmware or any other data like images Additionally it acts as LSS master and allows complete configuration of unconfigured devices The CANopen Gateway Server can be used as ready to use CANopen application to setup a graphical inter face to access a CANopen network like it is done with the company s proprietary CANopen Device Monitor Instead of a general purpose CANopen monitor inter face complete user applications can be developed that provide maintenance and service menus to administrate or configure the CANopen nodes in CANopen networks Special purpose applications can be built with the source code of the CANopen Gateway Server It allows the extension of the CiA 309 3 command inter face to provide further functionality to access other devices that are connected via RS232 RS485 or paral lel interfaces CAN Interfaces The usage of the CANopen Gateway Server requires a CA
35. 1a xml Filz Eile Edit Generate Show Options Help D salsa alo D General Settings General EDS Settings EI Line 0 DC Object Dictionary BH Data Types 3 Communication Segment Manufacturer Segment 2 Device Profile Segment E fr 6000 Read State 8 Input Lir 8 000 Number of Elements 8 001 digital Inputs 1 8 8 002 digital Inputs 9 16 a ret 6200 Write State 8 Output L 8 000 Number of Elements 8 001 digital Outputs 1 8 Il 002 digital Outputs 9 16 m 6202 Polarity 8 Output Line fm 6206 Fault Mode 8 Output I fr 6207 Fault State 8 Output L m 6208 Filter Constant 8 Outp fil 6220 Write State 1 Outout L hex ES Structure Optimization Sub Index Index Sub Index W PDO Mapping EDS Name Digital Inputs 1 8 Data Type UNSIGNEDS w Access Read Ony v Size fo Lower Limit x0 gt Unit value ha foxo Upper Limit OxFF Default Values Reset Description With the POWERLINK EDS Editor a tool is available which frees the developer from error prone and repetitive tasks It guarantees the consistency of the Electronic Data Sheet and the documentation By default the POWERLINK communication profile is delivered with the tool In addition to the POWERLINK specific communication database other databases are provided for the CANopen device profiles CiA 401 CiA 402 CiA 406 and CiA 417 The POWERLINK EDS Editor eases the first step in
36. 4 Safety Relevant Communication SRDOL SRDOL SRDOL SRDOL SRDOL SRDOL SRVT expired sat say SRVT In order to transmit safety relevant data in a CAN net work further measures have to be taken This is done with this extension package Communication takes place with so called SRDO e Safety Relevant Data Object These objects have communication and map ping parameter like PDO The further measures con sist of sending data as plain and inverted data with differ ent CAN identifier monitoring of sending data cyclically and in correct order protecting communication and mapping parameter with a checksum additional activation flag in the object directory All monitoring functions can be realized with func tions of the CANopen Library but considering safety aspects monitoring functions should be implemented by the application developer Consistency of the data in the object directory is achieved through further safety measures modification of communication and mapping parameter is only allowed in the state PRE OPERA TIONAL on modification all data lose their validity mapping data is also stored inverted a checksum calculated over all data of an SRDO is checked when changing into state OPERATIONAL With this all planned safety measures of the standard are realizable 2007 www port de port CiA 305 Layer Setting Services The extension package LSS Layer Setting Services for t
37. 6 Input 6120 Read State 32 Input Lines 6122 Polarity 32 Input Lines Sr bles Filter Constant 32 Input Lines Index Offset E 0 Import Cancel Import mask for a profile database The second step is the parameterization of the objects Pre installed default values limit values and access attributes have to be adapted to the application needs For the communication parameters input masks facili tate the creation of the service objects and the config uration of partially bit coded values like e g PDO set tings Generation After an automatic check of the data for consistence missing entries or incompatible data types the follow ing files are created the object dictionary objects h the configuration file epl_conf h e the XML EDS file and documentation as HTML and plain text Profile Databases The profile databases contain the objects of the corre sponding profile Each object is configured according to the standard and is explained in detail By import ing these prefabricated objects into the own project the development time can be reduced and the risks of a manual implementation are minimized The following profile databases currently available CiA401 Device Profile for Generic I O Devices CiA402 Device Profile for Drives and Motion Control CiA404 Device Profile for Measuring Devices and Closed Loop Controllers CiA417 Application Profile for Lift Control Sys tems
38. 60 103926 705 0xZ2cl sD 20 00 00 00 1092130360 865 Node 37 Req Rd Init 1000 00 1092130360 866 Node 111 Req Abort SD0 protocol timed out 1092130362 348 D5401 device I Req Wr Exp 1017 00 value 0x03e8 1092130362 350 D5401 device I Resp Wr Exp 1092130362 386 bus coupler 1 Req Wr Exp 1017 00 value 0x03e8 1092130362 393 bus coupler 1 Resp Wr Exp 1092130362 428 Heartbeat_bus coupler 2 State PRE OP 1092130362 328 NMT Command Enter Operational Node Node 0 1092130665 576 Heartbeat bus coupler 2 State OPERATIONAL 1092130665 593 I 0 Modul 1 AnIn_l Oxlc60 AnIn 2 0x19c0 1092130665 644 I 0 Modul 1 AnIn l Oxlc40 AnIn 2 0x19a0 vi Ext ATA Id Length BO Bl B2 B3 B4 B5 BE B7 Repeat Time Message Name C C fox lei Jo To f To To fo _Send Ja Preoperatona For the CANopen protocol messages can be dis played service oriented in separate logging windows Furthermore it is possible to develop application extensions for interpretation of proprietary protocols The integrated scripting language allows universal usage during development test and maintenance The CAN REport consists of the CAN hardware interface and the visualization software Both are connected as server and client by a standard TCP IP network connection This separation makes it possi ble to use the CAN interface as a remote interface 1 e both parts can be located at different computer sys tems Remote monitoring of CAN networks is possi
39. AC frames by hardware extremely short response times are reached Special receive filters allow pre filtering of POWERLINK messages by the MAC controller and 3 port releases the software from this tasks These filters Hub support the pre selection of Ethernet frames that are re needed by the processing software Based on the used settings only those frames that match the filters are stored in the receive buffers This mechanism releases PHY PHY the CPU from processing frames not relevant for the software l oc oc For the MAC unit a VHDL firmware design was developed that is optimized for POWERLINK data In connection with the POWERLINK HUB not only a transfer straightforward connection to an POWERLINK network is provided but also a sophisticated solution with tech nical parameters short response times fast reaction to network events that conforms to the requirements of the POWERLINK standard is available Description With FPGAs custom made scalable and future proof solutions open up for the equipment manufacturer Technical Data The reusability of IPs quick time to market and high cost efficiency are substantial advantages of a FPGA based solution E g a solution with Industrial Ether net interface hub logic and processor core can be number of required blockRAMs ioe CS implemented in one single AILINA FPGA Further Xilinx EPGA more the embedded processor can directly be imple EON processor connect
40. ANopen Driver Packages DP provide access to the hardware of the CANopen Library of port The Driver Packages are the keys for the usage of the tar get system independent of CANopen Library They are designed for target systems with and without oper ation systems Description The CANopen Driver Packages provide all necessary functions for initialization of the hardware controlling the CAN Controller message filtering message buffering and e provision of a timer period by means of a well defined interface A CANopen Driver Package is comprised from a CPU DP CPU a CAN DP CAN and where applicable a driver for an operating system DP OS These drivers can be used in any combination The following table shows hardware combinations of CPU and CAN drivers that are often used by our cus tomers Microcom roller ism ity Qo Oh P ol Ki G w H 0 Y ci Ge La x I Ji e Oh Les e er Fr Io x y Lei Ji in H e X o 5 O CAN Controller 1 ig j x Imegrsed CAN Microconm roller independa mi ANSI C driver ej 8051 Family OEL LACH Iminson 1862y DR Motorola Sa Fujitsu 16Lx ee Iminson C5x5C Imel 82527 Ei eee re PP et ee Sach AN Beene eee Seng Te CEE All drivers are available as documented ANSI C source code This allows easy and quick adoption to system specific hardware and trouble free compilation with all ANSI C compliant ANSI C compilers
41. C_CAN DP TMS320LF2407 for eZdsp Board TMS320 internal CAN DP TMS320F2808 2812 for eZdsp Board TMS320 eCAN DP TMS470R1B1M ARM7 with HECC DP Microchip dsPIC33F256 dsPIC33F with ECAN DP Microchip dsPIC24F256 dsPIC24F with ECAN KI 2007 www port de 26 port Order Code Name of System 0565 37 0565 43 0565 44 0565 39 0565 46 0565 49 0565 21 0565 22 0565 24 0565 27 0565 13 0565 16 0565 15 0565 17 0565 29 0565 01 0565 50 0565 14 0565 51 0565 52 DP Microchip dsPIC30F6011 12 13 14 dsPIC30F60xx with CAN DP Microchip PIC18F2680 PIC18F2x8x with ECAN DP Microchip MCP2515 with SPI Interface example for XC164 DP NXP LPC2129 with internal CAN DP Beck IPC Chip 1x3 with internal CAN DP NEC PD70F3231 V850 ES FE2 with aFCAN DP Renesas M16C29 with internal CAN DP Renesas M32C 87 with internal CAN DP netX with internal CAN DP DSTni EX DSTni System on a Chip DP CPC Windows CPC CANopen driver for Windows EMS Wiinsche e g useable for passive CPC PCI card CPC USB Interface DP Level X Windows CANopen Treiber for Windows I ME ACTIA e g useable for active PCI card PCI IntelliCAN USB XS Interface PC 104 board DP Peak light Windows CANopen driver for PCAN light Inter face PEAK Service GmbH on request DP CAN AC2 Windows CANcard API compatible hardware Softing Driver for Wi
42. DP CAN Philips LPC21xx DP CAN Microchip MCP2515 DP CAN Atmel AT91SAM7A3 SAM7X DP CAN NEC aFCAN DP CAN TI HECC e g TMS470 serie CPU type DP CPU Freescale MC683xx on request DP CPU Freescale MC680x0 on request DP CPU Infineon C16x DP CPU TI TMS320F2000 DP CPU Fujitsu MB90F54x 49x DP CPU Freescale MPC823e DP CPU Atmel T89C51CC0x DP CPU Dallas 80C390 400 DP CPU Mitsubishi M16C 6N DP CPU Freescale DSP 56F800 DP CPU Freescale HCS12 X X DP CPU SiLabs 8051 DP CPU Freescale HC08 DP CPU Infineon XC166 DP CPU MicroChip dsPIC30F60xx DP CPU Atmel AT91SAM7A2 DP CPU Philips LPC21xx DP CPU Freescale Coldfire DP CPU Atmel AVR AT90CAN128 DP CPU Microchip PIC18F2x8x 2007 www port de port Order Code CPU type 0567 23 0567 24 0567 25 0567 26 0567 27 0567 28 DP CPU Atmel AT91SAM7A3 DP CPU Freescale 56800E DP CPU NEC PD70F3231 DP CPU TI TMS470B1M DP CPU Microchip dsPIC33F DP CPU Microchip PIC24H Operation system Order Code OS type 0568 05 0568 10 0568 15 0568 16 0568 20 0568 xx 0568 xx DP OS Windows 2000 XP DP OS VxWorks DP OS RTX 51 DP OS RTX 166 DP OS LINUX DP OS embOS on request DP OS FreeRTOS on request The supported number of drivers s constantly extended If it happens to happen that your hardware is not yet listed we would be happy to provide support for developing your own driver for the CANopen Library 1 hardware dependent deviations from standard functionality
43. ED with each recognized telegram and resets it cyclically Serious CAN Failure A basic errors on the CAN is indicated e g short circuit of GND and CAN High or CAN Low respectively CAN High locked CANwatch recognizes a short circuit of the CAN High line to a fixed level CAN Low locked CANwatch recognizes a short circuit of the CAN Low line to a fixed level Over Undershoots The CAN difference signal of a registered telegram is affected by over undershoots in a severe degree Slow Slopes The CAN difference signal of a registered telegrams is affected by slow signal slope Invalid Dominant Level A telegram with dominant level above or below the threshold level of ISO 11898 was registered Invalid Recessive Level A telegram with recessive level above or below the permitted level according to ISO 11898 was registered Error Frame Display The indication of the error frames is the percentage of errors compared to the number of registered telegrams The display is divided into the ranges 0 1 1 1 5 5 100 Technical Data Limiting Values Parameter Min Max Storage temperature 20 C 80 C Operating temperature 0 60 C Supply voltage 100V 35V Voltage on bus connections Pin 2 7 2V 7V Admissible power consumption at 60 C 2000mW Any also temporary stress in excess of the limiting values may cause permanent damage on CANwatch and other connected devices Ex
44. Furthermore CAN REport provides the trigger func tionality to wait for specific CAN messages and con tinue logging after the specific CAN message was received The trigger dialog consists of the three parts Trigger Event Action at trigger event and Logfile options Up to three different CAN messages can be specified as trigger CAN REport Trigger Trigger event active Id ATA Data dont care p Da TT TT TT emp M fiss Tk menu FEEF use cme Hp MITT TTT TT eee Action at trigger event o x Fre T rigger Number of messages 1 UU Show messages to logging window fe Write messages to file Logfile Options Loofile floc tx Choose logfile Stop logging only when user stops logging C after message Ce after E minutes when message with ID arver Start Trigger Cancel Stop Trigger Interactivity With the help of the integrated console convenient commands for accessing the CAN network interac tively are available These commands can be used in test scripts Commands as wr for the sending of mes sages or wait for the synchronization with CAN messages on the network belong to this purpose With the following command sequence while 1 1 wait 1799 we 0x100 Oxa Sem HOR VE the following message sequence can be observed 2007 www port de port The commands can be combined into sequences or procedures All semantics of modern high level lan Ordering Inf
45. INK devices in a POWERLINK network The embedded scripting ability makes it possible to access the imple mented POWERLINK services and to write test or con trol applications with a minimum of effort POWERLINK Device Monitor Node 28 IO Device Eile Edit Yiew Connection Extras Windows Help Q gy Node ld za 3 set 8 29 30 3 a 98 a a pad ULL TUNGAUETTUP REG PDO FR Ce 2 1E40 NWL IpA amp ddrTable Oh REC Action NMT Description G 1E4A NWL_IpGroup_REC SC r Value Entry H 1F8C NMT_CurrNMTState_U8 a a Hex 0x59 Dec 88 CQ 1F93 NMT EPLNodelD REC a a 1F98 NMT CycleTiming REC 1F99 NMT CNBasicEthernetTimeou D 1F9A NMT HostName VSTR E 1F3E NMT ResetCmd Lg 9 Manufacturer Segment 2 0 Device Profile 1 used for saving configuration OCF File component of DCF file Acyclic updete Action _ Receive from Object DO 6000 Read State 8 Input Lines 000 Number of Elements e S Object value G 001 digital Inputs 1 8 89 002 digital Inputs 9 16 D 6200 Write State 8 Output Lines 0 85 170 255 000 Number of Elements 3 001 digital Outputs 1 8 online connected to 194 173 33 141 Send to Object The information on how to display the device object dictionary is obtained from the EDS file of the device EDS Electronic Data Sheet according to ISO 15745 or can be scanned from the device directly Description The program s graphical user interfa
46. N interface CAN interfaces are currently avail able for USB ISA PCI parallel port serial port and PC 104 or an Ethernet interface The CANopen Server is available for the standalone Ethernet gate ways EtherCAN of port and IGW900 of SSV EtherCAN IGW900 CPC USB System Requirements Windows 2000 XP LINUXTM Embedded systems any gt 16 Bit CPU TCP IP protocol stack or serial interface Operating System Processor Software Ordering Information 0644 03 Source Code 0644 11 PC Software for Level X 0644 17 PC Software for CPC PCI 0644 18 PC Software for CPC USB 0644 19 PC Software for Linux 0644 22 Software for Beck IPC Chip SC1x3 0540 04 EtherCANopen standalone gateway 0850 03 IGW 900 standalone gateway 2007 www port de CANopen Tools CANopen Design Tool Overview The CANopen Design Tool is a tool for rapid and cost saving development of CANopen applications devices It generates an object dictionary and an ini tialization function in C code an Electronic Data Sheet and the documentation of the project automati cally Furthermore it simplifies the configuration of the CANopen Library and of the CANopen Driver Packages BE CANopen Design Tool 2 2 for Library V4 4 projects digin pro1 can Eile Edit Generate Show Options Help Eu A pe C General Settings D Mack General EDS Settings Hardware Configuration E D Line 0 CJ EDS Settings CJ Standard Settings I Additional
47. NV AN Product Information Il 2007 Development Environment and Software for CAN CANopen DeviceNet Ethernet Ethernet POWERLINK http www port de http www epl tools com Contact us eMail service port de newsletter port de WWW http www port de http www canexperts de http www epl tools com port Gesellschaft f r computergest tzte Automation mbH Regensburger Stra e 7b D 06132 Halle Saale Germany Phone 49 345 77755 0 Fax 49 345 77755 20 Company Profile 22 200200000000n Software Components CANopen CANopen Tools nnnanennnnnnnnnnennnnnnnnnnennvennen CANopen Starter Kit nnranennrnnnnnnnennnenner Software Components DeviceNet CAN Diagnostic ToolS ranennnnnnennnennuvnnen CAN Interface Boards ek KKK ENNEN 2007 www port de port 2007 www port de Table of Content 1 Company Profile COUCE uuo ES page 7 Parme WAA ME WIDUTOTS 2 00ccccececcceccceecccesccceeeseeecceeescecesceessceeeseeeess page 10 CEST n EE page 11 Lean ff EEN page 12 Reference LISt sg Ba ueassessasesnsennneennnnennnnnnnnnnnnnnennnnnnannnnnnneennneen page 13 2 Software Components for CANopen Introduction to CANOpen eaannnsennannnnnneennnnnnnsnnnnnosennnrrnnsnnrnrnnsnnnreeesnnnne page 15 CAN f l eg OE Wee n Dn EE page 17 CANopen Library Extensions rrnrrnnnnrrnrnnnnrevrnnnnrrnrnnnnrennnnnnnennnnsnsennnnn page 21 CANopen
48. Nopen Server m4d running on the EtherCAN realizes the complete handling of the CANopen proto col It runs as a Network Management Master can configure LSS slaves with the LSS commands and supports the following CANopen services e NMT Services e Heartbeat Node Guarding e SDO Services including Domain Transfers e PDO Consumer and Producer e SYNC Producer e Emergency Consumer Cyclic services like SYNC of Heartbeat are handled autonomously As protocol between a client application and the CANopen Server the CiA specification DSP309 3 is used at the Ethernet side For a comfortable handling of the CANopen Server the platform independent and graphical application CANopen Device Monitor can be used 2007 www port de port For CAN based systems without High Layer protocol the EtherCAN provides the CAN server horch that can send all received data via a TCP IP port to other appli cat ons Client Client Client Web Browser Web Browser Web Browser HTTP HTTP HTTP Internet Gateway EtherCAN CANopen network wa ove fen process process process process Sending CAN message via the CAN server is possi ble too In the easiest case the server is used as a CAN analyzer via the Ethernet The CAN Analyzer CAN REport can be used for this Advantages The main advantage of such a network linking is the possibility to remote control or do a remote observa tion and or service of machines and installations from any pl
