CPM Utility Manual
Contents
1. DUU k bps 1000 kbps Users can select the CANopen master and baud rate that want to be activated and click the gt button Then the CANopen master device will be initialized with the communication baud rate and list on the Config Status list Initial Master Ei Total Module Baud rate Contig status 10 kbps Baud rate 10 kbps 20 k bps 50 k bps Total Module 250 500 k bps 7 DUU kbps 1000 Kbps If users want to remove the activated CANopen master device users just select the CANopen master on the Config Status list and click the lt button CANopen Master Utility user manual ver 2 00 Jan 31 2011 6 4 2 Add Node amp Load EDS After initializing the CANopen master device users can click Add Node or Load EDS item to add CANopen slaves to the master CANopen Master Utility When users use Add Node the master will scan its CANopen network first and list all the slaves at Total Node list on the network Then users can select which slaves want to use and Se gt to add Add Node Total Mode If users use Load EDS function it will list 127 nodes for selecting When users select a node and Click gt EDS file It will pop up a windows for select the node s Load EDS File EI CANopen EDS Total Mode DEDS Loader Made 001 A ACAN a2. TxPDO Objects Dip BEACH 0x381 BEACH E Node O02 CAN 8423 8 NC Da EMCY 0x82 oo BOI Obert H RxPDO Objects E TxP DO Objects Cob ID e OU Timer 1000 Times Continous 11 33 07 If users want to change the SYNC ID for the node input the new SYNC ID in the Cob ID text box and click Change New ID button the SYNC COB ID will be updated Module AddNode Load EDS About Board 1 CPM100U 125kbps gwr SYNC EMCY spo RxPDO l t She 0x55 Cob ID Hex H ADO Object G RxPDO Objects Key in the SYNC timer in the SYNC Timer text box and times in the SYNC Times text box then click Send SYNC to send SYNC message If the SYNC Timer is 0 the SYNC message will be stopped If the SYNC Timer is more than O the function will send SYNC message per SYNC Timer millisecond until finish the parameter SYNC Times When the SYNC Times is set to 0 the function will send SYNC message continuously until set SYNC Timer to 0 Users can set at most 5 SYNC messages with different SYNC ID per master device to be sent cyclically Change New ID Send sY HC Mesage Cob ID 80 Timer 1000 Times Confianoust 17 5608 CANopen Master Utility user manual ver 2 00 Jan 31 2011 11 4 6 EMCY Part The EMCY part can list the EMCY messages and change EMCY ID SS CANopen Master Utility Modul
3. button to add a new RxPDO with the Cob ID in the RxPDO No RxPDO object or users can click Remove PDO button to remove an original RxPDO with the Cob ID For example if users input 333 in Cob ID text box and 5 in RxPDO No text box then click New PDO button The slave node will add a new RxPDO with COB ID 0x333 in 5 RxPDO object And if users input 333 in Cob ID text box then click Remove PDO button The COB ID 0x333 of RxPDO will be removed Besides all the RxPDO messages of the slave node will be shown on the RxPDO Message List of the main form list S i CANopen Master Utility Module AddMode Load EDS About E Boord 1 CPM100U 125kbps wT S Nc EMCY spo RxPDO pepo Node 001 CAN 58223 Be FE e Ee Se et MC 0x80 Cob ID Hex 333 MewPpDO RemovePDO TxFDO Objects 0x181 Daal K Dodo Node O02 CAN 8423 ei Nl 0x80 EMCY 0x82 SDO Object H RxP DO Objects TxPDO Objects Child Form Selecting the RxPDO COB ID item such as 0x201 in the tree list and the RxPDO child form will show on the right dialog In child form users can change COB ID Transmission Type PDO mapping list and send message for the RxPDO object For changing COB ID users input a new COB ID into the Cob ID text box such as 444 and click Change ID button The original RxPDO COB ID 0x201 will be changed to 0x444
