PCAN-MicroMod CANopen - User Manual - PEAK
Contents
1. 1 CANopen CANopen Firmware for PCAN MicroMod User Manual v1 1 1 CANopen PEAK System PCAN MicroMod CANopen User Manual Products taken into account Product name CANopen Firmware for PCAN MicroMod System Model Part number CANopen and CiA are registered community trade marks of CAN in Automation e V All other product names mentioned in this document may be the trademarks or registered trademarks of their respective companies They are not explicitly marked by and 2012 PEAK System Technik GmbH PEAK System Technik GmbH Otto Roehm Strasse 69 64293 Darmstadt Germany Phone 49 0 6151 8173 20 Fax 49 0 6151 8173 29 www peak system com info peak system com Document version 1 1 1 2012 02 24 PCAN MicroMod CANopen User Manual Contents NNN hn UJ UJ UJ UJ UJ RA HHA HAHA A NOW BWN H 1 2 3 Outline and Introduction About the CANopen Implementation Scope of Supply Hardware and Software Requirements Terminology and Abbreviations Product and Firmware Selection Device Summary Loading the Firmware into a MicroMod Processing Times and Performance Hardware Features Status and Error LEDs Boot Mode Selection with Solder Bridges Assignment of Bit Rate and Node ID Status Info on Serial Port CANopen Implementation Product Identification Default Connection Set Default PDO Mapping Input Proces2. The following is a sample output PEAK MicroMod CANopenIA V1 01 Rev 204 J0 J4 0 Regular Operation as MicroMod 125kbps node ID 32 Number of I O DI 1 DO 1 AI 8 4 Initialization completed PCAN MicroMod CANopen User Manual System 4 CANopen Implementation The implementation features the major CANopen services as stan dardized in the following CiA documents CiA 301 CANopen Application Layer and Communication Profile version 4 02 401 CANopen Device Profile for Generic Modules version 2 1 In summary these services are One SDO server giving CANopen Managers and configuration tools access to the internal Object Dictionary OD Heartbeat Producer functionality allowing the devices to produce their individual heartbeat messages at a configurable rate Heartbeat Consumer functionality with up to three channels allowing the monitoring of up to 3 heartbeats Although not recommended to be used the Node Guarding functionality is still implemented in order to be compatible with legacy devices Emergency Producer to inform other nodes over major error or other emergency situations Re configuration of Node ID and bit rate during operation Storage of configuration parameters in non volatile memory 4 Receive Process Data Objects RPDO with dynamic communication and mapping parameters RPDO configuration including CAN message ID used and contents mapped to the RPDO can be changed dur
3. save is written or if the parameter storing fails for some reason an SDO abort message is transmitted Reading 1010h 01h returns 1 indicating that the device can save the parameters by writing to this subentry 38 PCAN MicroMod CANopen User Manual System A 2 11 Restore Default Parameters 1011h 1011h 00h Unsigned8 read only Returns 1 1011h 01h Unsigned32 read write The 1011h 00h entry provides a means to restore the manufacturer default values for the configurable parameters of the Object Dictionary By writing the value 64616F6Ch ASCII load to 1011h 00h the configurable parameters will be restored to their manufacturer default values on the next reset of the node or the next power cycle A 2 12 Consumer Heartbeat Time 1016h 1016h 00h Unsigned8 read only Returns 3 1016h 01h Heartbeat Consumer Channel 1 Unsigned32 read write 1016h 02h Heartbeat Consumer Channel 2 Unsigned32 read write 1016h 03h Heartbeat Consumer Channel 3 Unsigned32 read write The devices implement three heartbeat consumer channels and may listen to the heartbeat messages generated by other nodes on the network Each subentry specifies the maximum time to wait for a heartbeat from a specific node before generating an internal Heartbeat Lost event The Heartbeat Consumer Time is specified in milliseconds Measurement begins after reception of the first heartbeat message It does not begin after rec
4. this entry are unused 51 PCAN MicroMod CANopen User Manual System A 3 7 Read Analog Inputs 6401h 6401h 00h Unsigned8 read only If analog inputs are available returns the number of input channels 6401h 0xh Integer16 read only can be mapped to TPDO For devices with analog inputs the analog input data can be read from 6401h 01h 08h depending on number of input channels available The value range for each analog input channel is 0 to 1023d 03FFh 32 768d 0h to 32 767d FFFFh for Analog 2 motherboard A 3 8 Write Analog Outputs 6411h 6411h 00h Unsigned8 read only If analog outputs are available returns the number of output channels 6411h 0xh Integerl16 read write can be mapped to RPDO For devices with analog outputs the analog output data can be written to 6411h 01h 04h depending on number of output chan nels available The value range for each analog output channel is 0 to 255d 0FFh 0 to 4095d FFFh for Analog 2 motherboard A 3 9 Analog Input Interrupt Enable 6423h 6423h 00h Boolean read write If this bit is set the value difference delta detection for analog in puts is enabled If the device is configured to transmit PDOs on a change of state COS detection then this functionality ensures that a COS detection is only made if the analog input data changed at least by the difference value specified in 6426h Changes that are smaller than the value difference are igno
5. CANopen implementa tions do not offer such a high resolution and the Inhibit Time might get rounded up to milliseconds Index An Object Dictionary entry is selected using a 16 bit Index and an 8 bit Subindex Layer Setting Services LSS A CANopen standard defining how layer services like bit rate and Node ID can be changed during operation Manager Master In CANopen there are several Master and Manager services typically combined into the CANopen Manager Message Identifier Any communication technology used for CANopen default is CAN Controller Area Network must be able to assign a Message Identi fier to any message transferred CAN uses the default of an 11 bit PCAN MicroMod CANopen User Manual System Message Identifier The Default Connection Set selects how these Message Identifiers are used Network Management NMT Each CANopen node internally implements an NMT Slave state machine with the major states being Pre Operational used to configure devices Operational actively producing and consuming PDOs and Stopped limiting communication to Heartbeats The NMT Master Message is used to command nodes to switch their NMT States NMT Master Message The NMT Master often integrated into the CANopen Manager uses the NMT Master Message to switch the NMT State of individual or all nodes The CAN Message Identifier of the NMT Master Message is 0 zero with 2 data bytes Node ID In any
6. PCAN MicroMod package from www peak system com The ZIP file available online contains the latest version of the firmware Fujitsu hex file format the EDS files and the user manual in PDF format Furthermore a flash tool for loading the firmware into a MicroMod is included 1 3 Hardware and Software Requirements The CANopen firmware is loaded into a PCAN MicroMod using the PCAN MicroMod Evaluation Board With the flash programming utility the hex files provided can be programmed PCAN MicroMod CANopen User Manual System In order to configure a MicroMod a generic CANopen Configuration Tool with access to the CAN bus is required We recommend the software package PCANopen Magic Pro www canopenmagic com with a PCAN USB interface 1 4 Terminology and Abbreviations The following CANopen terms and abbreviations are used in this manual without further explanation Please refer to the CANopen standards 301 CiA 302 and CiA 401 or books like Embedded Networking with CAN and CANopen for further explanation xxxxh yyh This syntax is used to indicate an Object Dictionary entry using hexadecimal values The first number xxxx represents the Index and the Subindex Bit Rate The default bit rates supported by many CANopen nodes are 1 Mbit s 800 kbit s 500 kbit s 250 kbit s 125 kbit s and 50 kbit s The bit rate can be changed using the 1F50h 03h Object Dictionary entry Boot up Mes