49. POWERLINK Merge The optionally available POWERLINK Merge PlugIn is a tool to compare and to merge POWERLINK Design Tool projects A detailed presentation of each attribute of indices and sub indices and comfortable editing facilities simplify the handling of multiple projects The integrated diff report generator gener ates expressive diff reports in XML 15 x Eile Options Merge Za e ior FPG JL A E General Settings General EDS Settings General Settings 2 General EDS Settings Hardware Configuration 3 Special Settings Hardware Configuration E Special Settings BC Line 0 Line 0 EDS Settings EDS Settings OJ Standard Settings OJ Standard Settings OJ Additional Settings DCH Object Dictionary OJ Additional Settings 2 9 Object Dictionary 4 Data Types 4 Data Types BC Communication Segment 8 09 Communication Segment CH 1000 Device Type CH 1000 Device Type 1001 Error Register 1001 Error Register ECH 1006 Manufacturer Device Name ECH 1008 Manufacturer Device Name CH 000 Manufacturer Device Name ECH 1016 Identity Object CJ 000 number of entries 5 001 vendor Id CH 002 Product Code AccessType RO RO E 003 Revision number Lowerlimit 0x0 0x0 CJ 004 Serial number gent S 4 UpperLimit OxFFFFFFFF OxFFFFFFFF Value 0x0 0x10001 Both projects are different I Data Type UNSIGNED32 UNSIGNED32 Default in EDS 0 0 EDS Name Revision n
50. Producer O no dynamic PDO mapping O no SYNC PDOs C no bit wise mapping e PDO Consumer O no dynamic PDO mapping O no SYNC PDOs C no bit wise mapping e Heartbeat Producer object dictionary implementation All applications generated with the starter kit library will be finished after half an hour run time Usage of the CANopen Library can be tested with pre pared projects which are available in source code with Makefiles To use and test immediately the cre ated applications demo versions of all software tools are available on the following web site URL http www port de engl shop html Hardware To allow a flexible choice of CAN interfaces can4linux is used as LINUX CAN device driver A very flexible compilation of interfaces is possible by this choice The driver can be downloaded for free from the port web server http www port de engl canprod hw_can4linux_ext html The following CAN interface boards are available AT CAN MINI one CAN channel CAN ISA interface galvanically decoupled CPC PCI one or two channel PCI board galvanically decou pled on request EtherCAN Ethernet TCP IP to CAN Gateway Configurations The following figures should introduce some of the possible configurations CANopen Device Monitor cdm r 1000 0 u32 102300 cdm w 1016 0 u16 1000 OK cdm start cdm CANopen Slave s1 In the simplest case both the example application and the CANopen Devic
51. RLINK compatible devices Through the scripting language access to elements of the graphical interface s available too The graphical representation of values or test results is therefore application specific extensible port GmbH can perform special adaptions to the GUI or behavior to meet POWERLINK device characteristics for service or assembly testing POWERLINK Interface The POWERLINK Device Monitor requires a hardware interface It s a special POWERLINK Ethernet router using the synchronous Ethernet POWERLINK on one s de an on the other side it provides its services via TCP IP System Requirements Operating System Windows 2000 XP Vista LINUX Processor Pentium III and better RAM 256 MByte Harddisk Space gt 20 MByte available Ordering Information 1770 10 POWERLINK DM W Full Version Windows 1770 20 POWERLINK DM L Full Version LINUXTM 0640 50 CANopen EDS2XML W EDS to XML converter Windows 0640 51 CANopen EDS2XML L EDS to XML converter LINUX Functional demo versions of the software tools are available for download on our web site http www epl tools com shop html 73 2007 www port de 74 POWERLINK REport Overview In daily use of POWERLINK it is important to determine very fast and reliable the main parameters of the network to recognize potential possible error sources or really faulty devices or configurations The POWERLINK REport is a
52. Response times of the nodes and length of frames can be determined exactly and NMT and error information are displayed for each frame All available information including the precise time stamp can be saved in the standardized OpenDocument format or as a CSV file for further processing POWERLINK REport list view Eile View Connection Options Windows Help ow e 9 Se e Type Start ps End ps Source ID Dest ID Info Soc er 255 PReg lee Aa 240 110 PRes 15 141 20 324 110 255 RDY TO OP PReg 22 002 27 004 240 111 PRes 31 004 Srel DEN 111 255 RDY TO OP PReq 40 044 45 231 240 112 PRes 47 023 54 441 112 255 RDY TO OP PReq 609512055 240 113 PRes r E OEA 113 255 RDY_TO_OP PReq 76 351 FEIDE 240 113 PRes 87 013 94 021 1213 255 RDY TO OP Pe EU REH el 240 113 a v offline AlL Nodes 6422 The payload of POWERLINK nodes can be displayed as raw data or interpreted according to the PDO Mapping The raw data view displays the data in hexadecimal notation The first row contains the offset from the start of the payload data POWERLINK REport payload view olx File View Connection Options Windows Help Ise 1OGOOlK amp 8 Raw Bata PDO Mapping Frame 327 from Node 111 PRes Payload Offset Data 0000 42 42 34 2a b8 ab 80 a9 8b 09 80 9f ab 8a Ob Ba 0010 09 88 ca ef ef 90 80 98 08 af af ae ef ab 88 23 0020 34 23 42 ba
53. SP s e Demo boards from Freescale TI Third Party Network Member oP Ki 9 u e p lan 7 F Se ies Jr RI stellt 900 e Ee o Bios KR Keess e seso Soo gt 00020905 gue 9 G80 FIS 7 co eZdsp TMS320F 2812 Board with Zwickau extension Restrictions Compared with the full supported standard CANopen Library only some minor restrictions exist These restrictions are mainly to reduce the memory require ments for the Library and the examples and support ing applications that can be built using only the inter nal resources provided by some processors In case of the C515C both application and library do only use 1 K RAM Furthermore the number of entries in the object dictionary is limited and the application restarts after 60 minutes Tools port provides a complete tool chain for the develop ment of CANopen devices The following tools are available as demo version on Evaluation Software e Demo Version of the CANopen Design Tool e Demo Version of the CANopen Device Monitor e Demo Version of the CAN REport CANopen Device Monitor Node 32 68HC908GZ60 Example File DCF Options Utilities w Communication Profile Action NMT Description PDOs Motorola 1000 Device Type 1001 Error Register Analog b 1003 Pre defined Err 1008 Manufacturer De Forward Stop Backward 1009 Manufacturer Hz 1004 Manufacturer Sc speed Q MOTOROLA 1017 Producer Heartk 1018 Identity Object 0
54. UNSIGNED8 nodeid OxCO 3FF1 UNSIGNEDS btr0 OxCO 3FF2 UNSIGNEDS btrl USER CONFIGURATION T After filling in the configuration data you should now be able to talk to the node using your CANopen con figuration tool This is the list of implemented Object Dictionary entries Index Sub Data Acc Function Type 0x1000 0x00 u32 co Device Type 0x1001 0x00 u8 ro Error Register Error Field 0x1003 0x00 u8 ro Number of Entries 0x1003 OxOl u32 ro Standard Error Field 0x1008 0x00 vs co Device Name 0x1009 0x00 vs co Hardware Version Ox100a 0x00 vs co Software Version Ox1014 0x00 u32 ro COB ID EMCY 0x1017 0x00 u32 rw Producer HB time Identity Object 0x1018 0x00 u8 co Number of Entries Ox1018 0x01 u32 co Vendor ID Ox1018 0x02 u32 co Product Code Ox1018 0x03 u32 co Revision Number 0x1018 0x04 u32 co Serial Number Ox1F50 0x00 u8 ro Number of Entries OxIF50 0x01 domain wo Download Program Area Ox1F51 0x00 u8 ro Number of Entries OxIF51 0x01 u8 wo Program Control Note The memory optimized Bootloader does not contain all optional objects and does not implement services not mandatory Device Type Contains OxFFFF as Bootloader profile id in the lower part of the Device Profile area In the upper part there is the identification of the download capabilities e g possible data for mats Error Register Always 0 An error during programming is not indicated here but rather thr
55. WERLINK Gateway 1701 03 PSK STR910 target hardware for program devel opment of a CN Microelectronic STR910 including development environment and examples 1701 13 PSK STR910 as PSK STR910 including an addi tional POWERLINK Gateway Functional demo versions of the software tools are available for download on our web site http www epl tools com shop html 68 2007 www port de POWERLINK Design Tool Overview The POWERLINK Design Tool is a tool for the rapid and cost saving development of Ethernet POWER LINK applications devices It administers device databases from which an object dictionary and an ini tialization function in C code an Electronic Data Sheet XML format and the documentation are pro duced automatically Furthermore it simplifies the configuration of the POWERLINK Library and of the POWERLINK Driver Packages SS POWERLINK Design Tool 22 2007 Iprojects br200 epl i Eile Edit Generate Show Options Powerlink Merge Help ID a lk aG Hardware Configuration EI Lineo DCH Object Dictionary Sub Index LI Data Types BJ Communication Segment Structure Gptinnizetion Index fm 1000 NMT DeviceType U32 Suklindes Im E PDO Mapping Il 1001 ERR ErrorRegister US m 1006 NMT_CycleLen_U32 EDS Name digital Inputs 1 8 fr 1018 NMT IdentityObject REC Data Type Access Read Only 7 Lower Limit 0x0 h d 100 DAFF _j Refuse read
56. ace in the world The following advantages are to be mentioned further Combination of the advantages from the CAN CANopen fieldbus technology with the Ether net high transmission capacity in the Ethernet area high security and reliability no limitation referable the network topology TCP IP is an established standard in information technology free access is available to all modules about the net work low costs per module and for the overall system usage of the TCP IP protocol By using the EtherCAN gateway also costs for expen sive special wirings can be saved because existing CANopen networks or Ethernet connections can be used again Technical Data Power supply 12 30 V max 150mA galvanical separation Ethernet CAN microprocessor 32 bit RISC ARM 16 MB RAM 2 MB FLASH 80 MHz clock frequency RS232 Interface CAN Hish Speed Interface D SUB 9f D SUB 9m and D SUB 9f CiA DS 102 Ethernet 10 100BaseT RJ45 serial port D SUB 9m 0 85 C max 90 non condensing Size 100mm x 90 mm x 40mm Weight approx 200 g Temperature range Humidity Scope of Delivery e EtherCAN Gateway e manual Ordering Information 0540 07 EtherCAN CI ARM7W Winbond 0540 08 EtherCANopen CI ARM7W Winbond 0540 21 Developer Package DEV PACK ETH Functional demo versions of the CAN REport and CANopen Device Monitor SW tools are available for download on http www canopen tools com 53 2007 www
57. antly improved and adopted to customer requirements In order to keep up with the latest version of the POWERLINK Library port provides its customers an update service For development test and initial operation of POWER LINK devices port provides a comprehensive tool chain The creation of the object directory is simpli fied with the POWERLINK Design Tool POWERLINK Design Tool Light version belongs to the scope of delivery Eile Edit Generate Show Options Powerlink Merge Help IDe amp el Hardware Configuration EI Line o HCH Object Dictionary LI Data Types B 03 Communication Segment fr 1000 NMT DeviceType U32 fm 1001 ERR ErrorRegister US f 1006 NMT CycleLen U32 EDS Name digital Inputs 1 8 fm 1018 NMT IdentityObject REC Data Type posene 3 VERE ReadOnly vw Il 1844 NWL_IpGroup_REC el Cie fm 1F82 NMT_FeatureFlags_U32 a GE Ge Il 1F83 NMT EPLVersion US H Value p s joxo fm 1F93 NMT_EPLNodelD_REC Upper Limit D I fr 1F94 NMT HostName VSTR Il 1F9E NMT_ResetCmd_U8 LI Manufacturer Segment LI Device Profile Segment Structure opii Sub Index Index Sub Index E PDO Mapping Refuse read on scan ObjFlags Refuse write on download ObjFlags J Valid after reset ObjFlags D E fra 6000 Read State 8 Input Lines 8 000 Number of Elements _ Default Values Hest JS 001 digital Inputs 1 8 E 002 digital Inputs 9 16 afm 8200 Write St
58. ards with the device files dev cand dev can3 Hardware The driver supports various single and dual channel standard PC interface cards with ISA PCI and PC104 interface e port AT CAN MINI PeliCAN mode 29bit e EMS CPC PCI e IXXAT PCIO3 only SJA1000 e Advantech Pcm 3680 PC 104 PCMatic Feldbusmodul e DigiTec FC CAN SJA 1000 e ESD PC104 200 The driver was developed for x86 machines but can also be used on other target hardware Products available The can4vxworks driver can be used with different products of port In order to send receive and display CAN messages the command line application horch is available as CAN layer 2 server It can be used interactively from within an xterm or in batch mode as TCP IP server In the latter mode the graphical CAN analyzer CAN REport can be used to send receive and display the CAN messages Based on this source code the compiled and config ured CANopen server m4d is available It also pro vides an interactive and a batch server mode To use it in server mode port offers the tool CANopen Device Monitor with an easy to use graphical interface System The can4vxworks device driver is available as ANSI C source code and can be compiled on different target platforms Ordering Information 0643 01 can4vxworks Device Driver 61 2007 www port de 62 Software Components for Ethernet POWERLINK Introduction to Ethernet POWERLINK Eth
59. ardware To realize the CANopen or POWERLINK implementa tion in such a short time the co operation with our customers is indispensable Support by the customer is done by the functioning hardware e the co operation of a software engineer from the client with special knowledge about the used hard ware For the CANopen or POWERLINK implementation of a specific customer hardware it may be necessary that the customer needs to provide us with a suitable development environment compile debugger etc 11 2007 www port de 12 Literature The studies of books available on a specific topic is a kind of scientific communication from the experi enced user to the novice With it everybody is enabled to gain from available knowledge and existent experiences This means that existent knowledge can be trans formed into individual knowledge and skills The study of literature therefore is the fastest possibility to gain from others experience The following paragraph presents an overview of available sources of literature Articles Design and Implementation of CANopen devices Riidiger H rtel 9th international CAN Conference Munich 2003 The CiA CANopen Gateway Protocol Heinz J rgen Oertel CAN Newsletter CiA March 2004 Safety in CANopen Riidiger H rtel port GmbH SPS Magazin HMI Special 2005 Device description in XML format Thilo Shumann CiA Torsten Gedenk port GmbH etz issue 8 2005 How to imp
60. ate 8 Output Lines LIT 3 000 Number of Elements hex The graphical POWERLINK Design Tool is available for the creation of the object directory the electronic data sheet EDS file in XML format and for the documen tation of the device in HTML or text format The POWERLINK Device Monitor can be utilized for commissioning but also for the implementation and test phase For the development of POWERLINK application moni toring and analyzing the POWERLINK bus traffic is essential The service oriented display of POWERLINK messages of the POWERLINK REport allows easy and quick interpretation of POWERLINK messages Besides the communication objects several applica tion objects in different device profiles are also speci fied in POWERLINK These definitions guarantee a defined behavior of the corresponding device class and enable the interchangeability of POWERLINK devices Device profiles can be easily created by use of the POWERLINK Design Tool Scope of delivery e POWERLINK library with separate driver interface e Ethernet MAC driver e immediately compilable examples e POWERLINK Design Tool Light e user manual e reference manual containing descriptions of all functions including parameters and return values Further Services e Maintenance Agreement All changes of current standards as well as exten sions through new developed standards are con stantly incorporated into the POWERLINK Library In o
61. ated from the PC The card with interrupt ability uses 32 I O addresses of the PC The starting address and also the interrupt line are configurable by jumpers CANbus Opto Barrier and Driver Basic CAN Decode y Driver H Logic AT ISA 8 Bus The interface to the CAN bus is provided by connec tors compatible with ISO DIS 11898 and CiA recom mendations Technical Data Power supply SJA 1000 Base address Interrupts CAN Controller Temperature range Humidity Size 100 mm x 80 mm Weight PC bus interface CAN connector Scope of Delivery e board AT CAN MINI e manual Ordering Information 0530 01 0530 13 AT CAN MINI can4linux Device Driver 51 2007 www port de 52 EtherCAN Gateway Overview Connecting embedded controllers via the Internet becomes more and more popular in the last time World wide computer networks are using the common Ethernet cabling standard and TCP IP as common protocol family The reason is the increasing data communication for recording the production and operating data as well as for visualization and remote maintenance p a gt AN v r AAN Interface gt RMD Cer CART Ether aN Version 2 CAN REIN ein BCE ein nk The EtherCAN Gateway combines the decentral CAN and CANopen networks with the classical Ethernet network To communicate via Ethernet the TCP IP protocol is used while on the CAN b
62. ave Small Single Line CANopen SRCLIB Slave Single Line CANopen SRCLIB Master Slave Single Line CANopen SRCLIB Slave Multi Line CANopen SRCLIB Master Slave Multi Line CANopen DLL Master Slave Single Line CANopen DLL Master Slave Multi Line CANopen SRCLIB User Manual Paperback CANopen SRCLIB Software Maintenance Agreement CANopen Evaluation Software CANopen Training Course CANopen Integration Support CANopen Starter Kit for LINUX CANopen Library Extensions Overview Besides the standardization of communication objects CANopen specifies application objects used in various device profiles These device profiles guarantee a defined device behavior and provide thereby inter changeability of CANopen devices For employment of these profiles port provides exten sion modules for its CANopen Library These mod ules make it possible to use the desired device profiles easily Currently port supports the following device profiles e CiA 301 SDO Block Transfer e CA 301A Multiplexed PDO s e CA 302 Flying Master e CiA 302 CANopen Redundancy Support e CIA 302 SDO Manager SDO Requesting Devices e CiA 303 3 LED Modul CANopen Indicator e CiA 304 Safety Relevant Communication e CiA 305 LSS Layer Setting Services e CiA 401 Generic I O Modules e CiA 402 Drives Support All modules are available in ANSI C source code and can be used with all versions of the CANopen Library Description CiA 301 SDO Block Trans
63. boards CPC PCI and CPC PClex press were designed for industrial series and has a robust and cost efficient construction CPC PCI PCIe supports either one or two CAN channels that can be operated independantly with different data rates The interface comes with the NXP CAN controller chip SJA1000 that offers good diagnostic attributes CPC PCI PCIe maps the CAN controller s directly in the address space of the PC and allows access of the CAN messages with low latencies Existing software for the supported CAN controller can easily be adapted The CAN communication both with CPC PCI and with CPC PCIe may be handled either in interrupt controlled mode or in polled mode interrupt channels are assigned automatically Optionally both CAN interfaces CPC PCI and CPC PCIe are available with galvanic separation between PC and CAN bus A galvanic separation between the CAN channels is also possible by separate DC DC converters Technical Data Bus Interface Pin assignment Connector DSub 9 complying to CiA DS 102 Type of the phy ISO 11898 connection Transceiver PCA82C251 Maximum voltage 30V refering on bus pins to bus ground Isolation voltage with 1000V galvanic separation e NE o AN an d ei WE Sia picture 1 CPC PCI Interface picture 2 CPC PClexpress Interface Programming Interface Configuration and CAN communication with CPC PCI and with CPC PCIe are done by accesses to the