4. CANopen Master Utility user manual ver 2 00 Jan 31 2011 14 For setting Transmission Type users can input number 1 255 in the Transmission Type text box and click the near Set button to change it if the CANopen slave supports this type After adding the slave node users can click every RxPDO COB ID object in the tree list to check the default RxPDO mapping information For example only the 0x201 object has two mapping entry 6200 01 08 and 6200 02 08 and others are empty The 6200 01 08 means that the PDO object s first entry is for the object index 0x6200 and sub index 0x01 and the entry s data length is 0x08 bits The 6200 02 08 is as above but the sub index is 0x02 If the default mapping is not satisfy with use users can use the Add Insert Modify Del buttons to change the PDO mapping For add insert modify PDO mapping users need to select the PDO mapping data in the Map Object Select combo box first But if the mapping data that users want to use is not in the combo box users can input it in the Map Object text box manually After select or input the mapping data users can click Add Insert or Modify button to add insert or modify the PDO mapping data And if users want to remove a PDO mapping data from the PDO object select the mapping data in the PDO mapping status list and cli
5. CANopen Master Utility Warranty All products manufactured by ICP DAS are warranted against defective materials for a period of one year from the date of delivery to the original purchaser Warning ICP DAS assume no liability for damages consequent to the use of this product ICP DAS reserves the right to change this manual at any time without notice The information furnished by ICP DAS is believed to be accurate and reliable However no responsibility is assumed by ICP DAS for its use nor for any infringements of patents or other rights of third parties resulting from its use Copyright Copyright 2011 by ICP DAS All rights are reserved Trademark The names used for identification only maybe registered trademarks of their respective companies CANopen Master Utility user manual ver 2 00 Jan 31 2011 1 Tables of Content CANopen Master Utility ccceseesseseeeesseecenseeeenseeeenseseesseseeseesonneesenneeses 1 i NATEOGUCUION EE 3 2 PDOUT CRIMUUINY ee 4 3 le 5 4 Start CM eee eecee eee eeneeeeeneeeeeneeeeaneeseaaseeoaseesoaseesoaseesonsenses 6 4 1 Module aicessitesevircicegecesddencdesbdeccvanbdudidanbdscavedidedadenivadcdeaidanddeabdeacdenbdeds 6 4 2 Add Node eege eet 7 4 3 Master Part GE 9 4 4 NOde Part dE 10 43 SYNG Par GE 11 AG EMG CHE a aaa aoin 12 As SDO Par EE 13 AS RXPDO O Path GE 14 49 TXPDO Pan renna a 16 CANopen Master
6. Mode 002 zm Mode 003 5 dE Mode 004 SE Mode 005 Mode O08 GE ae el NT100_CO_COS eds w Total Node Add Mode Node 002 Node 001 EDS Node oo3 Node 004 Mode 005 Mode 006 Mode OOF Mode O08 Node 003 Gs lf users want to remove the CANopen slave which has been added users just select the node in the Add Node list and click the lt button The following picture is the main form after adding slaves In this example there are two slaves shown on the tree view list There are 7 parts Master Node SYNC EMCY SDO RxPDO and TxPDO below CANopen Master Utility Module AddNode Load EDS About B Node DI CAN 29202 Peabo Deet Operational State Change State Guard Time 100c Heartbeat Time Life Facto CS Consumer Ti 3000 s e Factor d o r Time 3000 H See eet Guarding Protect eet Heartbeat Protect 0x281 SE ec Get Protect Status None protect 0481 e i E Node O02 CAN 8423 NMT protect event list SSC D EMCY 0x82 BLO Object RePDO Objects TxPDO Objects CANopen Master Utility user manual ver 2 00 Jan 31 2011 8 4 3 Master Part selecting the Master item such as Board 1 CPM100U in the tree list the right dialog will show all the re