7. and node ID Writing the 4 byte ASCII string BPSx changes the bit rate x must be replaced with one of the following digits LSS compatible values Value Bit rate 1 Mbit s 800 kbit s 500 kbit s 250 kbit s 125 kbit s 50 kbit s 19 l PCAN MicroMod CANopen User Manual PEAK System Other bit rates are not supported Writing the 4 byte ASCII string NIxy changes the node ID xy must be replaced by a 2 digit hexadecimal number specifying the new node ID which must be in the range of 01h to 7Fh Note The new settings will only be activated after the next reset of the MicroMod PCANopen Magic ProDS PCOMPDS onl Baud Rate 1000kbps Du E ee cee 6209 g Read Upload Network Management Figure 1 Example for sending the NI command to node using PCANopen Magic Pro Status Info on Serial Port If a MicroMod is used in hardware with serial line drivers such as the PCAN MicroMod Evaluation Board then some basic status info can be displayed on a terminal The communication settings are 19200 bit s 8 bits 1 stop bit no parity 20 PCAN MicroMod CANopen User Manual m System Information is only sent during initialization and in case of errors Information displayed on the terminal includes the CAN bit rate the CANopen node ID and the number of input and output channels used In case of a fatal error an internal error number is displayed
8. from numerous manufacturers Although this user manual explains all the CANopen features imple mented by the software provided it still assumes that the reader has some basic knowledge about Controller Area Network CAN and CANopen If in doubt the CAN and CANopen specifications or books like Embedded Networking with CAN and CANopen www canopenbook com should be consulted o Note This user manual only contains information about the CANopen firmware to be used with a PCAN MicroMod For detailed information about the hardware please refer to the extra manual PCAN MicroMod CANopen User Manual System 1 1 About the CANopen Implementation The PCAN MicroMod I O modules fall into the category of off the shelf CANopen generic I O devices The CANopen software package for these modules implements the following CiA standards CiA 301 CANopen Application Layer and Communication Profile version 4 02 CiA 401 CANopen Device Profile for Generic Modules version 2 1 By loading the appropriate firmware into the modules they can be directly used as standardized CANopen generic I O modules The EDS files Electronic Data Sheet provided along with the firm ware were tested with their corresponding module for CANopen conformance using the official CANopen conformance tests 1 2 Scope of Supply The CANopen firmware package is license free for all users of PCAN MicroMod and can be downloaded as part of the
9. kbit s 125 kbit s 50 kbit s FR Ww No Other bit rates are not supported 49 PCAN MicroMod CANopen User Manual System A 3 Device Profile Entries A 3 1 Read Digital Inputs 6000h 6000h 00h Unsigned8 read only If digital inputs are available returns 1 6000h 01h Unsigned8 read only can be mapped to TPDO For devices with digital inputs the digital input data can be read from 6000h 01h If less than 8 input bits are implemented the most significant bits of this entry are unused A 3 2 Polarity Digital Input 6002h 6002h 00h Unsigned8 read only If digital inputs are available returns 1 6002h 01h Unsigned8 read write For each input bit available 6000h 01h this entry applies a po larity change If a bit in this entry is set the corresponding bit in 6000h 01h is inverted If less than 8 input bits are implemented the most significant bits of this entry are unused The bit is inverted when reading from the input pin before storing into the OD A 3 3 Write Digital Outputs 6200h 6200h 00h Unsigned8 read write If digital outputs are available returns 1 6200h 01h Unsigned8 read only can be mapped to RPDO For devices with digital outputs the digital output data is written to 6200h 01h If less than 8 output bits are implemented the most significant bits of this entry are unused 50 PCAN MicroMod CANopen User Manual System A 3 4 Polarity Digital Output
10. node is using the heartbeat protocol Each CANopen node produces its own heartbeat The heartbeat producer time 1017h 00h can be set with a configuration tool The time is specified in milliseconds In addition the firmware implements 3 heartbeat consumer channels allowing the MicroMod to monitor up to 3 heartbeats from other nodes Each heartbeat consumer entry at 1016h 01h 03h is a Unsigned32 value where the consumer time timeout is stored in bits 0 15 and bits 16 22 hold the node ID of the node monitored The heartbeat consumer time must be bigger than the producer time of the node monitored Otherwise a heartbeat lost event will occur almost immediately after monitoring begins A recommended approach is to make the consumer time 1 5 times bigger than the producer time Upon loosing a heartbeat a PCAN MicroMod device transmits an emergency message and switches itself into the pre operational mode When the default error output mode is activated the default outputs get applied 29 l PCAN MicroMod CANopen User Manual PEAK System 4 7 Storing Parameters All configurable parameters of the CANopen implementation can be stored in non volatile memory and be automatically activated after the next reset This way complex configuration does not need to be made over and over again after every reset of the device To save the current configuration into non volatile memory the 4 byte string save needs to be written to O
11. the corresponding subentry 6443h 0xh enables this functionality 53
12. the number of analog channels used With a system using 8 analog inputs each input is updated every 8 milliseconds The COS and minimal delta detection typically requi res another millisecond to execute and detect potential changes If a system has 4 analog outputs then the delay in applying new received values to the outputs can be up to 4 milliseconds 16 PCAN MicroMod CANopen User Manual System 2 3 3 Background Task and Change Of State Detection Processing of change of state and analog input delta detection heartbeat production and consumption and SDO request processing is all handled in the main background task As both CAN Receive Interrupt and the 500 microsecond Timer Interrupt have a higher priority the background task can get interrupted and delayed at any time The PEAK Status Register 1002h 00h in the Object Dictionary con tains the current average execution time of a single background loop In operational mode this number typically varies from 300 to 600 microseconds 17 PCAN MicroMod CANopen User Manual System 3 Hardware Features This chapter summarizes the most important PCAN MicroMod hard ware features as far as the CANopen implementation is concerned For further hardware details like pin assignment and I O characteris tics please refer to the PCAN MicroMod user manual and those for the PCAN MicroMod motherboards 3 1 Status and Error LEDs CANopen supports two LED indicators as sp