64. ce consists of e a hierarchical tree representation of the object dictionary various action fields an optional command console interface Displaying all implemented objects as a tree facilitates the configuration by hand The treeview is divided into the following segments communication profile manufacturer specific objects e device profiles Devices with up to 8 device profiles are supported The tab Action is used for reading and writing device objects with POWERLINK SDO transfer messages www port de Supported standard actions are reading of a device object e writing of a device object e incrementing of a device object e decrementing of a device object Optionally a slider with a random value range can be assigned to every object to achieve a more useful configuration For each object the meaning of each bit can be displayed Control 6040 0 _ Shutdown made_4 manu_11 I Switth On _ mode_5 manu 12 E Disable Yollage mode 6 manu 13 _ Quick Stop halt I manu 14 _ Disable Operation many_19 Enable Operation Fault Reset Delete Object Action send Receive Values of manually configured device objects can be stored to a file and reloaded into the device The NMT tab makes several fields available for the execution of NMT services Under the tab Description an object description of the currently selected object in the object tree is shown The description i
65. ces into networks and configure them The Documentation On the generated object dictionary a documentation is created Each device parameter is listed with its attributes and description Output format is HTML and plain text This documentation can serve as specification at the beginning of development and be brought into the user documentation as well as into the marketing documents Device Profiles Creating of device databases is very simple The first step is determining the type of the device If a stan dardized profile is to be implemented then the device data can be loaded from a profile database Further more it is possible to load data from device databases or already existing EDS files EDS files can be imported 69 2007 www port de 70 port Import File 6000 Read State H Input Lines HC 6002 Polarity 8 Input Lines _ 6003 Filter Constant D Input Lines 6005 Enable Digital Input Interrupt 6006 Input Interrupt Mask 8 any c 6007 Input Interrupt Mask D low t 6008 Input Interrupt Mask H high 6020 Read State 1 Input Line 1 126 6030 Polarity 1 Input Line 1 128 6038 Filter Constant 1 Input Line 1 6050 Interrupt Mask 1 Input Line 1 6060 Interrupt Mask 1 Input Line 1 6070 Interrupt Mask 1 Input Line 1 6100 Read State 16 Input Lines 6102 Polarity 16 Input Lines 6103 Filter Constant 16 Input Lines 6106 Input Interrupt Mask 16 Input 6107 Input Interrupt Mask 16 Input 6108 Input Interrupt Mask 1
66. cess the hardware ie reading inputs writing outputs Delivery comprises source code and documentation CiA 402 Drives Support Drives Support is available from port in different ways First of all using the CANopen Design Tool and its CiA 402 profile data base Second from a lot of implementations we did we have some give away support functions in C combined in a CiA 402 frame work And third our experience Implementing drives and the CiA 402 profile is one of the most com plicated programming tasks For the test of an drives implementation according to CiA 402 the CANopen Device Monitor with its drive specific plug in is suggested Look at the drive state machine or the different movement modes in a graphi cal way Ordering Information 0564 50 CiA 401 Source Code Generic I O Mod ules 0564 51 CiA 401 Source Code and Profile Data base for Generic I O Modules 0564 52 CiA 302 Source Code Flying Master 0564 54 CiA 305 source code Layer Setting Ser vices 0564 55 CiA 304 Source Code Safety Relevant Communication 0564 57 CiA 307 Source Code CANopen Redun dancy 0564 58 CiA 304 Source Code and Profile Data base for Safety Relevant Communication 0564 60 CiA 302 Source Code dyn SDO Man ager SDO Requesting Devices 0564 62 CiA 301A Source Code Multiplexed PDO s 0564 63 CiA 301 Source Code SDO Block Trans fer 23 2007 www port de 24 CANopen Library Driver Packages Overview The C
67. cs and practice Prof Dr Wolfhard Lawrenz hard cover edition 457 pages 2000 H thig Heidelberg ISBN 3778527800 CAN System Engineering From Theory to Practical Applications Prof Dr Wolfhard Lawrenz hard cover edition in English 520 pages Springer Verlag ISBN 0387949399 WorldWideWeb http www CAN CiA org http www CAN wiki info http www ethernet powerlink org http wik1 tcl tk Please visit our large link collection at http www port de engl publicat can_links html 2007 www port de Reference List On this page we would like to present a list of our main customers of our products and references for projects done for customers Please visit our larger list on the port web site http www port de gif references kreferences html AA GD ED I PRAEDED FE 4 15 e A if Seta ap ee DUNGHEINRICH rs H KRONES Zn rofin Leica Projektion GmbH Zett Ger te SASSE Komponenten und Systeme D Cf Luwa VK EANIR A A Division of the Zellweger Luwa Group SICK MAIHAK CAMERON PE SIEMENS ge EE FAU Oia sl BN TEREX 4 _ SULZERTEXTIL TEREX H VISIONS r Dornier MedTech olution SERVOTRONIX AUTOMATION TECHNOLOGY WITTENSTEIN AG ADN H ID LB RGE PHILIPS And a great many more Happy Clients in Realtime Communication and Control on five continents 13 2007 www port de port 14 2007 www port de Software Components for CANopen Introd
68. d via appropriate compiler defines Besides the drivers for processors with multiple CAN controller there are several other drivers that support configuration for multi line usage with the CANopen Library Thus there is a wide range of drivers that can be used for multi line devices Please note that there are possible hardware con straints especially with older CAN controller Configuration of the driver is done with the CANopen Design Tool which is enclosed to the CANopen Library as light version Resources All drivers normally transmit and receive interrupt driven and therefore require the integration into the interrupt system of the device It also can be used in polling mode for special purpose applications The time base for the CANopen Library can either be provided by the CANopen Library itself by using a timer or the timer interrupt function is called cycli cally by another system timer Order Information The CANopen Driver Packages are available as reviewed hardware system driver DP 0565 xx for typical hardware configurations e freely selectable hardware driver CAN controller and CPU OS combinations DP CPU 0566 xx DP CAN 0567 xx DP OS 0568 xx We recommend the purchase order of pre configured driver packages that in addition to the CPU and CAN driver contain ready to use examples These have been prepared with project files for the compilers and configurations we use For application of the CANope
69. dard equipment the CAN REport already has a lot of efficient basic functions like different modes of online observation of the bus traffic trans mission of unique or cyclic CAN messages trigger inclusive pre and post trigger logging as well as the recording of CAN messages and storing it to log files belong to this purpose Log files can be loaded again and interpreted with activated extensions The analyzer CAN REport consists of the CAN hard ware interface and the visualization software Both are connected as server and client by a standard TCP IP network connection This separation allows to use the CAN interface as a remote interface ie both parts can be located at different computer systems Remote monitoring of CAN networks is possible without additional or modified software over LAN dial or internet connections CAN bus CAN hardware interface CAN interfaces are currently available for USB ISA PCI PC 104 parallel port serial port like Lawicel CAN232 or an Ethernet interface like the EtherCAN and IGW900 of port f CAN REport 3 0 can232 localhost File Edit View Connection Extras Window Help D x State DELVE Is 8990 Drive Il State Drive I 24599 Drive II State Drive Ip 24599 Drive LI atate Drive L 32791 Drive Il State Drive I 23599 Drive II St be Drive L 24599 Drive II State Drive I 24599 Drive LI State DETVE I 24598 Drive ET State Delve II 24598 Dri
70. delay below 390ns is far inferior to the time which is claimed in the IEEE 802 3 standard Ordering Information Communication CPU 1711 00 POWERLINK Hub I VHDL 1711 01 POWERLINK Hub S VHDL Transformer 3 port Hub XILINX FPGA EPL Protocol Stack PHY Transformer The 3 port hub features two external and one internal interface The number of PHY ports can be expanded easily By integrating the hub in an POWERLINK device it can be simply integrated in POWERLINK net works with a daisy chain An external hub is not required and extensive cabling is not applicable In conjunction with port s POWERLINK MAC a highly optimized VHDL POWERLINK MAC controller for Xilinx FPGAs a fast connection to your POWERLINK network is reached This results in fast response times of Controlled Nodes 81 2007 www port de Information Directions to port GmbH We recommend for planning your journey to port to use a route planner for example Map24 http Overn ig ht Stay www port de engl contact jour ney html Or you can pursue the plan on our web site for your journey to Halle Saale in the state Sax ony Anhalt The next airport for your journey by air We recommend our guests the Hotel Eigen the airnolle leinz http www hotel eigen de approxi u GE mately 10 min walking distance from port You find Hamburg further overnight accommodations under the City MN Die Hamburg Halle web
71. e 0690 10 CPC Series Development Kit Windows 0690 20 CPC Series Development Kit LINUX Functional demo versions of the software tools are available for download on www canopen tools com 55 2007 www port de USB CAN Interface BASIC XS Highlights equipped with an efficient microprocessor C165 the preprocessing of data is possible onboard Supports CAN 2 0B ISO 11898 2 High Speed CAN up to I MBit s 82C251 and ISO 11898 3 ISO 11519 2 Low Speed Fault Tolerant CAN TJA 1054 K Line ISO 9141 100 mA K Line ISO 14230 KWP2000 drivers as DLL LevelX are available SAE J2534 amp J2534 1 APIs available CAN transfer rates up to I Mbit s Description BASIC XS is one of the latest addition to the CAN interface technology The BASIC XS interface is a CAN interface for the USB port or the serial RS232 interface An easy plug in via USB connection is possible for using this CAN to USB interface With power on 8 24 V the microcontroller starts and from FLASH EPROM the USB loader will booted The BASIC XS is immediately ready to operate displayed by a green LED The used microprocessor C165 enables the prepro cessing of data It cannot only be used for industrial CAN applications like CANopen but also for ECU s or vehicle field bus systems CAN 2 0B ISO 11898 2 for CAN transfer rates up to I Mbit s ISO 11898 3 Fault Tolerant CAN and K Line are supported LevelX DLL for easy
72. e CAN lines max 255 are avail able Therefore it is possible to serve several indepen dent CAN networks on devices without an operating system or with an operating system The usage of an operating system requires it to provide means of resource protection mechanisms Each line holds its own object directory and can be used as master and slave respectively independent of the other lines Owing to the separation of the protocol stack and the hardware drivers the individual lines can also be operated with different CAN controllers Delivery of the CANopen Library comprises different example programs that describe the usage of the vari ous CANopen services All examples contain a com plete implementation of a CANopen device including the object directory as well as application code These are ready to be compiled and run Among the detailed documented source code there is the reference manual and an a printed user manual numbering 200 pages as documentation of the CAN open Library available The CANopen Library is constantly improved and adopted to customer requirements In order to keep up with the latest version of the CANopen Library port provides its customers an update service The support engineers of port are ready to answer all questions by email phone or fax regarding the initial operation of the CANopen Library or further ques tions to the topic CANopen This service is exempt from charges up to 6 months for requests b
73. e Monitor are running on one PC Each application needs one CAN interface Either two channels of one card or two different CAN cards are used and are short connected 41 2007 www port de 49 ANopen Device Monitor cdm r 1000 0 u32 10230 cdm w 1016 0 u16 1000 OK CANopen Slave s1 The next figure shows the same software configura tion this time each application running on its own PC and each using it s own CAN interface ANopen Device Monitor cdm r 1000 0 u32 102300 cdm w 1016 0 u16 1000 OK CANopen Slave s1 Your Example When using two interface boards with two CAN chan nels each you can use a second application besides the CANopen Device Monitor and the analyzer CAN REport Both interface boards can also be used in the same PC An interesting alternative solution to interface boards is offered with EtherCAN ee ANopen Device Monitor cdm r 1000 0 u32 102300 cdm w 1016 0 u16 1000 OK cdm start cdm Ethernet CANopen Slave s1 This interface can be used instead of local PC boards as interface for CANopen Device Monitor and CAN REport The services provided by these tools are then available for other computers in the local net work if connected by Ethernet Besides the software components the delivery con tains the User Manual and the Reference Manual of the CANopen Library and of the to
74. e g several CAN lines and segmented structuring A tree representation of all implemented parameters and data facilitates the maintenance of the device software The CANopen Design Tool eases the first step into the CANopen pro tocol and device development is accelerated It is a tool with which device databases can be pro duced and processed These databases contain infor mation which describe the interface for the CANopen network of the device These are all parameters con trol and status information that are accessible over CAN The CANopen protocol stores these values in the so called object dictionary of CANopen devices The major task of the CANopen Design Tool is to administer and create these data in an object database and to create code for the CANopen Library from it Furthermore the CANopen Design Tool is used to con figure the CANopen Driver Packages Within one project several hardware configurations can be man aged This allows a quick change between different targets during development CANopen Object dictionary The generated file which contains the object dictio nary is included into the user modules This ensures that each user variable can be accessed directly via its variable name as well as with its index and sub index The produced object dictionary represents the data interface between library and user application CANopen Library Configuration To configure the CANopen Library a header file is cre a
75. ed analysis of a selectable telegram built in oszillocope function logger function for long time analyses several trigger conditions for identifying faults and EITOTS extended display of the IDs is available for DeviceNet or CANopen networks e Wiring test Determine line short circuits line breaks the bus termination the loop resistances of the CAN line and the CAN power supply line and the overall line length e simple CAN monitor integrated decDeviceNet cht CAMAh s Tester 2 tlediensottware Mestung Alle Teilnahme Sisk 3 wm he n f er we P W m a 4 ET DocCAN cbt CAN Hen Tester 2 Bediensoftware Messung Online Trigge P porr HE gt i Rassen Ero Fa menis w pan Dra Cen 6 ye D H gt bal ku nern go 2 N KS k 0 v Geseent i CA ns ven i i 1 Kine mes Mess mamm temas W ar t Online 1 mech Face Cor Fr i H Si f I u EI We i as am G PZ acvordedar Ero 12 Pota na m ov AK 2 MB m A 10 D e S a 2 004 I 1 DecCANopea AM Das Tester 2 Dediensoth BEDT u tue Co ei j trd ien m D V t sv trene n Technical Data CAN Bus ISO 11898 2 High Speed 11 and 29 bit identifier CAN2 0A and 2 0B CAN bit rates 10 20 50 100 125 250 500 according to 800 1000 kBit s CAN type user defined 5 33 5 62 5 75 83 3 kBit s bit rate detec tion automatically ID identification by ID scan list of measure ment
76. ees page 62 Kaasctixr dei ET ET M hh page 64 Re mBellksotarter NR BR W 09 anao page 67 RE OWERNNK Design Too L neuen AR page 69 POWERLINK Device Monitor ENNER page 72 ROR RECO oe enne SN page 74 POWERADE RD EEE een hhv page 76 5 2007 www port de 9 Hardware for Ethernet POWERLINK POWERLINK Managing Node for PCI Bus nennen page 78 POWERLINK Gateway nneeeneennnnnneennnnnnnennnnnnennnnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnn page 79 POWERLINK MAG VHDL Code ruunnnnnnnnonnnnnnrvnvnnnnnennnnnnnnnnnnnnssnnnnnsnsnnnnnnee page 80 POWERLINK Hub VHDL Code rnnnnnnnnnnrnnrnnnnrnnnnnnnnennnnnnrnnnnnnnsnnnnnnsnnnnnnnnee page 81 10 Information Directions to port Da WEEN page 82 6 2007 www port de Company Profile Company Company Development Foundation port GmbH was founded in May 1990 as an indepen dent company in Halle Germany The aim in founding the business was to establish our selves as a computer retailer for specific logic con troller track alignment and exerciser systems on industrial PCs We offered solutions for decentral ized distributed systems within automated solutions which were based on special system concepts for the hardware and software development sectors Mission Our mission is to develop the latest high value techno logical products and services which are based on CAN CANopen DeviceNet und POWERLINK systems and can be used for indus
77. er documentation as well as into the mar keting documents Therefore writing twice is not nec essary and the contents are always up to date Easy to Use The objects of the application can be created by a few clicks For the communication parameters input masks facilitate the creation of the CANopen service objects and the configuration of partially bit coded values like e g PDO settings Standardized objects based on CANopen device profiles can be added from pre defined profile data bases structure Optimization Device Type Device Profile Number Resulting value Profile Settings sSingleTurn absolute rotary encoder MultiTurn absolute rotary encoder singleTur absolute rotary encode with electronic turncount Incremental rotary encoder Incremental rotary encoder with electronic counting Incremental linear encoder Incremental linear encoder with electronic counting Absolute linear encoder Absolute linear encoder with cyclic coding EEE ES Mut Sensor encoder interface Configuration mask for the object 0x1000 Generation After an automatic check of the data for inconsisten cies missing entries or incompatible data types the following files are created the object dictionary objects h e the initialization file co init c the configuration file cal conf h the EDS files as EDS and XML file and documentation files as HTML and text If the check fails errors and warnings are written in