7. New PDO button to add a new TxPDO with the Cob ID in the TxPDO No TxPDO object or users can click Remove PDO button to remove an original TxPDO with the Cob ID For example if users input 222 in Cob ID text box and 5 in TxPDO No text box then click New PDO button The slave node will add a new TxPDO with COB ID 0x222 in 5 TxPDO object And if users input 222 in Cob ID text box then click Remove PDO button The COB ID 0x222 of TxPDO will be removed Besides all the TxPDO messages of the slave node will be shown on the TxPDO Message List list of the main form 34 CANopen Master Utility Module AddNode Load EDS About S Eoad 1 CPM100U 125kbps NMT evne EMCY spo Bebo TDO Node O01 CAN 2223 LNMT et Ni j EMCY HS LS oP NC 0x80 Cob ID Hex f EMCY Oa Hex 222 SDO Object ie SE a e RxPDO Objects New FDO Remove PDO Ox201 Node O02 CAN 8423 ei Nl 0x80 EMCY 0x82 SDO Object H RxP DO Objects TxPDO Objects Child Form selecting the TxPDO COB ID item such as 0x181 in the tree list and the TxPDO child form will show on the right dialog In child form users can change COB ID Transmission Type Event Timer PDO mapping list and send message for the TxPDO object For changing COB ID users input a new COB ID into the Cob ID text box such as 234 and click Change ID button the origina
8. Utility user manual ver 2 00 Jan 31 2011 2 1 Introduction For CANopen master devices ICP DAS provide a friendly CANopen master utility tool to help users to test and setting CANopen slave devices easily This utility tool can be thought as a simply CANopen master tool for controlling CANopen devices on the CANopen network It provides several functions such as NMT protocol SYNC protocol EMCY protocol SDO protocol PDO protocol and so forth The operation principle will be addressed in the following section CANopen Master Utility Figure 1 1 CANopen Master Utility CANopen Master Utility user manual ver 2 00 Jan 31 2011 3 2 About CPMUtility The CANopen master utility CPMUtility exe now supports CE5 0 and Win2K XP Vista 7 with 32 bit system In CE5 0 there are I 8123W and I 87123 in Windows 32 bit system there is PISO CPM100 U the firmware and driver of all above CANopen master products need version 2 00 later The new version CPMUtility v2 00 later is different from the old version v1 xx This document is only for the new version CPMUtility About the old please refer to the web http ttp icodas com pub cd fieldbus_ cd canopen master piso com100 oldver The version information of the CPMUtility can be checked in the about dialog as the figure 2 1 E CANop
9. ata users can click Add Insert or Modify button to add insert or modify the PDO mapping data And if users want to remove a PDO mapping data from the PDO object select the mapping data in the PDO mapping status list and click Del button to remove it lf users want to get a TxPDO data message need to click the Remote Data button to send a remote PDO message and then the TxPDO message will be shown on the data list when the CANopen master received it aa CANopen Master Utility Module AddNode Load EDS About Board 1 CPM1000 125 kbps wT s Nc EMCY sno Rb TxEDO SYNC Dt Cob ID Hex 181 EMCY 0x81 oo TxPDO Na 1 SDO Object Transmssion Type 255 Transmission Type 255 amp RxPDO Objects eee Event Inner 0 0x201 vent limer D Map Object Select 5000 01 08 6000 01 08 w cen 6000 02 08 Map Object Hex Bit Hex Modify sooo 1 0 me Del lt Node 002 CAN 8423 SY MC 0x80 Remote Data EMCY Ui BDO Object Remote 181 OK 00 00 01 18 26 f RXPDO Objects Remote 181 OK 76 AB 01 16 50 TxPDO Objects CANopen Master Utility user manual ver 2 00 Jan 31 2011 17
10. ck Del button to remove it lf users need to send an RxPDO data message input the data in the Send Data text box and click the Send Data button to send it Note that the data length of the send data must equal to the PDO object For example the PDO object has two mapping entries and the total data length are 16 bit 2 bytes so the sending data must has two bytes which is parted with space 34 CANopen Master Utility Module AddNode Load EDS About Board 1 CPM100U 125kbps wt lerne EMcyY spo BxPDO tt E Node IO E Ca N 8273 weiss ee aces en 2 em i S ba _ SYNC D n Cob ID Hex any RS ae cae EMCY 0x81 ets BDO Mo 1 ENEE Transmssion Type 255 Sat Transmission Type 255 Bac sete p R Event Timer Not Support POO Mapping Status Map Object Select Add Eang Ki TxPDO Objects 6200 0108 i 6200 02 08 Ge Map Object Hex Bit Hex 0x481 zi o8 ag l H Node 002 CAN DAT SYNC 080 EMCY 0x82 oo BLD Object E RxPDO Objects W TxPDO Objects CANopen Master Utility user manual ver 2 00 Jan 31 2011 15 4 9 TxPDO Part The CPM Utility is divided into two forms Main Form and Child Form in this part And the descriptions for these two forms are as below Main Form Selecting the TxPDO Object item in the tree list and the TxPDO main form will show on the right dialog In main form users can click