13. 6202h 6202h 00h Unsigned8 read only If digital outputs are available returns 1 6202h 01h Unsigned8 read write For each output bit available 6200h 01h this entry applies a po larity change If a bit in this entry is set the corresponding bit from 6200h 01h is inverted before it gets applied to the output If less than 8 output bits are implemented the most significant bits of this entry are unused A 3 5 Digital Output Error Mode 6206h 6206h 00h Unsigned8 read only If digital outputs are available returns 1 6206h 01h Unsigned8 read write For each output bit available 6200h 01h this entry specifies if the error output 6207h 01h should be applied to the output when the node goes into the pre operational or stopped state If a correspon ding bit is set than the error output as defined 6207h 01h is applied If less than 8 output bits are implemented the most significant bits of this entry are unused A 3 6 Digital Output Error Value 6207h 6207h 00h Unsigned8 read only If digital outputs are available returns 1 6207h 01h Unsigned8 read write For each output bit available 6200h 01h this entry specifies the error output that should be applied when the node goes into the pre operational or stopped state The error output only gets applied if the corresponding bit in 206h 01 enables this functionality If less than 8 output bits are implemented the most significant bits of
14. 7 Receive PDO Mapping Parameters 1600h 1603h 160xh 00h Unsigned8 read write 160xh 0yh Mapping Entry Unsigned32 read write This entry defines which process data is stored in a single PDO along with the position of the process data in the eight data bytes of the PDO A total of 4 indexes 1A00h to 1A03h with each up to 8 Subindexes are implemented Each Receive PDO supported by the node must have a correspon ding Receive PDO Mapping parameter entry implemented The entry at 1600h is for the first Receive PDO whose communication parameters are defined at 1400h The entry at 1601h is for the second Receive PDO whose communication parameters are defined at 1401h etc A PDO may have 1 to 8 process data variables mapped to it with each variable having the length of 8 16 or 32 bits however the total size of all the process data mapped to a single PDO may not exceed 64 bits eight bytes Each subentry defines a process data variable Therefore subentry 00h holds the total number of process data variables mapped to the PDO The value of each subentry defines the process data variable to be mapped and the size of the process data variable in bits The 43 PCAN MicroMod CANopen User Manual System process data variable is defined by specifying the Object Dictionary location where the data is stored The value is constructed as follows Bit Description 0 7 Data length in bits 08h 10h or 20h 8 15 Subindex of OD e
15. Board Mix 3 Digital 1 Digital 2 Analog 1 Mix 1 Mix 2 Analog 2 oO a B0 Nm Device Type OD 1000h 00h 000F0191h 000B0191h 000B0191h 000D0191h 000D0191h 000F0191h 000C0191h Device Name 1008h 00h PCOO PCO1 PCO2 PCO4 PCO5 PCO6 4 2 Default Connection Set The CANopen implementations use the Default Connection Set Product ID 1018h 0 00100000h 00100001h 00100002h 00100003h 00100004h 00100005h 00100006h System This means the following CAN Message Identifiers are used unless the devices are re configured CAN Message ID 000h 080h 080h Node ID 180h Node ID 200h Node ID 280h Node ID 300h Node ID 380h Node ID 400h Node ID 480h Node ID Direction Receive Receive Transmit Transmit Receive Transmit Receive Transmit Receive Transmit Default Usage NMT Master Message SYNC Message Emergency Message TPDO 1 RPDO 1 TPDO2 RPDO 2 TPDO3 RPDO 3 TPDO 4 24 PCAN MicroMod CANopen User Manual CAN Message ID 500h Node ID 580h Node ID 600h Node ID 700h Node ID Direction Receive Transmit Receive Transmit System Default Usage 4 SDO Response SDO Request Boot up Heartbeat Per default unused PDOs are disabled 4 3 Default PDO Mapping The default PDO mapping used is that of the CANopen Device Profile CIA 401 for generic I O A maximum of four variables are mapped to each PDO The fo
16. CANopen network each CANopen node must have a unique Node ID in the range of 1 to 127 The Node ID can be changed using the 1F50h 03h Object Dictionary entry Object Dictionary OD Each CANopen node internally structures its data configuration and process data into an Object Dictionary similar to a look up table Each entry can be identified by a 16 bit Index and an 8 bit Subindex The CANopen standards specify which entry is used for which purpose A configuration tool or CANopen Manager can access the OD of any node using SDO communication PDO Communication Parameters The PDO communication parameters include COB ID Transmission Type Inhibit Time and Event Time They specify the used CAN message identifier and for Transmit PDOs the selected trigger events 10 PCAN MicroMod CANopen User Manual System PDO Mapping Parameters The PDO Mapping Parameters select the contents of a PDO One or multiple variables from the Object Dictionary can be combined into a PDO Process Data Object PDO These CAN messages are used for communicating process data Receive Process Data Object RPDO Each CANopen node typically can transmit and receive PDOs To better distinguish between the services the terms RPDOs and TPDOs are used Note that a TPDO of one node is a RPDO for all other nodes that consume this PDO Service Data Object SDO These CAN messages are used for communicating service configuration data Subi
17. D entry Store Parameters 1010h 01h should be noted that saving the current configuration into non volatile memory takes longer than other SDO accesses On some CANopen configuration tools it might be necessary to lengthen the timeout for SDO requests The manufacturer default configuration can be restored by writing the 4 byte string load to the OD entry Restore Parameters 1011h 01h The default settings become active after the next reset s PCANopen Magic ProDS PCOMPDS 001 Baud Rate 1000kbps lek Bee c 0x20 32d Status Unknown Last Emergency Error Reset or No Error Figure 5 Settings for storing parameters 30 PCAN MicroMod CANopen User Manual System The OD entries at Verify Configuration 1020h can be used to save the configuration date and time into non volatile memory This allows CANopen managers to verify when the device was configured for the last time 31 PCAN MicroMod CANopen User Manual System Appendix A Object Dictionary Reference A 1 Overview The firmware implements a CANopen Object Dictionary OD The specific OD implementation for each module is specified by the corresponding Electronic Data Sheet EDS OD entries belonging to channels are only implemented if the matching device has these channels available The following table gives an overview of all OD entries implemented Index Name Type Access 1000h Device Type Unsigned32 Read