78. ernet CAN gateways are sup ported CIA port has been a member of CiA CAN in Automation e V for many years As an active and competent business dialog partner we have a decisive influence on the formation of the latest developments especially of drives profiles port chairs the special interest group CiA309 Interfacing CANopen with TCP IP Above all as a result of its co operation on the blue print for the CiA309 port has a decisive influence over the formation of the process of linking up field bus technology with the ever advancing internet tech nology Our CANopen library is constantly brought up to date with the latest standards as we co operate as part of the CiA working body and also via the experience from various research and industrial projects that are supervised by our development engineers EPSG Since 2004 we have been a member of the EPSG Ethernet POWERLINK Standardization Group ETG Since 2005 we have been a member of the ETG EtherCAT Technology Group Through being a member of EPSG and ETG and from having developed new products in the internet tech nology sector we are now able to provide customers with all inclusive solutions which are automated by linking up to Ethernet Customers can also benefit from a wide range of tech nological solutions which can be used for project work Quality assurance The aim of our product development and customer specific services is to sa
79. ernet POWERLINK originally developed by the Austrian specialist Bernecke amp Rainer B amp R is advanced by leading automation companies under the management of the EPSG the Ethernet POWER LINK Standardization Group It is one of relevant standards in Europe for the use of Ethernet in the au tomation industry Through its past history Powerlink is already very common More than 100 000 nodes have worked without interference in series machines and plants for several years worldwide Ethernet POWERLINK is a communication profile for extension of the IEEE 802 3 Fast Ethernet for automation The EPSG standard is already brought in the IEC and accepted to the standardization ETHERNET WE A S i POWERLINK Standardization Group The great attraction of Ethernet is the possibility of taking advantage of the medium from the sensor level up to the control center level Powerlink greatly val ues it that however the user can concentrate on his application and isn t blocked by network administra tion An automation technician still can exchange his components with the screwdriver The address alloca tion is solved simply but nevertheless the real time devices can be reached corporation wide by there IP addresses Targets of the EPSG aren t only high speed connected with real time ability and IP integration On the application layer a high openness is advanced regarding the device profiles A cooperation exists with the CiA CAN
80. es by CANopen Device Moni tor is possible CAN Interfaces The functionality of the parameter download requires a CAN interface CAN interfaces are currently avail able for USB ISA PCI parallel port serial port and PC 104 or an Ethernet interface like the standalone CANopen Gateway Server EtherCAN of port System Environment The CANopen Configuration Manager runs on PC s with e Operating System Windows 2000 XP Vista and LINU XTM e Processor Pentium IV or later e RAM 512 MByte e Harddisk Space gt 24 MByte available 39 2007 www port de port 40 2007 www port de CANopen Starter Kit CANopen LINUX Starter Kit Overview For the constantly increasing interest in LINUX in industrial automation we take this into account by providing the CANopen LINUX Starter Kit It pro vides the necessary hard and software for developing CANopen Library applications for LINUXTM Description The CANopen Starter Kit enables the device devel oper to explore the capabilities and the advantages of the CANopen Library With the prepared and modifi cable examples the developer can estimate the effort needed to create the own applications The starter kit contains a precompiled static library which itself uses glibc functions and enfolds the fol lowing CANopen services e NMT Slave e SDO Server more than one server SDO can be implemented C segmented data transfer is possible e PDO
81. et Training To simplify the first steps with a new technology port provides one day and several days trainings for the topics of CANopen and its services as well as for the CANopen Library and its tools These train ings can be given at port or at your companies rooms and are exclusively carried out for your workers CANopen User Manual You want to get to know about the advantages of our CANopen Library Then our user manual is the best starting point to get an overview about the functionality and deployment possibilities of the CANopen Library User Manual vas Ansi G Library CANopen CANopen mm V44 GR o SPATIE Dr Ansi G Libraz 2 User Manual e Starter Kit For a quick and uncomplicated start with CANopen the CANopen Starter Kit provides everything you need It comes with a pre compiled CANopen Library for your target hardware and several simple examples that provide a first insight and that ease the start with CANopen As hardware interfaces several possibili ties are avaliable like PC cards parallel port dongles PCMCIA cards and USB interfaces 20 2007 www port de With these setting up a CAN network is as easy as a children s game Further informations can be found at CANopen LINUXTM Starter Kit Ordering Information 0564 01 0564 12 0564 10 0564 15 0564 13 0910 xx 0920 xx 0564 90 0571 10 0564 39 0569 10 0570 10 0572 01 CANopen SRCLIB Sl
82. expansion stages e Controlled Node e Managing Node The functional range can be extended by additional modules Redundancy POWERLINK safety see POWERLINK Library Extension modules These mod ules are currently in a planning phase Access to the hardware is carried out via a hardware abstraction layer By the nature of POWERLINK it is necessary to obtain very short response times Therefore these drivers are highly optimized and currently only avail able for selected Ethernet MAC controllers Application The POWERLINK Library is based on ground of the POWERLINK V2 0 communication profile of the ETH ERNET Powerlink Standardization Group EPSG It provides the most importand services specified therein It is completely written in ANSI C and can be com piled with every ANSI C compliant compiler Depending on the required scope of functionality the POWERLINK Library is available in different expansion stages With the standard Controlled Node version of the POWERLINK Library all services are provided for development of full featured CN devices The functionality of the Managing Node as well as the comfortable node monitoring functionality is provided by a different product Additional services of other communication profiles are provided by means of extension modules All hardware specific parts are decoupled from the POWERLINK protocol stack through a defined driver interface This provides easy adaptation to differe
83. fa fa ef fa ef 98 77 97 98 79 87 98 0030 7f af ea fa fa e9 f7 a9 82 59 02 85 09 28 59 20 ef bf fa 44 88 90 82 09 82 03 85 02 98 50 25 82 0060 20 58 20 93 85 09 23 85 09 23 85 09 23 85 09 38 0070 09 80 93 f4 82 09 34 89 02 bd c3 48 20 39 48 88 0080 80 77 88 99 59 20 35 83 03 58 af ee fe ef ee da 0050 58 22 18 09 23 58 20 35 connected to 194 173 33 40 Node 111 327 Besides the display of their chronological development the characteristics can be evaluated statistically The arithmetic mean minima and maxima and the dispersion of the values be can recorded and evaluated by the POWERLINK REport 2007 www port de port Network Timings Start Time ull Isochr Phase all Asynchr Phase al Idle Phase Likewise the different phases of an POWERLINK cycle can be monitored Complete POWERLINK cycles messages with payload or statistical information can be recorded in the memory or in a file These data can be evaluated in detail afterwards m POWERLINK REport udp view of x File View Connection Extras Windows Help Ss I DO ch SA fro 4 se E UDP Data EGET Ai Ce 173 33 141 gt 192 168 100 110 3819 SDO Wei rsnr 0 rcon 0 ssnr 1 scon EX Layer tid 0 rsp 0 a 0 seg ci 7776853815 CH 192 168 100 110 gt es 173 141 Ba spo slp rent Command Layer tid 0 rsp 0 0 seg cid 0 ss 7776863789 e 113 33 141 gt 132 168 ion 110 a soo
84. fer Client Server SA Serdce Asquect perice Contirmatian ES Block Size Sequence Humber i CRE Cakulbon rge Sequence AC SDO transfers are based on the client server model with a handshake after each transfer For a larger block of data this will take a large amount of time Therefore a new SDO mode has been defined in CiA 301 V4 x Itis called SDO block transfer Using the block transfer a sequence of blocks can be trans mitted without a large overhead Each block is a sequence of up to 127 segments e g CAN telegrams containing only a sequence number and the data CiA 301A Multiplexed PDO s If the application has a lot of data with the same prop erties a special PDO type can be used It is called a Multiplexed PDO MPDO MPDOs transmit with every telegram the index and the sub index of the given data Therefore the maximum data length can be only 4 bytes The transmitted index and sub index can be the index and the sub index of the producers object dictionary MPDO Source Addressing Mode or the index and the sub index of the consumers object dictionary MPDO Destination Addressing Mode CiA 302 Flying Master The package CiA 302 Flying Master is an extension to the CANopen Library library of port and provides functions for implementing the flying master function ality for CANopen devices Flying master means that a second device in a network can take over the master role when the master dropped out
85. file of the device EDS Electronic Data Sheet text or XML format according to ISO 15745 or can be scanned from the device directly Special device configurations can be loaded stored and scanned from DCE files Addition ally configurations of complete networks can be saved in project files Description The program s graphical user interface consists of e a hierarchical tree representation of the object dic tionary e various action fields an optional command console interface Displaying all implemented objects as a tree facili tates the configuration by hand Devices with up to 8 device profiles are supported The tab Action is used for reading and writing device objects with CANopen SDO transfer messages Optionally a slider with a user defined value range can be assigned to every object to achieve a more useful configuration For each object the meaning of each bit can be displayed by special bit boxes There are already prepared bit boxes for special objects like the CiA 402 control word Control 6040 0 _ Shutdown made_4 manu_11 I Switth On _ mode_5 manu 12 E Disable Voltage _ mode 6 many 13 I Quick Stop halt I manu 14 _ Disable Operation manu_19 Enable Operation Fault Reset Delete Object Action send Receive Values of manually configured device objects can be stored to a file and reloaded into the device The NMT tab makes several fields available for the e
86. he CANopen Library contains all functions to operate CANopen devices as LSS Master or LSS Slaves With it unconfigured devices in a network can be identified by their unique manufacturer product serial and revision number and configured After identification bit rate and node id can be configured for each device Configuration with LSS can only be implemented on CANopen master With function calls existing slaves can be identified or addressed In indication functions the responses of slave devices can be processed by the master Responses of the LSS slaves to LSS requests of the master are generated automatically by the CANopen Library Only when new parameters like bit rate or node id are set the application will be informed with indication functions Delivery comprises source code documentation and example code to get started quickly CiA 401 generic I O modules MAP TRANSMIT i Pr TPDO1 The device profile for Generic I O Module is an extension to the CANopen Library of port and pro vides functions for realizing I O devices that conform to the device profile CiA 401 The implemented func tions realize the functionality as specified in the stan dard i e logic operations polarity switching filter mechanisms limit monitoring and others The devel oper has to provide functions to ac
87. iant communication and facili tates easy and fast development of devices for the dif ferent supported hardware platforms Through its modular structure the function range can be extended to the optimum with additional modules LSS redundancy flying manager CANopen safety to match the customer requirements Thus slave devices as well as master devices can be implemented smoothly as single and multi line devices Delivery comprises the configuration software CAN open Design Tool Light With it the required services are scalable to a large extend and available application resources are treated with care The strict ANSI C conformity and the separation of the application layer from the data link layer eases porting it to arbitrary hardware platforms allowing for retention of its high performance The result are por tations to 8 16 32 bit controllers little or big endian controllers micros or DSPs A comprehensive documentation including user man ual and reference manual as well as several ready to run examples also belong to the delivery of the CAN open Library CANopen Design Tool The CANopen Design Tool CDT is used for admin istration of CANopen projects With its graphical user interface it simplifies creation of the object directory creation of EDS files standard or XML format configuration of CANopen Library services and set ting of hardware properties 13 CANopen Design Tool 2 0 0 5 2
88. ice implementation and documentation but also in easy reusability and avoid ance of redundant and error prone work which in turn leads to an accelerated development 15 2007 www port de pert CANopen Device Monitor The CANopen Device Monitor CDM 1s a tool for graphical inspection and configuration of CANopen devices With the information of EDS files all objects of devices can be accessed Every modification of variables of devices can be evaluated and be stored as DCF file tkcon 2 4 Main PES File Console Edit Prefs History Help softuare 3 0 45 64 r 0x1000 0 u32 VA 191 46 64 r 0x1008 0 vs IS gg naien set IQ ea E CH Communication Segment D j SRDO l LSS Chart Process i 3 1000 DeviceType Action NMT Description PDO 1001 ErrorRegister 1002 ManufacturerStatusRegister 1005 COB ID SYNC Value Entry Frame Hex 0x70131 Dec 459153 100B NodelD 100C Guard Time 100D LifeTimeF actor 100E COB ID guard Action Frame 1014 COB ID EMCY 1015 Inhibir Time EMCY 017 c h T A S 1017 Producer Heartbear Time Receive from Object 1018 Identity Object 1400 RPDO1 CommPar 1600 RPDO1 Mapping bit 0 1800 TPDO1 CommPar Hie 1A00 TPDO1 Mapping A bit2 bit3 bita JE receive u bits 1 bit send Close object window BEBBBEBBRBRBBREBBBBE re online connected to localhost Co
89. iceNet redundant CAN networks and propriety applications Trigger with pre and post trigger scriptability with Tcl Tk http www tcl tk System requirements Operating System Windows 2000 XP Vista LINUX Processor Pentium or later RAM 128 MByte Harddisk Space 10 MByte 47 2007 www port de 48 CAN Bus Tester Highlights commissioning of CAN bus plants Wiring test module check service maintenance of CAN bus plants troubleshooting and analysis of the physical bus characteristics development of CAN modules final testing in the production Description The CAN Bus Tester permits a efficient start up and a stable operation of CAN Bus systems Besides the protocol analyses you can identify problems on the physical bus level by measuring the disturbance free voltage at run time A low disturbance free voltage range is caused by bus problems at the physical level A low disturbance free voltage range indicates an insufficient resistance of your bus to EMC influences for example A high disturbance free voltage range in contrast represents an interferenceresistant system which saves you substantial costs and trouble caused by system failures The outstanding user friendly system enables you to select different test modes for analyzing your bus with regard to a variety of characteristics such as overview of the disturbance free voltage range of all telegrams more detail
90. igned to the links These attributes are evaluated by the linking algorithm PDO linking Based on the object links the CANopen Configuration Manager computes the PDO mapping entries and sets the COB IDs for the PDOs of each device Thereby attributes and special cases like static mapping con stant COB IDs or a restricted COB ID range are con sidered A direct configuration of the PDO parameter is also possible The program ensures consistency of project settings and device settings Transmit PDOs PDO COB ID d 0x00000141 Trans Type Event Timer Mappings Oxff async 500 071300110 AIO Input PM I 0x71300310 Al2 Input PY 0x00000241 0x71300510 Al4 Input PY 0x71300710 AI6 Input PV direct PDO configuration Timing Configuration Further features of the CANopen Configuration Man ager are its ability to configure and to coordinate tim ing parameters like e g SYNC or Heartbeat Object Configuration All manufacturer or device profile objects of each device can be parametrized without restrictions CANopen PLC support Devices according to CiA 405 CANopen PLC with dynamic network variables are supported by the CAN open Configuration Manager When connecting an object of another device to the PLC the network vari able is created automatically Thereby appropriate data types and attributes are assigned to the network variable File Viewer jec61 131 Yars 32 txt 1
91. intelligence everywhere 1400 Receive PDO Con 1401 Receive PDO Con 1500 Receive PDO Mar Receive PDO Mar 1800 Transmit PDO Cc 1400 Transmit POO Me Manufacturer Area 2000 Status 2100 Drive Command 2101 Drive Speed 2200 LED control Button state GE 0 50 100 150 200 250 Digital Board Service LED 1 LED 2 GUI actualize 5DO gt PDO IT U U U U UT faa oO u Button custom designed mask for the M68HC908GZ60 exam ple using CANopen Device Monitor and a complete documentation e CANopen Library User and Reference Manual as PDF and HTML format files e CANopen Design Tool User manual e CANopen Device Monitor User Manual e CAN REport User Manual The tools contained on CD should give an impression how the device developer is supported at design implementation and test of CANopen devices Therefore some of the examples are instrumented with additional scripts to enhance the tools with cus tom functionality License The license coming with the evaluation software allows the usage of the provided software for evalua tion purposes for the all products covered by the license Foremost if the software should be used in commercial products the user of the evaluation CANopen software is engaged to contact the technical support at port to obtain a fully licensed CANopen library product Ordering Information 0564 39 CANopen Evaluatio