11. d Sub index text box users can click Read Data to read the object data with the index and sub index object address or click Write Data to write the data of the Write data text box to the object Note that the data will be parted with space in the Write data text box For example if the data 1 2 in the Write data text box it will be detected that first data byte is 0x01 and second data byte is 0x02 But if the data 12 in the Write data text box it will be detected to only one data byte 0x12 CANopen Master Utility Module AddNode Load EDS About E Board 1 CPMIOOU 125kbps waT sync EmMcY SDO RaPDO TxD E Node DO CAN OO Ee s ee E E e e EE E EE Deen E Sow e ees ee e en SE Index Hex 6200 sib indes Hex Write data Hex Read 1000 00 OE 91 01 0300 01 12 49 Kee d GER IBERI E TxFDO Objects Ui Ox K 0x481 Node O02 CAN 8423 ei NC 0x80 EMCY 0x82 BLO Object E RxP DO Objects W TxPDO Objects CANopen Master Utility user manual ver 2 00 Jan 31 2011 13 4 8 RxPDO Part The CPM Utility is divided into two forms Main Form and Child Form in this part And the descriptions for these two forms are as below Main Form Selecting the RxPDO Object item in the tree list and the RxPDO main form will show on the right dialog In main form users can click New PDO
12. e AddNode Load EDS About E Boar 1 CPM100U 125kbps mt evne EMCY spo RxDO Depo Node 001 CAN 8223 a Cak Mes 9 GO eS Pe Z Change New ID Se Objects EMCY 01 02 02 04 05 06 07 08 13 08 29 Ox201 EMCY 08 0706 050403 0201 13 08 49 0x01 Od 01 o D501 TxPDO Objects x1 81 Dot e381 Od 81 Node 002 CAN B423 SYNC Ox80 EMCY 0x82 BDO Object E RxP DO Objects H TxPDO Objects If users want to change the EMCY ID for the node input the new EMCY ID in the Cob ID text box and click Change New ID button the EMCY COB ID will be updated Board 1 CPM100U 125kbps mi syNC EMCY spo RxPDO TaPDO 5 Node 001 CAN 8223 MT peie SE E Cob ID Heb ay Change New ID All the EMCY message produces from the slave node will be show in the EMCY list S RxPDO Objects IEMCY O103 0204 05060708 184220 0x201 EMCY jg i 06 05 04 03 07 OI 18 43 53 Ox301 O01 0x50 E TxPDO Objects 0x181 0x481 Kach 0x481 Node 002 CAN 8423 SYNC 0x80 EMCY Ui PDO Object H RxPDO Objects H TxPDO Objects CANopen Master Utility user manual ver 2 00 Jan 31 2011 12 4 7 SDO Part The SDO Communication page has two functions Read Data and Write Data After editing the Index an
13. en Master Utility Module ed EDE em am PETRAM Ex About CPHUtility CR CM Version 2 00 e Copyright 2010 by ICP DAS CO LTD Od All rights are reserved One eae ey tho eww Cp ae corm CANopen Master Utility user manual ver 2 00 Jan 31 2011 4 3 Features Auto scan all the CANopen master that the CPMUtility has supported Auto scan all the CANopen slave devices on the CANopen network Support EDS file Dynamic PDO object setting easily Node Guarding Event and Heartbeat Event detection EMCY message receiving Maximum 5 SYNC message producers per CANopen master Support 8123W 87123 and PISO CPM100 U for version 2 00 later Support OS WinCE5 0 and Win2K XP Vista 7 with 32 bit system oO Oo JO Oo E WD CANopen Master Utility user manual ver 2 00 Jan 31 2011 4 Start CPMUtility 4 1 Module The first step after executing the CPMUtility users need to click the Module item on the toolbar Then the utility will show all the CANopen master devices that the utility has supported now on the host device Such as PC or eee About E oun EMcY po RxPDO TDO Initial Master Ses Total Module Baud rate Contig status Board 1 cPM1oat F e HHN f SO kbps 125 k bps 250 k bps A00kbps