18. MCU load indicator Internally the devices measure the runtime of the main background loop working on all input and output data The value returned in these bits is the average measuring 10 loops at the time runtime of a single loop in microseconds In operational status this value typically ranges from 400 microseconds to 650 microseconds In each loop all digital inputs and outputs are updated and one each of analog inputs and analog outputs If a device has 4 analog outputs then it takes 4 loops to update all analog output channels So if new analog output data was received via CANopen it can take up to four loop executions until all analog output channels are set to the new value 35 PCAN MicroMod CANopen User Manual System A 2 4 SYNC COB ID 1005h 1005h 00h Unsigned32 read write This entry contains the CAN ID used by the SYNC message along with a flag to indicate if the node generates the SYNC message or not In synchronous PDO communication mode the SYNC message triggers the TPDOs transmitted The 32 bits of the entry are used as follows Bit Description 0 10 COB ID for SYNC Object 11 28 Set to 0 29 Set to 0 as only 11 bit CAN IDs are supported 30 Set to 0 as the node does not generate the SYNC Object 31 Set to 0 A 2 5 Manufacturer Device Name 1008h 1008h 00h visible String 4 ASCII bytes read only Upon reading this entry returns a 4 byte ASCII string with the device name See the table in sec
19. Only 1001h Error Register Unsigned8 Read Only 1002h PEAK Status Register Unsigned32 Read Only 1005h SYNC Unsigned32 Read Write 1008h Manufacturer Device Name Visible String Read Only 1009h Manufacturer Hardware Version Visible String Read Only 100Ah Manufacturer Software Version Visible String Read Only 100Ch Guard Time Unsigned16 Read Write 100Dh Life Time Factor Unsigned8 Read Write 1010h Store Parameters Unsigned32 Read Write 1011h Restore Default Parameters Unsigned32 Read Write 1016h Consumer Heartbeat Time Array of Unsigned32 Read Write 1017h Producer Heartbeat Time Unsigned16 Read Write 1018h Identity Identity Record 0023h Read Only 1020h Verify Configuration Unsigned32 Read Write 1400h 1st Receive PDO Parameter PDO Communication Read Write 32 Parameter Record PCAN MicroMod CANopen User Manual Index 1401h 1402h 1403h 1600h 1601h 1602h 1603h 1800h 1801h 1802h 1803h 1A00h 1A01h 1A02h 1A03h 1F50h 6000h 6002h 6200h 6202h 6206h 6207h Name 2nd Receive PDO Parameter 3rd Receive PDO Parameter 4th Receive PDO Parameter 1st Receive PDO Mapping 2nd Receive PDO Mapping 3rd Receive PDO Mapping 4th Receive PDO Mapping 1st Transmit PDO Parameter 2nd Transmit PDO Parameter 3rd Transmit PDO Parameter 4th Transmit PDO Parameter 1st Transmit PDO Mapping 2nd Transmit PDO Mapping 3rd Transmit PDO Mapping 4th Transmit PDO Mapping Download Prog
20. al System The Identity entries are used to identify specific CANopen products and their versions The values returned are described in more detail in section 4 1 on page 23 A 2 15 Verify Configuration 1020h 1020h 00h Unsigned8 read only Returns 2 1020h 01h Configuration Date Unsigned8 read only 1020h 02h Configuration Time Unsigned8 read only This entry allows an NMT Master or a Configuration Manager to determine if the configuration of the device matches a known configuration When storing a new configuration for the node by writing to entry 1010h a Configuration Manager first writes the current date and time to this entry along with storing the current date and time in its local OD Whenever any new values are written to the Object Dictionary of the node it must set the current date and time stored in this entry to zero to indicate that the configuration has changed The next time the node is started the configuration manager can read this entry and compare the date and time with the date and time stored locally in the manager If the times match then the manager knows the current configuration of the node without having to read any further Object Dictionary entries The date value is the number of whole days since January 1st 1984 The time value is the number of milliseconds since midnight 41 PCAN MicroMod CANopen User Manual System A 2 16 Sn Communication Parameters 1400h 403 140
21. cified emergency code the error register 1001h 00h and a manufacturer specific emergency code Event Time For TPDOs the Event Time specifies the periodic time at which TPDOs get transmitted The Event Time is specified in multiples of milliseconds and typically only used if the Transmission Type is set to 255d FFh Heartbeat Producer and Consumer In CANopen the recommended function to monitor the health of network nodes is to use the heartbeat mechanism Each CANopen PCAN MicroMod CANopen User Manual System node can individually produce a heartbeat message using the CAN Message Identifier 0700h plus the node s Node ID The message contains a single byte representing the current NMT state of the node like Pre Operational Operational Stopped The Heart beat Producer time 1017h 00h is specified in multiples of millise conds CANopen nodes may have zero one or multiple Heartbeat Consumers 1016h xxh that can be configured to monitor heart beats from other nodes If a node looses a heartbeat monitored it typically transmits an emergency message and goes back into the Pre Operational NMT state Inhibit Time For TPDOs that implement a COS detection the Inhibit Time is used to prevent back to back transmission of input data that changes fre quently The Inhibit Time is selected in multiples of 100s of microse conds and specifies how long a CANopen node must wait before it may transmit a TPDO again Note that many
22. e Factor 100Dh 100Dh 00h Unsigned8 read write Note The CiA recommends not to use node guarding This feature has only been implemented to be backwards compati ble to legacy devices The life time factor specifies the number of multiples of the guard time to wait for a response from the node to a node guarding request 37 PCAN MicroMod CANopen User Manual System If a response from the node to a node guarding request is not transmitted within the node life time then a node guarding event occurs indicating that the node may have possibly stopped working If a node guarding request from the NMT Master is not received within the node life time then the node knows that the NMT Master may have possibly stopped working The node life time is the guard time multiplied by the life time factor A 2 10 Store Parameters 1010h 1010h 00h Unsigned8 read only Returns 1 1010h 01h Unsigned32 read write The PCAN MicroMod devices support Subindex one store all parameters to save all configuration data into non volatile memory By writing to the subentries the node can be instructed to immediately store all or some of the settings in non volatile memory By reading the subentries non volatile storage capabilities of the node may be determined By writing the value 65766173h ASCII save to 1010h 01h the configurable parts of the Object Dictionary are stored in non volatile memory If a value other than
23. ecified by document DR303 Indicator Specification Concerning the CANopen Firm ware the RUN LED is located directly on the MicroMod The ERR LED is related to DO7 3 1 1 RUN LED The RUN LED shows one of the following patterns LED Status Description On Node is in NMT state Operational Blinking Node is in NMT state Pre operational Single Flash Node is in NMT state Stopped 3 1 2 ERR LED The ERR LED shows one of the following patterns LED Status Description Off No Error On Node is not yet initialized after reset or a fatal error occurred Double Flash Heartbeat lost 18 PCAN MicroMod CANopen User Manual System 3 2 Boot Mode Selection with Solder Bridges PCAN MicroMod features a total of 5 solder bridges The CANopen implementations currently only use the solder bridge 4 as a boot mode indicator If solder bridge 4 is closed after reset PCAN MicroMod starts in a default boot mode using a CAN bit rate of 125 kbit s and the CANopen node ID 40h 64d A blinking LED blinks with a period of 200 milliseconds A single flash LED is on for 200 milliseconds and then off for 1 second 3 3 Assignment of Bit Rate and Node ID The CAN bit rate and CANopen node ID used cannot be changed by hardware They can be changed by writing specific values to an Object Dictionary entry Using a CANopen configuration tool such as CANopen Magic writes to the Object Dictionary entry 1F50h 03h can change the bit rate