92. iodical tasks and time out monitoring is handled within the POWERLINK Library All requests are proved for correctness access rights data types etc The application s notified after completion of the communication and occurrence of failures respec tively through service oriented callback functions In these callback functions appropriate actions can be carried out from the application 2007 www port de port The object directory is designed to contain references to the variables in the user application Consequently it is possible to take over variables from an existing software without any changes in the object dictionary The high degree of scalability of the POWERLINK Library is of particular importance for devices with limited resources On one hand this is achieved by the modularity in individual service groups and on the other hand through the use of compiler directives in the respective modules Thus the code size is pro portional to the utilized POWERLINK services Delivery of the POWERLINK Library comprises differ ent example programs that describe the usage of the various POWERLINK services All examples contain a complete implementation of a POWERLINK device including the object directory as well as application code These are ready to be compiled and run Among the detailed documented source code there is the reference manual and a printed user manual as documentation available The POWERLINK Library is const
93. ion On chip Periph eral Bus OPB The PE MAC from port works in a Xilinx FPGA er OPB Slae together with a Microblaze processor The processor interface is 32 bit wide 100MBit The PE MAC is a standalone component that is linked PHY interface to the processor via registers control and status information a dual port memory data buffer and an interrupt request signal Furthermore a separated sig Ordering Information nal is provided that signals an incoming SoC packet A special PE MAC driver provides an optimal inter connection to port s POWERLINK Library 1712 00 PE MAC VHDL 80 2007 www port de POWERLINK Hub VHDL Code Overview Technical Data The POWERLINK hub from port is a generic hub design for FPGA and for CPLDs written in VHDL Operating mode The propagation delay is less than 390ns In conjunc Number of ports 2 external 1 internal tion with port s Enhanced Ethernet MAC it offers a expandable fast and easy connection to an POWERLINK network propagation delay lt 390ns prop delay without PHYs lt 120ns a Number of flip flops 150 Description Number of slices 158 Jitter on total HUB delay 40ns maximum difference of 166ppm time domain frequencies PHY interface MII The POWERLINK hub from port is a generic hub design for for FPGA and CPLDs written in VHDL It is compliant to the IEEE 802 3u standard and supports 100MBit half duplex connections The propagation
94. ion is forwarded directly to a competent member of staff and the end user then promptly receives the desired support Our version management system enables the restora tion of software and documents in their respective ver sions 2007 www port de port General terms of business Our terms and conditions are separated according to the specific product range e Terms and Conditions for the Delivery of Hardware and appendant Software e Terms and Conditions for the Use and Maintenance of Software Products The terms and conditions which apply to your product can be send on request by fax 49 345 7775520 or Email service port del Furthermore we provide the opportunity to download our general terms of sale as pdf file from our web site Terms and Conditions for the Delivery of Hardware and appendant Software http www port de engl company btc html Terms and Conditions for the Use and Maintenance of Software Products http www port de engl company btc html 9 2007 www port de 10 Partners and Distributors ECS Srl Italy ECS Srl is an Italian company in the development of embed ded heating and cooling sys tems It provides services for embedded controllers net worked with CAN technolo gies le ES http www ecsproject com mailto service CANopen Q ecsproject com EMS Dr Thomas Wunsche Since the year 2000 port works together with the company EMS Dr Thomas W nsche
95. ith out operating systems It supports many of the avail able CAN controllers and many microcontrollers pro cessors For detailed information see data sheet CANopen Driver Package For systems based on Windows the CANopen Library is also available a Dynamic Link Library DLL This DLL is available for special hardware boards and contains all services of the Master Slave standard edition of the library It can be used to cre ate master or slave applications Furthermore CANopen Starter Kits and a free CAN open Evaluation software on CD are available on request Delivery scope e CANopen library with separate driver interface e CPU CAN driver numerous immediately compilable examples e CANopen Design Tool Light e detailed user manual e reference manual containing descriptions of all functions including parameters and return values 6 months support by telephone free of charge 6 months support by E Mail free of charge e 6 months update service free of charge Licensing conditions excerpt For the CANopen Library a one off license fee is charged in form of the purchase price Further license fees do not arise from the deployment of the software within the same company no runtime licenses It is not allowed to hand over the software and the implementation respectively towards a third party Further Services e Maintenance Agreement All changes of current standards as well as exten sions through new
96. ith 0x00 The application has to be linked to the flash area 0xC0 4080 to OxCO 1 FFF The interrupt vector table should start at OxC1 0000 The bootloader jumps at the start address OxC1 0000 reserved EDS File The file Bootloader eds http www port de eng canprod sw_bootloader html is a standard CANopen Electronic Data Sheet that can be used with a CANopen configuration tool like the CANopen Device Monitor http www port de engl canprod sw monitor html to allow immediate access to the object dictionary entries Download The binary and Intel hex file of the bootloader and some tools can be downloaded from our Web Site cksum Checksum program LINUX executable cksum exe Checksum program Windows executable downloader LINUX command line Downloader transfers a file using Domaintransfer downloader exe Windows command line Downloader for EMS interface boards transfers a file using Domaintrans fer Tools There are two additional programmes to assist with the program download cksum produces a complete ready to download file with prepended application header from the binary image This header contains information about length and checksum which are stored in flash memory Use cksum k gt cksum C O download bin application bin Further information are given using the option h downloader exe executes the SDO domaintransfer as a client This program takes the file as argument a
97. ity of the application The ini tialization of CANopen services is done with function calls within the application During the execution of the application the CANopen Library executes all nec essary communication tasks autonomously and informs the application about CANopen messages with the help of callback functions Communication requests from other devices as well as necessary periodical tasks and time out monitoring is handled within the CANopen Library All requests are proved for correctness access rights data types etc The application is notified after completion of the communication and occurrence of failures respec tively through service oriented callback functions In these callback functions appropriate actions can be carried out from the application The object directory is designed to contain references to the variables in the user application Consequently it 1s possible to take over variables from an existing software without any changes in the object dictionary The high degree of scalability of the CANopen Library is of particular importance for devices with limited resources On one hand this is achieved by the modularity in individual service groups like sdo c pdo c sync c and on the other hand through the use of compiler directives in the respective modules Thus the code size is proportional to the utilized CANopen services Furthermore variants of the CANopen Library for the support of multipl
98. l settings can be carried out The communication relations can be defined between arbitrary sender and receiver nodes if appropriate entries are available in the object directory The required information is obtained from EDS files of the network nodes DCF files can be generated for all configured communication relations of the EDS data Furthermore the configuration can be stored as a C data structure that can be included easily into a master application For access on the CAN bus the CANopen Configu ration Manager makes also use of the CANopen Server and therefore allows remote access too CAN REport The CAN REport is an efficient and versatile usable CAN Analyzer It comes with powerful functions for monitoring the CAN bus traffic with different trigger possibilities storage of CAN messages into log files and sending of CAN messages CAN REport 3 0 horch tcp E 15 x File Edit Yiew Connection Extras Window Help o amp NMT PDO soo EMCY FLYMA New connection to host 194 173 33 19 1092130359 629206 1857 0x741 sD 05 1092130359 912208 705 0x2cl sD 00 00 20 00 Bitrate 1092130359 962936 705 0x2cl sD 00 00 00 00 125 1092130360 095190 160 0x0a0 sD 70 81 11 00 00 00 00 00 State 1092130360 105751 1637 0x665 sD 40 00 10 00 00 00 00 00 1092130360 106918 1537 0x601 sD 40 00 10 00 00 00 00 00 1092130360 108078 1562 0x6la sD 40 00 10 00 00 00 00 00 10921303
99. lave functionality using field proven library Designed for rapid integration into your DeviceNet products the kit includes com Fragmentation of both Explicit and I O messages Offline Connection Set Device Heartbeat Message producer Device Heartbeat Message consumer CAN controller supported O Philips SJA1000 stand alone CAN controller plete documentation source code and example appli O Infineon SABC167CR with integrated CAN 5 cation code for both an AMD 80188EM SJA1000 controller CAN controller and the Infineon Siemens C167CR gO TMS320F2407 und TMS320F2812 with inte with internal CAN All source code with the excep grated CAN controller tion of some microprocessor specific startup code is g can4linux Linux device driver written in C ted Object Additional implementations for running the an en DeviceNet slave as an Linux application using the O Identity candlinux device driver and implementations using O DeviceNet Texas Instruments DSPs IMS320F24x with internal o Connecti n CAN are available Sample projects for these targets can be provided on request D Assembly O Ack Handler 0 Message Router O Allen Bradley Non Volatile Storage 0 Debug Template O Position Controller Supervisor Template O Position Controller Template An adaptation of the DeviceNet software to meet the requirements of processors and CAN controllers not DeviceNet Network listed above can usually be accomp
100. lement a CANopen drive according to CiA402 Torsten Gedenk CAN Newsletter Special Edition Motion Control November 2005 Using modern CANopen development tools effectively Heinz Jirgen Oertel internal publication port GmbH 2004 Where is CANopen heading The CANopen protocol on the test bench Heinz J rgen Oertel MSR Magazin issue May 2005 Rapid prototyping for CANopen system development Riidiger H rtel I I th international CAN Conference Stockholm 2006 Develop CANopen devices the easy but safe way Heinz Jirgen Oertel CAN Newsletter March 2006 How much Power for Ethernet Powerlink Heinz Jirgen Oertel Elektronik issue October 2006 Controlling CANopen nodes remotely via Ethernet Torsten Gedenk CAN Newsletter March 2007 Books CANopen Library User Manual paperback app 225 pages English The User Manual serves as an introduction for using the source code library The procedure to use this CANopen Library and the process of integration into the customer s application are described here This document describes the properties of all distributions of the CANopen Library ISBN 3 8334 4621 8 CANopen Holger Zeltwanger publisher VDE Verlag GmbH Berlin Offenbach 2001 with CD ROM ISBN 3 8007 2448 0 Controller Area Network Basics Protocols Modules Applications Prof Dr Ing K Etschberger Hanser Verlag 2000 second edition hard cover CD ISBN 3 446 19431 2 CAN Controller Area Network Basi
101. lished within a few days using standard C code We will gladly accom Features plish such an adaptation of the DeviceNet software on DSDK features Ge tech e Compiler support for the x188 and Infineon SABC167CR microcontroller e Scalable for Group 2 Only or UCMM Unconnected Message Manager support capable devices e Predefined group 2 connection set support for 43 2007 www port de port Functional demo versions of the CAN REport SW Position Co ntrol tools are available for download on http www canopen tools com For the development of a drive unit with a DeviceNet interface port provides a special add on module The Position Control Module bases on the objects Position Controller Supervisor and Position Controller and accelerates the device development by the handling of command and response messages and the drive spe cific handshake for I O messages Routines for the services Get Attribute Single and Set Attribute Sin gle make the drive configuration easier Additional error indication functions supports the error handling The Position Control Module allows the user to implement its own drive functionality such as various profile types special control algorithms application specific limit functions standardized and individual modes Development Tools The CAN Analyzer CAN REport is an efficient and versatile tool for analysis and starting of CAN based networks like DeviceNet The DeviceNet specific
102. ly 42V 5 DN 5 5V voltage Descri ption Limiting Values Parameter Min Max CPC USB is an active CAN interface for the connec Storage temperature 20 C 80 C tion to the USB bus of a PC It comes with a robust Operating temperature 0 C 70 C compact metal housing The low price and ease to EE 0V e use makes it well suited for configuration and analysis Ay of CAN networked systems Voltage on bus 30V 30V connections Size 54 x 24 x 90 mm Scope of Delivery e CAN interface CPC USB e manual e CPC drivers for Windows 2000 XP LINUX 7 The CAN interface supports 11 and 29 bit CAN iden Ordering Information tifiers The on board 32 bit ARM micro controller system Philips LPC2119 with 128 KByte FLASH and 16 KByte RAM is capable to control transmis sion and reception tasks with the highest efficiency possible CPC USB is powered by the USB bus no additional power supply is required Development kits for developing applications using CPC USB are available for the operating systems Windows and LINUXTM The CAN connection is galvanically isolated from the USB part A version with a low speed transceiver interface for CAN is available to be used in automo tive applications CPC USB is useable as CAN interface for the CAN analyser CAN REport the configuration tool CAN open Device Monitor and the CANopen Configuration Manager 0667 01 CPC USB M16C GTI Interface 0667 02 CPC USB ARM7 GTI Interfac
103. ment time can be reduced and the risks of a manual implementation are minimized The following profile databases currently available e C1A 304 Framework for Safety Relevant Commu nication e CiA 401 Device Profile for Generic I O Devices e CiA 402 Device Profile for Drives and Motion Control e CiA 404 Device Profile for Measuring Devices and Closed Loop Controllers e CiA 405 Device Profile for IEC1131 3 Pro grammable Devices e CiA 406 Device Profile for Encoders e CiA 410 Device Profile for Incliometer e CiA 415 Device Profile for Road construction machinery e CA 418 Device Profile for Battery Modules 2007 www port de port e CiA 419 Device Profile for Battery Charger e CiA 417 Application Profile for Lift Control Sys tems CAN Merge The optionally available CAN Merge Plugln is a tool to compare and to merge CANopen Design Tool projects A detailed presentation of each attribute of indices and sub indices and comfortable editing facili ties simplify the handling of multiple projects The integrated diff report generator generates expressive diff reports in XML Eile Options Merge d ep Dit oT 32 i 0640 05 CANopen DT W Light E Cenia ag Ha anig Light Version Windows E Speci Senge Gi Speci Senge 0640 06 CANopen DT L Light 1 hoor Light Version LINUX ee 0640 10 CANopen DT W Lt a Get eh NR Full Version Windows n sen 0640 20 CAN
104. n optimized configuration of the CANopen Library according to the implemented CANopen services Functional demo versions of the software tools are available for download on www canopen tools com 35 2007 www port de 36 CANopen Device Monitor Overview The CANopen Device Monitor is a tool for the graphi cal inspection and configuration of CANopen devices in a CANopen network The embedded scripting abil ity provides access to the implemented CANopen ser vices and makes it possible to write test or control applications with a minimum of effort CANopen Device Monitor Node 64 BK5120 MEi File Edit View Connection Extras Windows Help oi o Node ld 64 Set og 000 Number of Eleme 001 Diglnputs 1 CH 002 DigInputs_2 6126 Interrupt Mask D 6200 Write State 8 Outpu 000 Number of Eleme FI 001 DigOutputs_1 002 DigOutputs_2 003 DigOutput8 3 D 6401 Analogue Input 3 000 Nr fEntries 001 Analogue Input 1 002 Analogue Input 2 003 Analogue Input 3 004 Analogue Input 4 6411 Analogue Output 6423 Analogue Input Gloh PDO Chart Process Action NMT Description Yalue Entry Frame Hex OxFO Dec 240 used for saving configuration I component of DCF file Action Frame Receive from Object Send to Object COPED online The information on how to display the device object dictionary is obtained from the EDS
105. n Library with operat ing systems like Windows or LINUX port pro vides drivers for active and passive PC cards parallel dongles PCMCIA cards USB interface and external Ethernet to CAN converter EtherCAN Predefined Driver Packages Order Code Name of System 0565 06 0565 05 0565 03 0565 34 0565 10 0565 35 0565 40 0565 47 0565 18 0565 25 0565 33 0565 09 0565 07 0565 48 0565 08 0565 38 0565 36 0565 30 0565 66 0565 31 0565 32 0565 26 0565 19 0565 28 DP C505C microMODUL 505C plain Phytec on Request 8051 82527 DP C515C miniMODUL 515C plain Phytec on Request 8051 82527 DP C167C for mmiMODUL 167C plain Phytec C166 82527 DP XC164CS DevBoard XC166 TwinCAN DP Atmel T89C51CC01 02 03 8051 CANary DP Atmel ATIOCAN128 AVR CANary DP Atmel AT91SAM7A2 ARM7 with internal CAN DP Atmel AT91SAM7A3 ARM7 with internal CAN DP STMicroelectronics ST72561 with BeCAN DP STMicroelectronics STR730 with C_CAN DP Silicon Laboratories C8051F040 DevBoard 8051 CC CAN DP Freescale HC908 HC08 msCAN DP Freescale HCS12 X for MC9S12 X family HCS12 X msCAN DP Freescale MC56F8323 56800E FlexCAN DP Freescale DSP56F807 DSP56800 msCAN DP Freescale MPC565 566 MPC5xx TouCAN DP Coldfire 5282 with internal FlexCAN DP Fujitsu MB90F543 with internal Fujitsu CAN DP Fujitsu MB96F430 with
106. n Software Functional demo versions of the software tools are available for download on www canopen tools com www port de 30 CANopen Bootloader Modern device designs need enormous flexibility in hard and software Today hardware is equipped with plenty of resources in order to allow software changes later on Software itself has to provide means to enable an update upgrade of the current firmware At this point in system programming offers the greatest possibilities and thus a change of the software too The desire for this feature also exists for CANopen devices and it is easy to implement With the SDO transfer CANopen provides all means to transmit large chunks of data that occurs with a software update This CANopen binary bootloader implements a mini mal node in a CANopen network as specified in the CiA Draft Standard Proposal 302 Framework for Programmable CANopen Devices It allows to use regular CANopen master software or configuration tools to download new firmware into the user flash code memory First implementations for the TMS320F28x DSPs of Texas Instruments Fujitsu MB90xx and the XC164CS family of Infineon are available The free version available as binary FLASH image has only few limitations use of predefined bit rates Configuration is done through writing the BTR values to FLASH When purchasing the source code the software can be adopted to manufacturer specific methods to deter