14. hange the slave state just select the state combo box and click Change State to set it There are five states Operational State Pre operational State Stop State Node Reset and Communication Reset in state combo box for selects plave state Operational Operational State The NMT service tab provides two NMT Error Control protocol Node Guarding and Heartbeat Users can click Set Guarding Protect button to start Node Guarding protect or click Set Heartbeat Protect to start Heartbeat protect If one of these two protect mechanisms has been used the protect status will show in the Protect Status text box And if the Node Guarding Event or Heartbeat Event has occurred the event will store in the NMT protect event list list Guard Time 1000 Heartbeat Time ooo Life Factor 3 Consumer Time 3000 pet Guarding Protect met Heartbeat Protect Protect Status Guarding Protect 1000 3 NMT protect event list Stat Guarding Protect 14 32 10 Node Guarding Fail 14 32 20 CANopen Master Utility user manual ver 2 00 Jan 31 2011 10 4 5 SYNC Part In this part users can send SYNC message and change SYNC ID CANopen Master Utility Module AddNode Load EDS About Board 1 CLC Dat Cob ID Hex WS Change New ID oO Object ReFDO Objects Ox201 Se Nl Tomer Hono Uc L 0x401 SYNC Times i Caen mend oY NC Messace
15. l T lt xPDO COB ID 0x181 will be changed to 0x234 CANopen Master Utility user manual ver 2 00 Jan 31 2011 16 For setting Transmission Type users can input number 1 255 in the Transmission Type text box and click the near Set button to change it if the CANopen slave supports this type If the CANopen slave supports the Event Timer function users can input the timer value 1 65535 in the Event Timer text box and click the near Set button to set it After adding the slave node users can click every TxPDO COB ID object in the tree list to check the default TxPDO mapping information For example only the 0x181 object has two mapping entries 6000 01 08 and 6000 02 08 and the others are empty The 6000 01 08 means that the PDO object s first entry is for the object index 0x6000 and sub index 0x01 and the entry s data length is 0x08 bits The 6000 02 08 is as above but the sub index is 0x02 If the default mapping is not satisfy with use users can use the Add Insert Modify Del buttons to change the PDO mapping For add insert modify PDO mapping users need to select the PDO mapping data in the Map Object Select combo box first If the mapping data that users want to use does not exist in the combo box users can input it in the Map Object text box manually After selecting or inputting the mapping d
16. lated driver and firmware version Users can check the driver or firmware version of their master device if necessary CANopen Master Utility G NMT SYNC EMCY 8D0 RxPDO TxPDO Kl ES 0x80 EMCY Oxel oo BOI Object S RxPDO Objects Ox201 0x01 0x401 0x501 TxPDO Objects Ox 61 0x281 0x381 Ode Node O02 CAN o423 oo eA 0x80 RMG Ox co SOI Obert RePDO Objects fe TXFDO Objects CANopen Master Utility user manual ver 2 00 Jan 31 2011 9 4 4 Node Part selecting the Node item such as Node 001 in the tree list the right dialog will show the NMT service tab of the slave node CANopen Master Utility Module AddNode Load EDS About SYNC EMCY sDO _ RxPDO r A Clee lave state Operational EMILY 0x1 es BDO Object Operational state Change State RxPDO Objects 3 a5 a 0x201 Cand Time Heartbeat Time 1000 0x01 E 0x40 Life Factor Consumer Time 2000 0x501 ep E SCT set Guarding Protect set Heartbeat Protect BEACH SE EE REECH Protect Status Guarding Protect 1000 3 BEACH i Node O02 CAN 8423 NHT protect event list ore Start Guarding P 11 31 16 EMCY 082 tart mg Pootect 11 31 of Object Node Carding Fail 11 31 28 Ravi Objects W TxPDO Objects In the NMT service tab users can get the slave state in Slave State text box And if users want to c
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