24. ents the maximum number of channels supported This ver sion is intended for users that embed a MicroMod into their own customized hardware other firmware versions provided implement a specific subset enabling a limited number of channels The following table lists the number of channels available with each device The header indicates the resolution for each I O channel exceptions apply for Analog 2 Device DI 1 bit DO 1 bit 10 bits AO 8 bits 0 MicroMod custom 8 7 8 4 Evaluation Board see also Mix 3 note below 1 Digital 1 8 4 0 1 2 Digital 2 8 4 0 1 3 Analog 1 8 shared Al 0 8 4 4 Mix 1 6 0 4 2 5 Mix 2 2 1 5 2 6 Analog 2 0 0 8 16 bits 4 12 bits 13 PCAN MicroMod CANopen User Manual System Resolution bits Value range hex Value range dec 8 0 OOFFh 0 255 10 0 O3FFh 0 1023 12 0 OFFFh 0 4095 16 signed 0 FFFFh 32768 32767 o Note for Device 0 The digital outputs of the PCAN MicroMod Evaluation Board and the motherboard Mix 3 behave differently regarding the Low and High states Please refer to the user manual of the respective motherboard 2 2 Loading the Firmware into a MicroMod The hex files provided can be loaded into a MicroMod using the PCAN MicroMod Evaluation Board and the Fujitsu Flash 16 pro gramming utility part of the PCAN MicroMod software package Follow these steps to upload the firmware 1 Make sure that the power pl
25. eption of a boot up message Each Subindex specifies the Heartbeat Consumer Time for one CANopen node The value of the entry is constructed as follows 39 PCAN MicroMod CANopen User Manual System Bit Description 0 15 Heartbeat consumer time in milliseconds 16 23 Node ID 24 31 Reserved set to 0 The Heartbeat Consumer Time of a specific node must be higher than the Heartbeat Producer Time of the node It is recommended to set the consumer time at least 1 5 times higher than the producer time The Producer Time can be read from entry 1017h Specifying a Heartbeat Consumer Time of zero for a specific Node ID disables the heartbeat monitoring of that node A 2 13 Producer Heartbeat Time 1017h 1017h 00h Unsigned16 read write The value of this entry specifies in milliseconds the time between transmission of heartbeat messages A value of zero disables transmission of heartbeat messages by the node Because the entry is writeable the value of the entry may change at any time As the heartbeat production is internally implemented with the lowest priority delays in heartbeat production can be directly used to monitor the overall load and health of a device A 2 14 Identity 1018h 1018h 00h Unsigned8 read only Returns 3 1018h 01h vendor ID Unsigned32 read only 1018h 02h Product ID Unsigned32 read only 1018h 03h Product Revision Unsigned32 read only 40 PCAN MicroMod CANopen User Manu
26. exist or cannot be mapped then an SDO Abort message will be returned 44 PCAN MicroMod CANopen User Manual System A 2 18 Transmit PDO Communication Parameters 1800h 1803h 140xh 00h Unsigned8 read only Returns 5 140xh 01h COB ID Unsigned32 read write 140xh 02h Transmission Type Unsigned8 read write 140xh 03h Inhibit Time Unsigned16 read write 140xh 05h Event Time Unsigned16 read write These entries describe the communication configuration of the Transmit PDOs Subentry 01h defines the COB ID of the PDO The default value depends on the index of the entry as shown in the following table Index Default Value 1400h Node ID 00000180h 1401h Node ID 00000280h 1402h Node ID 00000380h 1403h Node ID 00000480h The COB ID entry also indicates if the PDO is used or not size of the identifier and whether remote transmit requests are allowed for the PDO Bit Description 0 10 COB ID for PDO 11 28 Set to 0 29 Set to select 11 bit COB ID 30 Set to 0 if remote transmit requests are allowed for the PDO else 1 31 Set to 1 if the PDO is currently disabled To change a COB ID bit 31 must first be set to 1 to disable the PDO Once the COB ID has been changed the PDO can be re enabled by clearing bit 31 45 PCAN MicroMod CANopen User Manual System Subentry 02h specifies the Transmission Type of the Transmit PDO The following table lists the available Transmission T
27. ing operation 22 PCAN MicroMod CANopen User Manual System 4 Transmit Process Data Objects TPDO with dynamic communication and mapping parameters configuration including CAN message ID used message trigger mechanisms and contents mapped to the TPDO can be changed during operation Up to 8 digital input channels with configurable polarity inversion Up to 7 digital output channels with configurable polarity inversion and default output values for error situations Up to 8 analog input channels with configurable minimal difference delta detection Up to 4 analog output channels with individual default output values for error situation 4 1 Product Identification There are several Object Dictionary OD entries implemented that can be used to identify the PCAN MicroMod and the specific CANopen firmware used 1000h 00h Device Type 32 bit device type info see table below 1008h 00h Manufacturer Device Name 4 byte ASCII string see table below 1009h 00h Manufacturer Hardware Version 4 byte ASCII string with the hardware version number 100Ah 00h Manufacturer Software Version 4 byte ASCII string with the firmware revision number 1018h 01h CANopen vendor ID 32 bit vendor ID of PEAK 00000175h 23 PCAN MicroMod CANopen User Manual 1018h 02h Product Code 32 bit product code see table below 1018h 03h Revision Number 32 bit revision number Device 0 MicroMod custom Evaluation
28. llowing table illustrates the mapping used by the PCAN MicroMod device zero stand alone module The other device types only have those variables mapped that are implemented on these devices PDO No of Entries RPDO1 1 RPDO2 4 TPDO1 1 TPDO2 4 TPDO3 4 Entry 1 DO 1 7 AO 1 DI 1 8 Al 1 5 Entry2 Entry3 Entry4 empty empty empty AO 2 AO 3 AO 4 empty empty empty Al 2 Al3 Al 4 Al 6 7 8 The PDO parameters can easily be changed with CANopen configuration tools such as PCANopen Magic Pro 25 l PCAN MicroMod CANopen User Manual System ka PDO Configuration UO EG BEEBE Eno En Po m EB Node ozo 32d z Re scan Node Re scan Network Pointer changes over editable cells Trans Type Cyclic Synchronous Device Profile defined Device Profile defined Device Profile defined Cyclic Synchronous Cyclic Synchronous Device Profile defined Device Profile defined Figure 2 PCANopen Magic Pro displaying the PDO parameters with the possibility to edit each entry directly 4 4 Input Processing Digital input data is XORed with the polarity settings 6002h before getting stored in 6000h The analog input data goes directly into the array at 6401h Using SDO requests sent to the device all input data can be read at any time by a configuration tool or CANopen manager PCAN MicroMod CANopen User Manual n System Acce
29. ndex An Object Dictionary entry is selected using a 16 bit Index and an 8 bit Subindex Synchronized Communication In synchronized communication mode one of the Transmission Types supported by CANopen RPDO data received is not immedi ately applied to the outputs it is only applied after the SYNC mes sage was received Synchronized TPDO data gets transmitted right after the SYNC message is received Transmission Type For each PDO the Transmission Type can be selected as it is one of the PDO Communication Parameters The default Transmission Type is 255 FFh selecting the communication specific for the Device Profile In the case of CiA 401 Generic I O this means that both Event Time and Inhibit Time are used 11 PCAN MicroMod CANopen User Manual System Transmit Process Data Object TPDO Each CANopen node typically can transmit and receive PDOs To better distinguish between the services the terms RPDOs and TPDOs are used Note that a TPDO of one node is a RPDO for all other nodes that consume this PDO 12 PCAN MicroMod CANopen User Manual System 2 Product and Firmware Selection All CANopen firmware versions for PCAN MicroMod use the same code basis and thus have similar features The main difference is that the number of I O channels made available matches the hard ware layout of the various motherboards 2 1 Device Summary The generic firmware version device 0 is a superset as it imple m