107. n9x NT on request DP Arcom Boards Windows CE with AIM104 CAN Module DP AT CAN MINI port CAN PC Card AT CAN MINI ISA MS DOS port DP can4linux CANopen driver for can4linux compati ble hardware under LINUX DP CPC Linux CPC CANopen driver for LINUXTM EMS Wiinsche useable for passive CPC PCI card CPC USB Interface DP CAN232 Linux Lawicel CAN232 driver for LINUX DP CAN232 Windows Lawicel CAN232 driver for Windows Order Code Name of System 0565 60 DP esdntcan4linux esd CANopen driver for LINUX useable for cards with esdnt Interface Adaptable Drivers CAN driver Order Code CAN controller type 0566 01 0566 03 0566 04 0566 06 0566 07 0566 08 0566 09 0566 11 0566 13 0566 14 0566 15 0566 16 0566 18 0566 19 0566 20 0566 22 0566 23 0566 24 CPU driver Order Code 0567 01 0567 02 0567 05 0567 06 0567 07 0567 08 0567 09 0567 10 0567 11 0567 12 0567 13 0567 14 0567 15 0567 16 0567 17 0567 18 0567 19 0567 20 0567 21 0567 22 DP CAN Philips SJA1000 DP CAN Intel 82527 DP CAN Siemens SAE 80C90 91 on request DP CAN Freescale TouCAN DP CAN Freescale msCAN msCAN8 msCAN12 msCAN 12 2 DP CAN Fujitsu CAN 16LX serie DP CAN Atmel CANary DP CAN Mitsubishi M16C 6N DP CAN TI eCAN e g TMS320F28xx serie DP CAN Bosch C_CAN e g Silabs C8051F040 Fujitsu MB91xxx ST STR730 DP CAN Infineon TwinCAN DP CAN Freescale FlexCAN DP CAN Atmel AT91SAM7A2
108. nd transmits it The bootloader writes the received pro gramme into the flash memory Ordering Information 0261 01 Bootloader Binary Infineon XC164 0261 02 Bootloader Binary Fujitsu MB90F5xx on request 0261 03 Bootloader Binary TMS320F2812 0261 05 Bootloader Binary TMS320F2808 0261 50 Generic Bootloader Source Code 0261 51 Bootloader Source Code Infineon XC164 for Tasking Compiler 0261 52 Bootloader Source Code Fujitsu MB90F5xx on request 0261 53 Bootloader Source Code TMS320F2812 0261 55 Bootloader Source Code Infineon XC164 for Keil Compiler 0261 56 Bootloader Source Code Philips LPC2129 for Keil Compiler 0261 57 Bootloader Source Code TMS320F2808 0261 60 Downloader Source Code 31 2007 www port de 32 CANopen Gateway Server CiA 309 3 Overview The subject Ethernet access down to the fieldbus layer is intensely discussed The CANopen Gateway Server provides the solution of Ethernet access down to the fieldbus layer right now and relies on the current and field proven CANopen technology CiA 309 2 CiA 309 1 Description With the specification CiA 309 the CiA provides a standardized solution to access a CANopen network through an Internet TCP IP connection The CANopen Gateway Server realizes a complete Class 3 CANopen Manager node CANopen network 1 iS aa Fee CANopen node 1 CANopen Server Gateway according to DSP 309 Network Client device
109. ng or duplicating By importing these prefabricated objects into the own project the development time can be reduced and the risks of a manual implementation are minimized The following profile databases are currently available e PL POWERLINK communication profile CiA 401 Device Profile for Generic I O Devices CiA 402 Device Profile for Drives and Motion Control CiA 404 Device Profile for Measuring Devices and Closed Loop Controllers CiA 406 Device Profile for Encoders C1A 417 Application Profile for Lift Control Systems Advantages acceleration of the development by avoidance of double work error prevention during creation of the object dictionary and EDS consistent documentation to the respective device version re use of the data for similar devices supply of the data for standardized POWERLINK device profiles System Environment The POWERLINK EDS Editor runs on PC s with e Operating System Windows 2000 XP Vista and LINUXTM e Processor Pentium or later e RAM gt 256 MByte HD gt 20 MB available 77 2007 www port de 78 Hardware for Ethernet POWERLINK POWERLINK Managing Node for PCI Bus Overview The POWERLINK Managing Node for PCI Bus is a PC interface card which connects a PC with an Ethernet Powerlink network The complete Managing Node functionality according to POWERLINK standard V2 0 is integrated on the device With the device you can
110. nt hardware platforms The user application communicates with the POWER LINK Library through function calls and call back functions Configuration and scaling of the POWERLINK Library is done with the help of the POWERLINK Design Tool which is delivered as POWERLINK Design Tool Light version With it the POWERLINK Library can be tai lored to an optimum to the available resources of the application Besides the creation of the object direc tory all settings for the hardware can be carried out with it Description hardware dependent EPL Driver Package Timer Interrupt handling Ethernet Driver The POWERLINK Library consists of a hardware inde pendent and a hardware dependent part that communi cate with message queues The hardware dependent part consists of controlling software for the Ethernet MAC controller and timer functions The application communicates only with the hardware independent part of the POWERLINK Library That way it is possible to exchange drivers without any influence on the functionality of the application The initialization of POWERLINK services is done with function calls within the application During the execution of the application the POWERLINK Library executes all necessary communication tasks autonomously and informs the application about suc cessful received POWERLINK messages with the help of callback functions Communication requests from other devices as well as necessary per
111. ntrol 6040 0 Shutdown mode A _ manu_11 _ Switch On I mode_5 manu_12 E Disable Voltage mode 6 manu_13 Quick Stop halt manu 14 Disable Operation manu 15 _ Enable Operation Fault Reset Delete Object Action Send Receive In addition to the NMT commands like OPERA TIONAL PRE OPERATIONAL STOPPED there are network control mechanisms like heartbeat moni toring or node guarding as well as special functions like SYNC TIME EMCY available An integrated scripting language provides access to all implemented CANopen services Thus test applica tions for the device development and control applica tions can be developed with minimum effort The graphical user interface and the CANopen server are separate applications and communicate over TCP IP network connections For this reason it is not necessary any longer that both programs reside on the same computer Through the communication over TCP IP according CiA 309 3 both components can be connected over Internet or dialup connections This allows easy and cheap remote maintenance The CANopen server contains a complete NMT mas ter functionality and provides simultaneous access from multiple TCP IP clients Configuration Manager The CANopen Configuration Manager CCM has been developed for configuration tasks of complete CANopen networks Besides the PDO linking i e defining the PDO communication relations node con tro
112. o CiA 401 which can be found in the industrial field Hardware The PSK includes target hardware for program development of a CN XILINX Spartan3E 500 FPGA Freescale NE64 or ST Microelectronics STR910 including development environment and examples POWERLINK Device Monitor demo version as POWERLINK Managing Node a Windows based Ethernet analyzer with POWER LINK Plug In POWERLINK Hub and Ethernet cable optional the POWERLINK REport demo version as powerful POWERLINK analyzer All software components are available on the enclosed Tools CD Powerlink Powerlink Device Monitor Managing Node NodelD 240 E P Ethernet Analyser Powerlink CN NodelD 32 Powerlink Analyser EPL REport Er optional 67 2007 www port de port System Requirements The usage of the starterkit requires a PC system or Laptop with at least 3 GByte free disc space as well as Microsoft Windows XP Professional or Vista Busi ness Ordering information 1701 01 PSK Spartan3E target hardware for program devel opment of a CN XILINX Spar tan3E 500 FPGA including devel opment environment and examples 1701 11 PSK Spartan3E as PSK Spartan3E including an additional POWERLINK Gateway 1701 02 PSK NE64 target hardware for program devel opment of a CN Freescale NE64 Board including development environment and examples 1701 12 PSK NE64 as PSK NE64 including an addi tional PO
113. o the contents can be assigned to different identifiers and interpreted according differ ent data types The integrated Tcl script support allows the very flexible extension of this mechanism f Symbolic message interpretation 3 3 lolx Interpretation Device State usb kmph usb Drive I i161 Drive II i161 Heartbeat Velocity State Delete zi OK Cancel IV Show only configured messages Object View The object view is another representation form of CAN messages Different than at trace mode selected messages always remain visible and can be watched comfortably 7 CAN REport 3 0 can232 localhost E lolx Eile Edit View Connection Extras Window Help l ole 98 CAN ID Type Data Period Count Ox2c1 sD 60 17 CO 46 0 051 1573 Oxici sD EO 19 0 051 494 0x740 sD os 0 999 83 Ox701 sD os 1 001 73 0x640 sD 2B 17 10 00 E8 03 00 00 0 076 9 OxScO sD 60 17 10 00 00 00 00 00 0 077 9 0x201 sD EO 00 0 043 59 0x203 sD OG EO 00 0 043 59 OxDa0 sD 00 00 00 00 00 00 00 00 1 129 5 0x000 sD 01 40 2 072 5 0x050 sD 40 05 00 00 00 00 00 00 1 652 5 0x202 sD 00 00 00 2 074 4 0x302 sD 00 00 00 00 00 00 00 OG 2 074 4 4 4 3 3 State ar connected ASCII Hex Dec Time on off Set Mark 0x303 sD 00 00 00 00 00 00 00 00 2 074 0x241 sD oo 2 074 0x601 sD 2B 17 10 00 E8 03 00 00 0 075 60 17 10 00 00 00 00 00 Trigger
114. ols on CD ROM System environment The usage of the starterkit needs an Intel based PC system The library can be provided on request for other systems Furthermore a CAN interface which is supported by can4linux has to be available Ordering information 0572 01 LCSK Base Base Slave Software Development Set with Slave Sources pre com piled CANopen Library To select and order the needed starter kit components please ask for the CANopen LINUX Starter Kit order form containing also price information We would be glad to send this form as PDF attachment by email Functional demo versions of the software tools are available for download on www canopen tools com 2007 www port de Software Components for DeviceNet DeviceNet Slave Development Kit Explicit Message Overview EE Polling Change of State Strobe Connections DeviceNet connectivity for your products DeviceNet is used in a wide range of industrial auto UCMM Unconnected Message Manager support mation products and equipment port provides a Explicit Message Server Client DeviceNet Slave Developers Kit DSDK that helps Non Volatile or DIP Switch net parameter support engineers to add the DeviceNet protocol quickly to a host of slave devices such as weld and robot con trollers sensors and medical equipment and more The DSDK allows developers of embedded products to add UCMM Unconnected Message Manager sup port capable DeviceNet S
115. ontroller LAN91C111 from SMSC installed The two units communicate over a Dual Ported RAM DPR Here the IDT70V05S L from Technical Data IDT is used The compact casing with its dimensions of 23x100x115 mm is mounted as top hat rail with integrated grounding Every Ethernet port has two LEDs which indicates a OPC 55 C link resp network activity Furthermore the POWER Supply voltage 24 VDC LINK side has a status BS and an error BE LED Dimension 23x100x115 mm BxHxD which can be controlled by software With an address switch ID the user can set the node id of the device Thus he can switch the node type easily Is the node id equal to 240 the device works as managing node Ordering Information Every other id causes the function as controlled node The ip address of the non POWERLINK side can be set using a TCP based tool which is similar to telnet 0551 01 POWERLINK DTGW With a switch you can shift between configured and standard IP address 10 10 10 10 On the POWER LINK side there is also such a switch to shift between the IP addresses 192 168 100 node id and 10 10 10 10 79 2007 www port de POWERLINK PE MAC Overview Ctrl Registers The PE MAC developed by port is a special MAC controller optimized for Ethernet Powerlink for Xil inx FPG As Powerlink Enhanced Through several special transmit buffers and the pos Ethernet sibility to respond automatically to POWERLINK M
116. open DT L J em enker Device one e aeaea Full Version LINUX ER 0640 11 CANopen DT P401 Mn profile database for CiA 401 a LEN nt mm p 0640 12 CANopen DT P402 ms us ee en profile database for CiA 402 EE ner Re Ne 0640 13 CANopen DT P406 profile database for CiA 406 CAN Merge shows its strength especially when deal 0640 17 CANopen DT P304 ing with large projects or with large development profile database for CiA 304 teams 0640 21 CANopen DT P417 profile database for CiA 417 0640 23 CANopen DT P404 profile database for CiA 404 0640 24 CANopen DT P405 Advantages profile database for CiA 405 0640 26 CANopen DT P410 profile database for CiA 410 e acceleration of the development by avoidance of 0640 28 CANopen DT P418 double work profile database for CiA 418 e error prevention during creation of the object dictio poe rn DI FA E nary and EDS profile database for CiA 419 l l 0640 50 CANopen EDS2XML W consistent documentation and EDS file to the EI Ae SEI commenter Windays r espective device version 0640 51 C ANopen ED S2XML L e reuse of data for similar devices EDS to XML converter LINUXTM S 0640 49 CANopen DT CAN Merge supply of data for standardized CANopen device profiles System Environment The CANopen Design Tool runs on PC s with e Operating System Windows 2000 XP Vista and LINUXTM e Processor Pentium III or later e RAM 256 MByte e Harddisk Space 20 MByte Ordering Information CAN Merge PlugI
117. or many years to come We feel a close co operation and continued exchange of information between customer and developer is of the upmost importance Software Our software developers can draw upon several years of experience and have acquired a wide range of expertise to deal with customer specific tasks from having worked on complex projects The customer projects once realized will always be in need of serial communication via fieldbus systems and data networks no matter whether the task involves e development of motion and drives components e development of driver packages configuration and diagnosis tools for CANopen or POWERLINK applications 7 2007 www port de 8 port Hardware Products In order to offer customers not just software services but also the required hardware products which always meet current technological standards our software products are compatible with the general interface which we share with a group of our asso ciates Alongside our range of available software products we offer a comprehensive assortment of CAN inter face boards Customers can then select the most appropriate variant Many Interface cards which come complete with their own processor or passive cards that are operated by the main PC CPU can be used for PCs with ISA or PCI bus The widespread USB interface has also brought a lot of effect over the last few years Besides USB adapters and Eth
118. oring of network parameters allows the preventive detection of problems with the network and prevents production downtimes in advance By diagnosis during production severe damages to machines and financial loss can be avoided POWERLINK Interface As hardware to access an POWERLINK network an POWERLINK Gateway is taken advantage of Special requirements are made to the timely exact acquisition of Ethernet frames The gateway has a second Ethernet TCP IP port for the evaluation software the POWERLINK REport GUI System Requirements Operating System Processor RAM Harddisk Space WindowsTM 2000 XP Vista LINU XTM Pentium IV or later 256 MByte gt 25 MByte available Ordering Information 1740 10 POWERLINK REport W Full Version Windows 1740 20 POWERLINK REport L Full Version LINUXTM Functional demo versions of the software tools are available for download on our web site http www epl tools com shop html The POWERLINK REport was awarded with the German prize INNOVATIONSPREIS 2007 tate _ mittelstand KATEGORIESIEGER Industrieautomation 75 2007 www port de 76 POWERLINK EDS Editor Overview The POWERLINK EDS Editor is a tool for the rapid and cost saving creation of Ethernet POWERLINK device description files Furthermore it creates a detailed documentation of the parameters in HTML 3 POWERLINK EDS Editor z2 projects 2006 br20
119. ormation guages are available 989563919 999016 1799 04707 989563921 024541 1789 04707 959563921 048045 256 0x100 989565922 046564 1789 04707 959553972 068331 256 0x100 0580 10 CAN REport W Full version Windows 0580 20 CAN REport L Full version LINUX 0580 11 CAN REport CANopen Plugin 0580 12 CAN REport DeviceNet Plugin 0580 13 CAN REport Maritime Plugin 0580 14 CAN REport J1939 Plugin 9895653923 027081 17998 0x707 959563923 048192 256 0x100 989565924 047260 1 99 0x707 989563924 068092 2756 0x100 989563925 071046 17 99 0707 Verkeefer GIG go s e KE 99 o o Functional demo versions of the software tools are Particularly for commissioning and error analysis a available for download on www canopen tools com precise time resolution of the received CAN messages at the network is necessary The time represented by CAN REport is influenced only by the used hardware Time resolution up to I us can be achieved by using CAN interface boards under the Linux operating sys tem The available recording functions allow to store the results of entire test runs but also the content of logging windows in separate files port can perform special adaptions to the GUI or behavior to meet special customer requirements for service or assembly testing Advantages CAN interfaces of different manufacturers support of remote monitoring of the CAN bus expandable for CANopen Dev
120. ough an SDO Abort message or an EMCY message 2007 www port de port Standard Error Field Contains the error code of the lately sent EMCY Manufacturer Device Name Manufacturer Hardware Version Manufacturer Software Version Heart Beat Producer Time Period for sending heartbeat messages This index is configurable via CANopen Identity Object Vendor ID port Reads back 0x0000 0034 port s official vendor ID assigned by the CA Product Code At time of delivery the object contains num ber of port GmbH This value can be config ured in the configuration area Download Program Area Use this entry to download your Intel hex file with the programming data Please note that the download area is located on a fixed address Download file format is binary with an applica tion header prepended Program Control Writing 0x01 into this entry will start the loaded application Writing 0x04 into this entry will ERASE the application FLASH area Implementation Details and Application Require ments XC164CS The bootloader is linked at address 0xC0 0000 The user code flash area begins at 0xC0 4000 The first 128 bytes 0xC0 4000 to OxC0 407F are used for administration It contains information about length of the application and a cyclic redundancy checksum SERUCE a UNSIGNED32 length UNSIGNED16 crc UNSIGNED16 applicationType reserved UNSIGNED32 addr APPLICATION_HEADER_T This area is filled w
121. port de 54 IGW 900 Gateway Highlights equipped with an efficient 32 bit Motorola Coldfire with 66MHz clock frequency e 12 24 VDC Power supply e CAN 2 0B ISO 11898 e pre installed Embedded Linux e full fledged Linux Computer on site Description With the gateway IGW 900 an equipment is avail able which is suitable particularly for the installation in switchgear cabinets Besides from the compact dimensions IGW 900 is particularly qualified for many industrial applications because of its various connection types This gateway is equipped with a Linux Device Server Consequently it can be ascer tained a fully fledged Linux computer is available on site IGW 900 stays abreast of changes increasing trend to path on high duty devices to the on site sec t10n ag Besides control tasks IGW 900 has the ability to con nect devices without Ethernet interface to TCP IP net works Application The heart of the IGW 900 the DIL NetPC DNP 5280 also provides with ts 32 bit Motorola Coldfire pro cessor with a clock frequency of 66 MHz sufficient power reserves for more extensive applications With the combination of IGW 900 as CAN interface and e g the CAN analyzer CAN REport an efficient and versatile tool for analysis and commissioning of CAN based networks is available The connection between these two components occurs on the basis of the Client Server model by standard TCP IP inter faces Thi
122. posure to limiting conditions for extended periods may affect the relia bility and shorten the life cycle of the device Nominal Values Parameter Min Typ Max Supply voltage 10V 24V 30V Current consumption 40mA All values unless otherwise specified refer to a sup ply voltage of 24V and an environmental temperature of 20 C Scope of Delivery e CANwatch e Manual Ordering Information 0660 01 CANwatch 2007 www port de CAN Interface Boards AT CAN MINI Highlights e plain Basic CAN PeliCAN interface e galvanically isolated from the PC connectors compatible with ISO DIS 11898 and CiA recommendations Description The component AT CAN MINI is a plain Basic CAN PeliCAN interface for PC AT bus compatible systems 1 ST EIER TT bn mn a i Ta De a TE F gesepocsemecsss aen A wi bi u 7 E g L t bk Sie d E h ii i wk ann 1 F i A z d FTTTTTTTTTTT NG Di 1 hv viten zb d HESE I Fr Sek iii r et WETTER m WR TL gy LW LU F a p pm a ui na 1 lhe 1 5 a I The component is suitable for all kind of applications where the main processor provides sufficient compu tation power to serve the Basic CAN PeliCAN inter face in an application specific manner The PC CAN interface is realised as a short PC card for ISA bus The CAN bus interface is galvanically isol
123. r development of own applica tions Based on the library code a so called CANopen Server application is available The Server provides easy access to CANopen services through a TCP IP socket interface System Requirements can4linux is freely available under the GPL license It can be compiled for the LINUXTM kernels 2 0 to 2 6 for different hardware architectures Ordering Information 0530 13 can4linux Device Driver 2007 www port de can4vxworks Device Driver for VxWorks Overview The can4vxworks driver is a universal VxWorks device driver and is used for controlling of ISA PCI and PC104 interface cards with CAN bus interface It supports the CAN controller Philips SJA1000 and the sources can easily be adapted to use any other CAN controller Application The can4vxworks driver is a result of the can4linux project which was developed in 1997 to control labo ratory devices that use CAN Besides the IOCTL function calls both drivers use the same data struc tures for parameter passing Thus changing an appli cation between LINUX and VxWorks is trouble free During compilation the driver 1s optimized for the tar get hardware Driver Interface Controlling the device driver is done via the standard function calls for devices like open close read write and ioct10 The driver is highly configurable with the IOTCL functions Furthermore it is possible to use up to four interface bo
124. rder to take profit of the changes port offers all its customers a maintenance agreement with the fol lowing conditions O updates free of charge for the contracted period O free of charge support for the POWERLINK Library Support for initial operation In order to provide a quick and effective access to the development of POWERLINK devices we recom mend to do the initial operation of the POWERLINK device together on the target platform Customer experiences of his her hardware the used compiler and the experience of our engineers w th POWER LINK and the POWERLINK Library can complement each other This leads to reduced development times and a POWERLINK conform device Training Trainings can be given at port or at your companies rooms and are exclusively carried out for your developers 65 2007 www port de port Ordering Information 1700 01 POWERLINK SRCLIB Controlled Node ANSI C Source Code 1710 10 POWERLINK SRCLIB CN NE64 CN Stack fir Freescale NE64 1710 11 POWERLINK SRCLIB CN STR910 CN Stack f r STR910 Evaluation Board 1710 12 POWERLINK SRCLIB CN X1ilinx Microblaze CN Stack for Xilinx Microblaze with PE MAC from port 66 2007 www port de POWERLINK StarterKit Overview It is often wished to get to know the POWERLINK pro tocol devices and tools without having high expendi ture This wish is met with port GmbH s POWERLINK StarterKit PSK The StarterKit enables
125. ror messages with detailed error information Standard Boot Up behavior and configuration man ager are defined POWERLINK Software The standardization of the version 2 0 is now com pleted and the standard part of the IEC documents IEC 61784 Many companies have already running implementations On fairs Multivendor plants are shown with promising results port GmbH provides software for the implementation of Controlled Nodes according V2 0 with CANopen application interface already now There are already example implementa tions available of an POWERLINK Controlled Node for the Freescale processor MC9S12NE64 Xilinx FPGAs and for the STR910 of ST Microelectronic The port POWERLINK protocol stack is available in a generic version which simply can be adapted to differ ent target systems and operating systems The current status of the standardization of Ethernet POWERLINK and available knowledge and tools requires a close cooperation between device designers and Stack providers at the present time port offers its services and experiences to this to all it s customers 63 2007 www port de 64 Ethernet POWERLINK Library Overview The POWERLINK Library provides all required ser vices for a compliant communication according to the POWERLINK communication profile V2 0 It facilitates easy and fast development of Controlled Node and Managing Node devices The POWERLINK Library is available in different
126. s With the PCI IntelliCAN a powerful Ordering Information hardware solution is available for a CAN interface card 0701 01 PCI IntelliCAN 59 2007 www port de 60 can4linux Linux Device Driver Overview can4linux is an universal LINUX device driver It can be used to control ISA or PCI interface boards with CAN interface or embedded CAN controller solutions The GPLed sources are currently support ing CAN controllers Philips SJA1000 Intel 82527 Infineon SAK82C900 and Motorola FlexCAN TwinCAN The driver can be compiled for all LINUX kernel versions 2 4 to 2 6 older version for kernel versions 2 0 to 2 2 are available Application The can4linux Project started already in 1997 in coop eration with the LINUX LLP project to control lab oratory or automation devices via CAN Derived from this driver is the new can4linux version line 2 x and follow up Designed to be used in embedded applications as well as on the desktop this version is configured at compile time for the right hardware Originally with support only for SJA1000 there is now support for Intels 82527 and new support for Infi neons TwinCAN Within the scope of the uClinux project a version supporting Motorolas FlexCAN was created Driver Interface Using the LINUX kernels proc interface the driver is highly configurable The driver is controlled by the standard driver functions open c RENESTE te and idee Any n
127. s are composed of a restricted number of service instances and no support for the CANopen services SYNC and TIME With the Slave Version of the CANopen Library all services are provided for development of full featured slave devices The functionality of the network management master as well as the comfortable node monitoring function ality is provided by the Master Slave Version which of course contains the services of the Slave Version Additional services of other communication profiles CiA 3xx are provided by means of extension mod ules All versions of the CANopen Library are compatible to each other and are constantly tested with the current CANopen Conformance Test for compliance with the standard fi E E Small Slave Package SDO SO 2 s spociem Jm SDO Segmenied Tans SDO Block Transfer are Dyn sbosme 7 SDO Manager 7 en Download Ir Ir PDO Consumer a 52 s2 PDO Producer a fs DynamieMapping Ji Bitwise Mapping v v MPDOSouree Mode 7 MPDO Dest Mode III Nodeguarding Master Nodesuarding Save Z yy gt Lifeguarding Heartbeat Consumer 12818 Heartbeat Producer v yiv gt EMCY Consumer F128 128 EMCY Producer v 7 Time Consumer 7 Time Producer EN 71 SYNC Consumer v SYNCProducer NMTSave zizi z Nr Mase 7 NMTFlying Mase 7 Bootup Procedure WIN vy
128. s separation permits to use the entire appli cation over TCP IP networks away Therewith the employment becomes possible for remote mainte nance without additional or modified software over switched lines or the Internet This connection between the host system at the Ethernet and the local CAN field bus enabled a comfortable transmission of the technical parameters and facilitate both starting and maintenance The Starterkit contains besides the CAN REport and the CAN Server a development environment to create applications Technical Data Microcontroller 32 bit Motorola Coldfire Clock frequency 66 Mhz Memory 16 MB SDRAM 8 MB FLASH Power supply 12 24VDC Housing plastic Weight 200g Size 150 x 68 x 25 mm interfaces CAN RS232 RS232 422 485 mounting top hat rail DIN rail Scope of Delivery e IGW 900 hardware e Manual Ordering Information 0850 01 IGW 900 CAN single TCP client 0850 02 IGW 900 CANMC multi TCP client 0850 03 IGW 900 CANopen 2007 www port de USB CAN Interface CPC USB Highlights Technical Data powerful 32 bit microcontroller with internal CAN controller Nominal Values supports CAN protocols 2 0A and 2 0B To Parameter Min Typ Max e display of USB communication and CAN data transfer via LEDs Current 500mA consumption e supply completely over USB operating e galvanic isolation Supp
129. s taken from a text file which is created by the POWERLINK Design Tool or manually written with a common text editor Additional tabs are available for graphical representations of process data and can be defined by the user e POWERLINK Device Monitor Chart 1 stripchart pert amp Network Overview BE Eile Edit D ET Ki PR AA i AHAANSER NTT TT HAS EPP 115 ERE ran i SUHSYURE H ers tTee Ban q ember TEN 2 Node ID 28 DeviceType YendorlD ProductCode Last Emcy Network Overview The network overview displays the devices in an POWERLINK network The console is an extra feature With the console an interactive access to the POWERLINK network is possible by using commands for e SDO transfers e PDO transfers e network management services Complete sequences of commands can be combined to procedures by means of the embedded scripting language File Console Edit Prefs History 3 58 2 67 r Ox1000 Oo u32 pics 58 Z B r Ox1008 D vs pic3 59 X 67 u Ox1017 0 ulG 0x3e9 pic3 60 2 67 preop K This feature is particularly useful for POWERLINK device developers Through the scripting language all implemented POWERLINK communication services are available for test and control applications Logging of the test sequences is also possible By using the POWERLINK Library and the POWERLINK Design Tool from port the developer gets a closed tool chain for creating POWE
130. ssible to analyze CAN messages simultaneously of two CAN networks CANopen Maritime networks are important applications with redundant CANopen networks For logging and protocol analysis of J1939 networks the J1939 plugin s available The data contents are presented in human readable text as bit and byte val ues depending on its meaning within the protocol Besides the interpretation of received CAN messages J1939 specific messages can be sent with the scripting language Tcl Tk The PGN and data is passed to the function and the plugin puts together the CAN mes sage and sends it Programmability For the interpretation of company internal protocols a plugin can be developed and loaded into CAN REport Such a plugin is realized with the builtin scripting language Tcl Tk and is simplified by provided functions This mechanism allows it to sim ulate complete devices that utilize the CANopen DeviceNet or a user specific protocol With the scripting language also elements of the graphical interface can be extended to match individ ual needs It is possible to use provided or own graphical objects to create test and control applica tions With the help of the multifaceted possibilities for displaying and reporting data test sequences can be carried out automatically even from a remote work ing place User Mapping To get a simple and clear assignment of messages they can be linked to a symbolic name Not only every message but als
131. ted which contains the hardware settings and the configuration of the used CANopen services These services are derived automatically from the object dic tionary By including this file into the project only the necessary parts of the CANopen Library are compiled in order to save RAM and ROM resources CANopen Initialization Likewise the generated initialization file with initial ization functions for the CANopen services is included into the application too So the individual services defined in the object dictionary are initialized in the application EDS File A fourth result of the tool is the Electronic Data Sheet The EDS belongs to the standard documents supplied with a CANopen device Itis an ASCII text file which contains all relevant information about the 33 2007 www port de 34 port application device These files are used by configu ration tools and control devices in order to install CANopen devices into networks and configure them In the future these files will be replaced by XML device descriptions according to ISO 15745 The CANopen Design Tool generates XML device descrip tion files already Device Documentation The fifth output is a documentation of the imple mented objects and of the device parameters Each device parameter is tabular listed in html format or as a text file This documentation can serve as specifica tion at the beginning of development and be brought into the us
132. the already gained development steps Training CANopen and POWERLINK port offers customer specific training concerning CANopen and POWERLINK With this training we provide an efficient introduction into the topics of CAN CANopen and POWERLINK for participants We can adjust the contents of each training to the cus tomer needs and emphasize on fixed topics The aim of our training courses is to provide a good knowledge base to our customers for a good start off and at carry ing out CANopen POWERLINK projects with the CAN open Library POWERLINK Library and all available software tools The topics of the training courses are Introduction to CAN and CANopen or POWERLINK CAN PHY DLL CANopen services and profiles Description of the protocol library Description of the driver interface Description of the CANopen POWERLINK Software Tools Analyzer Configuration Design Tool Please request our detailed training program DeviceNet port offers training courses for the DeviceNet protocol on request Integration Support For the implementation of CANopen POWERLINK into the customer specific application or the adaption into a special hardware we offer implementation support for 3 days with the following topics Introduction into CAN CANopen or POWERLINK see Training Introduction into the library with an example for implementation and usage of the Software Tools of port transfer to customer specific h
133. the device developer to explore the capabilities and the advantages of ports POWER LINK Library The PSK does not only allow you to get to know the POWERLINK protocol but it also supports the users when testing POWERLINK devices and networks With prepared and modificable examples developers can estimate the effort needed to create own applica tions Description POWERLINK Is a very flexible Real Time Communica tion protocol Its main advantage is the use of stan dard Ethernet components for 100Mbit s Ethernet like PHY Ethernet MAC Controller EMAC cables and other infrastructure components for the devices Con trolled Nodes CN the slaves and Managing Nodes MN the master Using FPGAs opens up new possibilities Best real time behaviour short delays and short response times are achieved by the optimized Ethernet MAC con troller that is supported by the hardware FPGAs meet the demand for a built in hub in order to connect devices in a line network structure like conventional field busses port offers several reference platforms based on stan dard Ethernet controllers as well as the FPGA solu tion So beside the evaluation of the POWERLINK pro tocol it allows to compare different hardware plat forms With the hardware of choice it is possible to simulate process elements directly via control elements and give the outputs to LEDs On side of the POWERLINK the device behaves like a IO device standardised t
134. the usage in TCP IP networks CAN REport 3 0 horch tcp E lol x File Edit View Connection Extras Window Help S o NMT PDO SDO EMCY FLYMA et New connection to host 194 173 33 19 1092130359 629206 1857 0x741 sD 05 1092130359 912208 705 0x2cl sD 00 00 20 00 1092130359 962936 705 0x2cl sD 00 00 00 00 1092130360 095190 160 0x0a0 sD 70 81 11 00 00 00 00 00 1092130360 105751 1637 0x665 sD 40 00 10 00 00 00 00 00 1092130360 106918 1537 0x601 sD 40 00 10 00 00 00 00 00 1092130360 108078 1562 0x6la sD 40 00 10 00 00 00 00 00 1092130360 108926 705 0x2cl sD 20 00 00 00 Bitrate 1092130360 865 Node 37 Req Rd Init 1000 00 1092130360 866 Node 111 Req Abort SD0 protocol timed out 1092130362 348 D5401 device I Req Wr Exp 1017 00 value 0x03e8 1092130362 350 D5401 device I Resp Wr Exp 1092130362 386 bus coupler 1 Req Wr Exp 1017 00 value 0x03e8 1092130362 393 bus coupler 1 Resp Wr Exp 1092130362 428 Heartbeat bus coupler 2 State PRE OP 1092130362 328 NMT Command Enter Operational Node Node 0 1092130665 576 Heartbeat bus coupler 2 State OPERATIONAL 1092130665 593 I 0 Modul 1 AnIn_l Oxlc60 AnIn_2 0x19c0 1092130665 644 I 0 Modul l AnIn l Oxlc40 AnIn 2 0x19a0 vi Ext ATA Id Length BO Bl B2 B3 B4 B5 BE B7 Repeat Time Message Name rT foo fo osoo fo fo fo fo fo fo Send Jo Preoperational Description In the stan
135. ting Devices the CANopen Library of port can be expanded to use this functionality The module contains functions for implementing either an SDO manager or an SDO requesting device All functions described in the standard are available manage dynamic SDO connections request release configure monitor e manage the COB IDs of SDO manage the SDO connection table The application is informed about events by means of indication functions Furthermore functions to request or release SDO con nections are enclosed register as an SDO requesting device e request release SDO connections e request all default connections The package contains source code documentation and example programs for getting into it quickly CiA 303 3 LED Module For a consistent state or error indication respective error diagnosis of CANopen devices the module LED is available It is included in the default delivery of the CANopen Library According to the specification of CiA 303 3 a NMT LED and an Error LED can be used as two single col ored LED or as one bicolored LED The state machine for controlling the LED is realized within the module The desired configuration can set with the configuration tool On state change of either NMT or error state the application is informed by an indication function which will then control the LED 1 e switch on or off the appropriate LED The LED module is alltimes delivered by the library CiA 30