30. non zero value to subentry 00h will cause the node to check and ensure the entire mapping is valid For example the total number of bits mapped to the PDO does not exceed 64 each mapped process data variable exists in the Object Dictionary and can be mapped to a PDO If the mapping is not valid then the node will return an SDO Abort message in response to attempting to set subentry 00h to a non zero value Each time a mapping entry is written the node will check and en sure that the process data exists and can be mapped If it does not exist or cannot be mapped then an SDO Abort message will be returned 48 PCAN MicroMod CANopen User Manual System A 2 20 Program Download 1F50h Node ID and BPS 1F50h 00h Unsigned8 read only Returns 3 1F50h 03h Hardware Settings Unsigned32 read write This entry allows changing the CAN bit rate and the CANopen Node ID used by the device After writing new settings to this OD entry the device must be reset To change the CANopen Node ID the ASCII string NIxx must be written to this OD entry where xx is replaced with two hexadeci mal digits selecting a Node ID in the range from 1 to 127 To change the CAN bit rate the ASCII string BPSx must be writ ten to this OD entry where x is replaced with a digit in the range from 3 to 8 representing the following CAN bit rates values are LSS compatible Value Bit Rate 1 Mbit s 800 kbit s 500 kbit s 250
31. ntry mapped 16 31 Index of OD entry mapped For example if a 16 bit process data variable was stored in the Object Dictionary at index 6001h Subindex 04h then it can be mapped into a PDO using the value 60010410h It is possible to create gaps in the mapping by using dummy entries A dummy entry is created by mapping one of the data types located at indexes 0005h 0007h into the PDO For example to create a gap of 16 bits in the PDO the Unsigned16 data type must be defined in a subentry This is achieved using the Unsigned16 Object Dictionary location of index 0006h Subindex 00h giving a value for the subentry of 00060010h In order to change the current mapping of a PDO the PDO must first be disabled by writing zero to subentry 00h Once the new values for the subentries have been written subentry 00h can be written with the number of process data variables mapped to the PDO Attempting to write a non zero value to subentry 00h will cause the node to check and ensure the entire mapping is valid For example the total number of bits mapped to the PDO does not exceed 64 each mapped process data variable exists in the Object Dictionary and can be mapped to a PDO If the mapping is not valid then the node will return an SDO Abort message in response to attempting to set subentry 00h to a non zero value Each time a mapping entry is written the node will check and ensure that the process data exists and can be mapped If it does not
32. og Output Error Mode Array of Unsigned8 Read Write 6444h Analog Output Error Value Array of Integer32 Read Write A 2 Communication Profile Entries A 2 1 Device Type 1000h 1000h 00h Unsigned32 read only This entry indicates the number of the device profile used and provides some additional basic information about which features of the device profile are used in the node The entry value is constructed as follows Bit Description 0 15 Device Profile Number 401d 191h 16 Set if the device has digital inputs 17 Set if the device has digital outputs 18 Set if the device has analog inputs 19 Set if the device has analog outputs 20 31 Unused return zero A 2 2 Error Register 1001h 1001h 00h Unsigned8 read only may be mapped to TPDO The error register value indicates if an error has occurred within the device The Error Register is included in byte two of the Emergency 34 PCAN MicroMod CANopen User Manual System object but may also be mapped into PDOs The bits in the error register are defined as follows e Description Generic Error Current always zero Voltage always zero Temperature always zero Communication Error Device Profile Defined Error always zero Reserved always zero Manufacturer Specific Error always zero A 2 3 PEAK Status Register 1002h MCU Load and Performance 1002h 00h Unsigned32 read only Bits 0 through 11 contain an
33. pen configuration tool or CANopen manager using SDO requests 1 1 Receive 1 RPDO OD Entries of 1 T Mapping CiA 401 Compliant l Output Device i l i 1 l Output Data SYNC i Request 1 i 1 Network LII Error 1 Application Side of Error Mode Switch Polarity gt ap Device i i l spo J Default On error or halt Application Request Output Value applies defaults Side of Device depending on mode settings Figure 4 Output data processed by the CANopen firmware Depending on the RPDO Communication Parameters 140xh the output data received by RPDO is either applied immediately or upon reception of the next SYNC signal if synchronized communication is used Digital output data is XORed with the Polarity Digital Output value at 6202h before being applied to the output When an output channel is marked 1 the Digital Output Error Mode 6206h array or the Analog Output Error Mode 6443h array then default values get applied to the outputs whenever the node leaves 28 PCAN MicroMod CANopen User Manual System the operational state The default outputs for each channel are stored in the arrays Digital Output Error Value 6207h and Analog Output Error Value 6444h 4 6 Heartbeat Production and Consumption The recommended method to monitor the health of each CANopen
34. r the first Transmit PDO whose communication parameters are defined at 1800h The entry at 1A01h is for the second Receive PDO whose communication parameters are defined at 1801h etc A PDO may have 1 to 8 process data variables mapped to it with each variable having the length of 8 16 or 32 bits however the total size of all the process data mapped to a single PDO may not 47 PCAN MicroMod CANopen User Manual System exceed 64 bits eight bytes Each subentry defines a process data variable Therefore subentry 00h holds the total number of process data variables mapped to the PDO The value of each subentry defines the process data variable to be mapped and the size of the process data variable in bits The pro cess data variable is defined by specifying the Object Dictionary location where the data is stored The value is constructed as follows Bit Description 0 7 Data length in bits 08h 10h or 20h 8 15 Subindex of OD entry mapped 16 31 Index of OD entry mapped For example if a 16 bit process data variable was stored in the Object Dictionary at index 6001h Subindex 04h then it can be mapped into a PDO using the value 60010410h In order to change the current mapping of a PDO the PDO must first be disabled by writing zero to subentry 00h Once the new values for the subentries have been written subentry 00h can be written with the number of process data variables mapped to the PDO Attempting to write a
35. ram Read Digital Inputs Polarity Digital Input Write Digital Outputs Polarity Digital Output Digital Output Error Mode Digital Output Error Value 33 Type PDO Communication Parameter Record PDO Communication Parameter Record PDO Communication Parameter Record PDO Mapping Parameter Record PDO Mapping Parameter Record PDO Mapping Parameter Record PDO Mapping Parameter Record PDO Communication Parameter Record PDO Communication Parameter Record PDO Communication Parameter Record PDO Communication Parameter Record PDO Mapping Parameter Record PDO Mapping Parameter Record PDO Mapping Parameter Record PDO Mapping Parameter Record Array of Domain Array of Unsigned8 Array of Unsigned8 Array of Unsigned8 Array of Unsigned8 Array of Unsigned8 Array of Unsigned8 System Access Read Write Read Write Read Write Read Write Read Write Read Write Read Write Read Write Read Write Read Write Read Write Read Write Read Write Read Write Read Write Read Write Read Only Read Write Read Write Read Write Read Write Read Write PCAN MicroMod CANopen User Manual System Index Name Type Access 6401h Read Analog Inputs Array of Integer16 Read Only 6411h Write Analog Outputs Array of Integer16 Read Write 6423h Analog Input Interrupt Enable Boolean Read Write 64261 Analog Input Value Difference Array of Unsigned32 Read Write 6443h Anal
36. red 52 PCAN MicroMod CANopen User Manual System A 3 10 Analog Input Value Difference 6426h 6426h 00h Unsigned8 read only If analog inputs are available returns the number of input channels 6426h 0xh Unsigned32 read write For each analog input channel there is one subentry specifying the minimum value difference delta used for the channel Value diffe rence detection is only enabled if the bit 6423h 00h is set and the TPDO containing the analog data uses change of state detection Transmission Type 255 A 3 11 Analog Output Error Mode 6443h 6443h 00h Unsigned8 read only If analog outputs are available returns the number of output channels 6443h 0xh Unsigned8 read write There is one subentry for each output channel 6411h 0xh available specifying if the corresponding error output 6444h 0xh should be applied to the output when the node goes into the pre operational or stopped state When a subentry is set to one the corresponding error output is enabled When set to zero it is disabled A 3 12 Analog Output Error Value 6444h 6444h 00h Unsigned8 read only If analog outputs are available returns the number of output channels 6444h 0xh Integer32 read write There is one subentry for each output channel 6411h 0xh available specifying the error output that should be applied when the node goes into the pre operational or stopped state The error output on ly gets applied if
37. s For example they can be delayed by higher priority CAN activity such as an NMT Master message On an 1 Mbit s CAN network Event Inhibit or synchronization cycle times of down to 5 milliseconds may be used with the MicroMod without any performance penalty Even shorter times are possible but their accuracy depends on the overall PDO configuration how many PDOs need to be that fast and how long are they 15 PCAN MicroMod CANopen User Manual System 2 3 1 Digital I O Performance Processing of all digital l Os happens on a 500 microsecond timer basis For best performance digital 1 05 should always be mapped into the first RPDO TPDO as that is processed with a higher priority Digital outputs get applied to the outputs within one millisecond after the triggering message was received This is either the RPDO1 itself or the SYNC message if synchronized communication is used With the change of state COS detection a change in the digital in puts is typically recognized within one millisecond and immediately triggers the transmission of TPDO if COS communication is used However process data received is processed at a higher priority potentially delaying the COS detection 2 3 2 Analog I O Performance Processing of all analog I Os happens on a 1 millisecond timer basis Each millisecond one analog input channel and one analog output channel are updated As a result the overall delay in analog data processing depends on
38. sage After a reset a CANopen node transmits its boot up message The message CAN identifier used is 700h plus the node s Node ID number The boot up message contains one data byte which is zero CANopen Manager In a CANopen network the optional CANopen Manager typically includes a NMT Master and a Configuration Manager The NMT Master is responsible for generating the NMT Master Message and starting or stopping the network The Configuration Manager keeps PCAN MicroMod CANopen User Manual System track of all nodes connected and ensures that the connected nodes are configured correctly Change of state COS Generic modules typically monitor their inputs for changes CANopen nodes can be configured to only transmit this input data if a change was detected Connection Object Identifier COB ID The COB ID specifies the CAN message details used for a specific connection These include a CAN Message Identifier and typically an enable disable bit Default Connection Set The default connection set determines which CAN Message Identifier is used for which purpose in a CANopen network Typically CAN Message Identifiers are assigned using a base identifier such as 180h for TPDO1 and adding the Node ID to that base identifier Emergency EMCY CANopen emergency messages have a default CAN Message Identifier of 80h plus the Node ID of the node generating the emergency Emergency messages contain a CANopen spe
39. sing Output Processing Heartbeat Production and Consumption Storing Parameters System NOD DD uU 13 13 14 15 18 18 19 19 20 22 23 24 25 26 28 29 30 PCAN MicroMod CANopen User Manual System Appendix A Object Dictionary Reference 32 A 1 Overview 32 A 2 Communication Profile Entries 34 A 3 Device Profile Entries 50 PCAN MicroMod CANopen User Manual System 1 Outline and Introduction is a popular industrial communication standard used in many embedded networking applications such as mobile machi nery industrial automation medical equipment and many more The standards including all the device and application profiles are maintained by the CiA the CAN in Automation User s and Manufac turer s Group One of the main reasons for the popularity of CANopen is its flexi bility towards customization CANopen provides a set of standar dized communication functions of which only a little percentage is mandatory When designing a network for a specific application engineers and designers can choose which functions are needed and can even add custom functionality where required Nevertheless the standardized CANopen device and application profiles available still enable off the shelf plug and play usage of CANopen devices System designers that need to add standardized sensors or actuators such as generic l Os encoders drives and motors can choose from a wide variety of products
40. ss to any OD entry SDO cat OD Entries ord I Polarity CiA amp 401 Compliant Request Output Device 1 1 I 1 Input Data 1 1 1 1 1 Event SYNC l Mapping 1 Request 1 1 COS Detect Transmit Transmit Parameters Trigger I PDO 1 a 1 1 Application Inhibit I Network Side of Detection Time Side of Device 1 Device 1 Figure 3 Input data processed by the CANopen firmware Depending on the TPDO Mapping Parameters 1A0xh the input data is included in one or multiple TPDOs Depending on the TPDO Communication Parameters 180xh the input data gets transmitted if a transmit trigger is activated For analog inputs the change of state detection includes a delta detection if the Analog Input Interrupt Enable 6423h is set then the array Analog Input Value Difference 6426h specifies for each channel the minimum difference that a new value must have in comparison to the last transmitted value to trigger a COS event PCAN MicroMod CANopen User Manual System 4 5 Output Processing Data received in a RPDO is copied to its destination in the Object Dictionary depending on the RPDO Mapping Parameters 160xh The destination is the array at 6200h for digital outputs and the array at 6411h for analog outputs These entries can also be written to by any CANo