136. tisfy customers Happy Clients in real time communication and control Management Service CERTIFICATE The Certification Body of TUV Management Service GmbH certifies that port Gesellschaft f r computergest tzte Automation mbH Regensburger Stra e 7 D 06132 Halle has established and applies a Quality Management System for Rapid Prototyping Product Optimisation and Technology Transfer for Systems and Software Development An audit was performed Report No 70008738 Proof has been furnished that the requirements according to ISO 9001 2000 are fulfilled The certificate is valid until 2008 05 22 Certificate Registration No 12 100 10910 TMS M M Ri Munich 2005 05 31 u gt Deutscher Akkreditierungs St A VH ce Lu a Les St LA rn Ga LI a St x S S Qa bd HD Ra na LL ke x D re La LU gt ke lt x iD ac LU N T V Management Service GmbH T V SUD Gruppe Zertifizierstelle Ridlerstrasse 65 80339 M nchen German y Quality is assured with our process management sys tem which is certified by ISO 9001 2000 In the field of customer support this system also offers a facility allowing customers an additional method to report problems not just via phone and email but also via our website After completing an online form http www port de engl reports report_form html this problem notificat
137. to the log file generate err The results can be viewed with the internal file viewer with syntax highlighting Profile Databases The profile databases contain the objects of the corre sponding profile Each object is configured according to the standard and is explained in detail For every kind of object in a profile a prototype is included and this object can be cloned by copying or duplicating Import File PN EG Select objects 5000 Read State 5 Input Lines DUU Polarity 8 Input Lines BOOS Filter Constant 6 Input Lines 5005 Enable Digital Input Interrupts 600G Input Interrupt Mask 8 any change BOO Input Interrupt Mask 8 low to high 600G Input Interrupt Mask 8 high to low 6020 Read State 1 Input Line 1 126 6030 Polarity 1 Input Line 1 126 6035 Filter Constant 1 Input Line 1 126 6050 Interrupt Mask 1 Input Line 1 126 any change BOBO Interrupt Mask 1 Input Line 1 126 low to high BOO Interrupt Mask 1 Input Line 1 126 high to low 6100 Read State 16 Input Lines 6102 Polarity 16 Input Lines 6103 Filter Constant 16 Input Lines 6106 Input Interrupt Mask 16 Input Lines any change BERBPBERBEREEREREBEERRBRR 6107 Input Interrupt Mask 16 Input Lines low to high 6106 Input Interrupt Mask 16 Input Lines high to low Fl A120 Read State 37 Innnt I ines 0x0000 Import Cancel Index Offset Import mask for a profile database By importing these objects into the own project the develop
138. to the POWERLINK protocol and device development is accelerated EDS File The EDS or XML Device Description XDD belongs to the standard scope of delivery of every POWERLINK device It is an XML file according to ISO 15745 and it describes all relevant information about the application POWERLINK device These files are used by configuration tools and PLCs to integrate the devices in POWERLINK networks The POWERLINK EDS Editor supports the description of the following ISO 15745 entities e Deviceldentity e DeviceFunction e ApplicationLayers and e NetworkManagement Layer Documentation On the generated object dictionary a documentation is created Each device parameter is listed with its attributes and description Output format is HTML and plain text This documentation can serve as specification at the beginning of development and be brought into the user documentation as well as into the marketing documents Profile databases The POWERLINK EDS Editor supports the import of profile databases containing templates for the objects and the import of EDS files Therewith the POWERLINK EDS Editor allows the re use of existing know how if Import File 6000 Read State H Input Lines 6002 Polarity 8 Input Lines 6003 Filter Constant 8 Input Lines 6005 Enable Digital Input Interrupt 6006 Input Interrupt Mask 8 any c 6007 Input Interrupt Mask D low t 600S Input Interrupt Mask 5 high 6020 Read State 1 Input Line 1 126
139. trial communication pur poses Besides our standard high performance products we also develop customized client specific fieldbus ori entated solutions which best meet clients demands Our services range from consulting for fieldbus solu tions and on site implementation of customer specific embedded systems to the processing of a wide range of customer projects for drives and distributed sys tems We see ourselves as an independent integrator of sys tems and use wherever possible open standards Experience We now incorporate our long gained experience within the business sector into the development of our products and our customers end up benefiting as a direct result Our software products have reached an advanced level of functionality through having met the high technical quality standards of our world wide clients Customer Orientation The future of our business can only be formed together with our customers We are constantly aware of this fact We want therefore to be of maximum use to our customers by offering high quality products and competent advice We want to gain our customers trust by offering attractive products excellent quality innovative ideas and develop a strong healthy relationship with our customers Our aim is to create the conditions necessary to meet all customers needs and to win their trust thus ensur ing a continued and above all successful co opera tion which will last f
140. trictly deterministic Cycle period In this cycle an isochronous data interchange is carried out The Managing Node sends one Poll Request in the Uni cast mode sequentially to every Node Start of Cyclic Poll Responses Asynchron Period time cyclic Poll Request Cyclic Period This is answered as fast as possible with a Poll Response by the addressed node The answer is sent as a Ethernet Multicast frame and therefore cannot only be received by the manager but by every Node having been interested in it The Asnychronous Period follows directly The Managing Node asks here again every Controlled Node one by one with a Ethernet unicast Invite frame to send data E g the nodes can send IP frames in this part of the cycle Arbitrarily many topologies are practicable by the use 2007 www port de port of Ethernet Hubs From external Legacy Ethernet and other IP networks one can access directly POWERLINK devices via special POWERLINK capable routers The introduction of an CANopen compatible Applica tion Interface in plants and machines also makes the simple migration of CANopen to Powerlink or the combination of both busses possible POWERLINK V2 Properties up to 240 devices in one POWERLINK network line POWERLINK Manager 240 TX PDO 240 RX PDO PDO Mapping with up to 254 objects maximum size of a PDO is 1490 bytes Every device can communicate with every other one via SDO Er
141. uction to CANopen CANopen is a CAN based application layer protocol according to the ISO OSI model It was developed as a standardized embedded network with highly flexible configuration capabilities CANopen was designed for motion oriented machine control networks such as handling systems By now it is used in many vari ous fields such as medical equipment off road vehi cles maritime electronics public transportation building automation etc The essential communication services are defined in the CANopen communication profile CiA 301 Fur thermore there are several device interface and appli cation profiles CiA 3xx 4xx that are administered by CAN in Automation e V CiA international users and manufacturers group The current ver sion 4 xx of the CANopen communication profile is standardized as EN 50325 4 Since 1995 port has committed itself to active devel opment and maintenance of standards within CiA and among other things as chairman in the interest group IG Drives and Motion and IG Gateways With these experiences CANopen products of port are constantly enhanced improved and tailored to customer require ments Design Implementation Configuration and Test The tools are coordinated and can be employed in all phases of device development from design test to configuration of complete networks CANopen Sourcecode Library The CANopen Library provides all required services for a CANopen compl
142. umber Revision number POWERLINK Merge shows its strength especially when dealing with large projects or with large development teams Advantages e acceleration of the development by avoidance of double work e error prevention during creation of the object dictio nary and EDS e consistent documentation to the respective device version e reuse of the data for similar devices optimized configuration of the POWERLINK Library according to the implemented POWERLINK services 2007 www port de port System Environment The POWERLINK Design Tool runs on PC s with e Operating System Windows 2000 XP Vista and LINUXTM e Processor Pentium III or later e RAM gt 256 MB HD gt 20 MB free Ordering Information 1760 10 POWERLINK DT W Full Version Windows 1760 20 POWERLINK DT L Full Version LINUXTM 0640 11 CANopen DT P401 profile database for CiA401 0640 12 CANopen DT P402 profile database for CiA402 0640 13 CANopen DT P406 profile database for CiA406 0640 23 CANopen DT P404 profile datebase for CiA404 0640 30 CANopen DT P417 profile database for CiA417 Functional demo versions of the software tools are available for download on our web site http www epl tools com shop html 71 2007 www port de 72 2007 POWERLINK Device Monitor Overview The POWERLINK Device Monitor is a tool for the graphical inspection and configuration of POWERL
143. umber of CAN interfaces can be accessed using the device nodes dev canO dev cann cand linux uses the device major number 91 Hardware The driver supports different interface boards ISA PCI or PC 104 with one or two channels e port AT CAN MINI PeliCAN mode 29bit e EMS CPC PCI e IXXAT PCIO3 only SJA1000 e Advantech Pcm 3680 PC 104 e DIL NET TRM 816 e DigiTec PCMatic Feldbusmodul FC CAN e ESD PC104 200 e Blackfin BF534 536 Originally the driver worked only on Intel based PCs In the mean time we have gained experiences with porting this driver also to embedded LINUXTM archi tectures One is a PowerPC 863e with two Intel 82527 controllers the other is ARM based with an external SJA1000 the microcontroller XC164CS with TwinCAN controller or the Net ARM 150 with its four internal CAN channels Available Products can4linux can be used as CAN interface for different products of port Some of these tools are available as demo versions to be downloaded from our web site http www port de shop html The simplest application with access to the CAN layer 2 that means transmit and receive CAN mes sages IS horch It can be started interactively within an xterm or in the background as TCP IP Server For this server a graphical and programmable CAN ana lyzer application CAN REport is available too To implement CANopen protocols for devices in CANopen networks an ANSI C communication library is available fo
144. us the communi cation is realized by CANopen DeviceNet or another user specific protocol Application Mersing the data of production control and data acquisition with operating data lately became a stan dard requirement of application users It is foreseeable that the real time control of machines still will be implemented directly with event controlled real time capable field buses for a longer period of time Therefore linking the control network over a gateway to office or automation networks or to the Internet at all via TCP IP s an interesting and cost effective solution This task is fulfilled by the CAN TCP IP Gateway EtherCAN The basis for the EtherCAN forms a pow erful 32 bit CPU with integrated Ethernet controller and the CAN Controller Philips SJA 1000 Description On the EtherCAN an Embedded LINUXTM operating system is installed Therefore a lot of services like FTP Telnet or an integrated web server but also a RS 232 interface are available to run user specific applications For own developments a Developer Package is avail able It includes besides tools to generate the FLASH image a cross compiler and necessary libraries Fur ther examples in C Java or Tcl can be downloaded from our web site http www port de The usage of the CANopen Library is possible to cre ate CANopen applications Of course ready to run programs are available For the usage as gateway to CANopen based systems the CA
145. used independent of any spe cific evaluation board All examples are provided in C source code to be able to adapt it to your needs It is possible to e extend the object dictionary change the content of the PDO mapping respond on special CANopen events like writing values to the object dictionary or changing the NMT state Examples can be configured using the CANopen Design Tool to carry out desired changes on the object dictionary or to adapt it to the hardware Zi Design Tool 2 2 for Library V4 4 projectsidigl0 can DEI File Edit Generate Show Options Help Eu 8 9 fe General Settings IN Gi General EDS Settings EI Hardware Configuration DI 23 Configuration candlinux DI 1 Configuration 167 EI Configuration C515C GJ Debug Settings C CPU Settings E Compiler Settings Eg CAN Settings 0 Controller Family fi y Controller Type Select CAN Controller 82527 In C515C 82527 in C515C Active FullCAN Mode Driver uses one transmit channel Frequency of CAN controller MHz Select method of copying memory copy H m Line 0 C EDS Settings I Standard Settings Memory specifier for can controller address Ixdata I Additional Settings El 23 Obiect Dictionary D 8 Data Types EI 1 Communication Segmen Register bank of the ISR 1000 Device Type 1001 Error Regist 1017 Producer Hej 1018 Identity Obie 1200 Server SDO anufacturer Segment
146. ve II AE Me I TL ME II Heartheac Device State 0x05 State Drive Ir 24592 Drive LI State DELTE Is 32731 Drive II State Drive L 24599 Drive II State Drive 15 24599 Drive Il State Drive L 245939 Drive II Velocity Emph 0x05 SLALE Drive 15 24592 Drive Lt Have Delve I rl Drive LI State Delve It Jarl Drive Il State Drive I 32791 Drive Il State gien Ir 24599 Drive Lli State Drive I 24599 Drive IL State Drive I 32791 Drive II Plugins Supplementary software modules provide extended functionality like service and protocol dependent interpretation of CAN messages For the higher layer protocols CANopen DeviceNet and J1939 a service dependent protocol interpretation is available The CANopen plugin displays CAN messages of the services SDO PDO NMT EMCY Flying Manager in separate windows Moreover the display of the CANopen plugin can be tailored with the settings for Node Names PDO Mapping and Emcy Map ping This settings are saved project oriented and can be loaded again Sending of CANopen messages is supported by additional commands www port de 46 port The DeviceNet plugin allows not only the interpreta tion of protocol messages but also the interactive input of requests on DeviceNet nodes e g object attributes can be read and written Another additional module allows the analysis of redundant networks With two CAN interfaces it is po
147. versatile POWERLINK network analyzer and monitor With its features for logging analysis and interpretation of POWERLINK messages it supports development diagnostic and configuration of POWERLINK devices and networks Property Parameter Cycle time Slot time Response time Time between two slots Length of the individual periods of the cycle Number of isochronous package couples Order of the isochronous enquiries Exploitation of the asynchronous phase Nodes in the net Discarded packages VI ODIN GY GY JR ra od Oo Description The timing view displays the messages of a POWERLINK cycle over a time line The following attributes of a message are shown e Type of frame SoC PReq PRes SoA e Source or destination e NMT status if applicable POWERLINK REport timing view Be e Eile View Connection Options Windows Help Sxl OGOOIRG EI 31 213 ps 39 012 us N A offline All Nodes 2310 The POWERLINK version V1 or V2 is detected automatically and the frames are interpreted accordingly In the Offline mode the view can be zoomed and the frames can be browsed Further data like the source or destination address and exact start and end times of the frames are displayed on request The number of displayed frames can be limited by special filters A list representation of all Ethernet frames of a cycle brings detailed information
148. xecution of NMT services like Start All Start Node Preop All Preop Node and Scan Network The device properties of the currently present nodes in the net work are shown as well A graphical network overview displays all devices in a CANopen network Network configurations can be can be saved in project files Under the tab Description an object description of the currently selected object in the object tree is shown The description is taken from a text file which is created by the CANopen Design Tool or manually written with a common text editor CANopen Device Monitor Node 1 CO4011A1 PDOs x D Stripchart The integrated process image summarizes the most important process variables of the network The data can be received via SDO and PDO The PDO tab allows the simple configuration of the PDO Mapping by Drag amp Drop Additionally PDOs can be sent and received and data from received PDOs can be plotted in a stripchart with one click 2007 www port de pert CANopen Device Monitor PDO Configuration POO Configuration Frame Object COB ID Ox000002a0 Transmission type Uff inhibit time 100 us 00 Event timer ms 1 Mapping Table 0x640 16 O 6401 16 O 6000 O 6000 Read from EDS Read from Device store ta DCF data Send to Device PDO configuration mask Additional tabs are available for further graphi cal representations of CAN data and can be defined by
149. y email and fax and up to 6 months for requests by phone For development test and initial operation of CAN open devices port provides a comprehensive tool chain The creation of the object directory is simpli fied with the CANopen Design Tool CANopen Design Tool Light version belongs to the scope of delivery 2007 www port de port CANopen Design Tool 2 2 for Library V4 4 projects digin pro1 can Eile Edit Generate Show Options su A pe CG General Settings Na Mask Structure Optimization General EDS Settings Hardware Configuration EI Line o LC EDS Settings a Standard Settings GJ Additional Settings 3 9 Obiect Dictionary Data Types E E Communication Segment 1000 Device Type 1001 Error Register 1017 Producer Heartl 1015 Identity Object 1200 Server SDO Pa S 000 Number of E 8 001 COB ID Cie 8 002 COB ID Ser PDO Settings Transmission Mode Type Synchronous x RTR only Asynchronous Manufacturer specific w Profile specific gt Resulting Value Optional Settings Use Inhibit Time 0 65535 100 us l ar J Dynamic Mapping Enable dynamic PDO Mapping General PDO Settings I Enable bitwise Encoding for PDOs I No automatic mapping for SYNC PDOs before sending fra 1400 TPDO Mapping Manufacturer Segment C Device Profile Segment I Enable User Function before transmission of synchronous PDOs C Reserved Area I Enable RTR PDO Indication Function

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