41. sured from the time when the node first attempts to send the PDO If the PDO is blocked from being sent because of higher priority messages on the bus then the delay before the PDO is actually transmitted is included in the inhibit time 46 PCAN MicroMod CANopen User Manual System Therefore the inhibit time must be greater than the worst case transmission time of the PDO The inhibit time may not be changed while the PDO is being used by the node To change the inhibit time the PDO must first be dis abled by setting bit 31 of subentry 01h Subentry 04h is not used Subentry 05h defines the event time for a Transmit PDO A value of zero disables the event timer If the event timer is used then the PDO is periodically transmitted The value of the event timer entry is the number of milliseconds between transmissions Each time the PDO is transmitted as a result of the event timer expiring the event timer is reset 2 19 Transmit PDO Mapping Parameters 1A00h 1A03h 1A0xh 00h Unsigned8 read write 1A0xh 0yh Mapping Entry Unsigned32 read write This entry defines which process data is stored in a single PDO along with the position of the process data in the eight data bytes of the PDO A total of 4 indexes 1A00h to 1A03h with each up to 8 Subindexes are implemented Each Transmit PDO supported by the node must have a correspon ding Transmit PDO Mapping parameter entry implemented The entry at 1A00h is fo
42. tion 4 1 on page 23 for a list of names used A 2 6 Manufacturer Hardware Version 1009h 1009h 00h visible String 4 ASCII bytes read only Upon reading this entry returns a 4 byte ASCII string with the hardware version number A 2 7 Manufacturer Software Version 100Ah 1009h 00h visible string 4 ASCII bytes read only Upon reading this entry returns a 4 byte ASCII string with the software revision number of the CANopen firmware 36 PCAN MicroMod CANopen User Manual System 2 8 Guard Time 100Ch 100Ch 00h Unsigned16 read write o Note The CiA recommends not to use node guarding This feature has only been implemented to be backwards compati ble to legacy devices The guard time specifies how long the period should be in ms between node guarding requests sent to the device If the NMT master implements node guarding then it should read this entry and transmit the node guarding requests to the node at the frequency indicated by the value of this entry If a response from the node to a node guarding request is not transmitted within the node life time then a node guarding event occurs indicating that the node may have possibly stopped working If a node guarding request from the NMT Master is not received within the node life time then the node knows that the NMT Master may have possibly stopped working The node life time is the guard time multiplied by the life time factor A 2 9 Life Tim
43. ug of the Evaluation Board is disconnected Plug the MicroMod to be programmed onto the Evaluation Board On the Evaluation Board set the programming jumper S5 to Prog 2 3 to activate the on chip boot loader Make sure that the DIP switches 1 and 2 are in the off position Connect the serial connector RS232 to the COM port of the PC Start the Fujitsu Flash 16 programming utility 1ash exe 14 PCAN MicroMod CANopen User Manual System 7 Re apply power to the Evaluation Board and press the reset button to ensure the processor goes properly into the boot mode 8 Make the following settings in the Fujitsu Flash 16 utility Target Microcontroller MB90F497 G Crystal Frequency 4 MHz Hex File one of the hex files implementing CANopen 9 Press the button Full Operation The Flash 16 utility converts the hex file transfers it to MicroMod and programs it into the flash memory 10 Once the process is completed you can power down the Evaluation Board remove the MicroMod and insert it into appropriate CANopen target hardware 2 3 Processing Times and Performance The CANopen firmware was optimized to provide the best possible performance Nevertheless it should be noted that in any CANopen based I O system the flexible configuration potentially allows confi guring a module in such a way that its performance can vary considerably As a result all timings given here are not true worst case timing
44. xh 00h Unsigned8 read only Returns 2 140xh 01h COB ID Unsigned32 read write 140xh 02h Transmission Type Unsigned8 read write These entries describe the communication configuration of the four Receive PDOs Subentry 01h defines the COB ID of the PDO The default value depends on the index of the entry as shown in the following table Index Default Value 1400h Node ID 00000200h 1401h Node ID 00000300h 1402h Node ID 00000400h 1403h Node ID 00000500h The bits in the COB ID entry are used as follows Bit Description 0 10 COB ID for PDO 11 28 Set to 0 29 Set to 0 to select 11 bit COB ID 30 Set to 0 31 Set to 1 if the PDO is currently disabled To change a COB ID bit 31 must first be set to 1 to disable the PDO Once the COB ID has been changed the PDO can be re enabled by clearing bit 31 Subentry 02h specifies the Transmission Type of the Receive PDO The following table lists the available Transmission Types for a Receive PDO 42 PCAN MicroMod CANopen User Manual System Transmission Description Type 0 240 The Receive PDO is synchronous The data in the PDO is processed on reception of the next SYNC Object The actual value of the Transmission Type is not relevant 241 253 Not used 254 Not used 255 The Transmission of the Receive PDO is device profile specific The Receive PDO is asynchronous As soon as the PDO arrives the data is processed by the node A 2 1
45. ypes for a Transmit PDO Transmission Description Type 0 The Transmit PDO is synchronous It is transmitted within the Syn chronous Window Length after a SYNC Object Additional details of the PDO transmission are given in the device profile 1 240 The Transmit is synchronous It is transmitted after every SYNC Object within the Synchronous Window Length where n is the Transmission Type For example when using Transmission Type 34 the PDO is transmitted after every 34th SYNC Object 241 251 Not used 252 The data for the PDO is updated on reception of a SYNC Object but the PDO is not transmitted The PDO is only transmitted on reception of a Remote Transmit Request 253 The data for the PDO is updated and the PDO is transmitted on reception of a remote transmission request 254 Not used 255 The Transmission of the Receive PDO is device profile specific The Receive PDO is asynchronous As soon as the PDO arrives the data is processed by the node Subindex 03h defines the inhibit time for the PDO The inhibit time specifies the minimum time between transmissions of the PDO Once the PDO is transmitted any additional transmissions of the PDO will not take place during the inhibit time The inhibit time is a multiple of 100us a Note The base timer used in the CANopen firmware only has a resolution of 1 ms therefore the inhibit time is always rounded up to the next millisecond The inhibit time is mea
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