Peak CANopen Manuel utilisateur

CANopen Firmware

for PCAN-MicroMod

User Manual

CANopen Firmware for PCAN-MicroMod

Products taken into account

Product Name Model Item Number

CANopen Firmware for PCAN-MicroMod

Last update

May 19, 2005

Initial release

Windows® and MS-DOS are registered trademarks of Microsoft Corporation in the

United States and other countries.

All other product names mentioned herein may be the trademarks or registered

trademarks of their respective companies. Furthermore, "™" and "®" are not

mentioned in each case in this manual.

PEAK-System Technik GmbH

Otto-Röhm-Straße 69

D-64293 Darmstadt

Germany

Phone: +49 (0)6151-8173-20

Fax: +49 (0)6151-8173-29

www.peak-system.com

info@peak-system.com

CANopen Firmware for PCAN-MicroMod

Contents

1Outline and Introduction 4

1.1 About the CANopen Implementation 5

1.2 Scope of Delivery 5

1.3 Hardware and Software Requirements 6

1.4 Terminology and Abbreviations 6

2Product and Firmware Selection 11

2.1 Device Summary 11

2.2 Loading the Firmware into a MicroMod 12

2.3 Processing Times and Performance 13

3Hardware Features 15

3.1 Status and Error LEDs 15

3.2 Boot Mode Selection with Solder Bridges 15

3.3 Assignment of Bit Rate and Node ID 16

3.4 Status Info on Serial Port 17

4CANopen Implementation 19

4.1 Product Identification 20

4.2 Default Connection Set 21

4.3 Default PDO Mapping 22

4.4 Input Processing 23

4.5 Output Processing 24

4.6 Heartbeat Production and Consumption 25

4.7 Storing Parameters 25

Appendix A Object Dictionary Reference 27

A.1 Overview 27

A.2 Communication Profile Entries 29

A.3 Device Profile Entries 43

CANopen Firmware for PCAN-MicroMod

1Outline and Introduction

CANopen 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 I/Os, encoders, drives and

motors can choose from a wide variety of products 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.

Note: This user manual only contains information about the

CANopen firmware to be used with PCAN-MicroMod. For

detailed information about the hardware please refer to the

extra manual.

CANopen Firmware for PCAN-MicroMod

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 CANopen standard DS301

“Application Layer and Communication Profile” version 4.02 and

specifically the device profile DS401 – “Device Profile for Generic I/O

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 Delivery

The CANopen firmware package is license free for all users of

PCAN-MicroMod and can be downloaded 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. When the ZIP file is unpacked, one directory

will be created for each product version. An additional “DOC”

directory contains the latest user manual.

Directory Name Contents

0_MicroMod Firmware and EDS for generic MicroMod device

1_Digital_1 Firmware and EDS for motherboard Digital 1

2_Digital_2 Firmware and EDS for motherboard Digital 2

3_Analog_1 Firmware and EDS for motherboard Analog 1

4_Mix_1 Firmware and EDS for motherboard Mix 1

5_Mix_2 Firmware and EDS for motherboard Mix 2

DOC User manuals

CANopen Firmware for PCAN-MicroMod

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.

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 DS301, DS302 and DS401 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 ‘yy’ the Subindex.

Bit Rate

The default bit rates supported by many CANopen nodes are

1000 kbps, 800 kbps, 500 kbps, 250 kbps, 125 kbps and 50 kbps. The

Bit Rate can be changed using the [1F50h,03h] Object Dictionary

entry.

Boot up Message

After any 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

CANopen Firmware for PCAN-MicroMod

track of all nodes connected and ensures that the connected nodes

are configured correctly.

Change-Of-State (COS)

Generic I/O 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 specified

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

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

Heartbeat Producer time [1017h,00h] is specified in multiples of

CANopen Firmware for PCAN-MicroMod

milliseconds. CANopen nodes may have zero, one, or multiple

Heartbeat Consumers [1016h,xxh] that can be configured to monitor

heartbeats 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

frequently. The Inhibit Time is selected in multiples of 100s of

microseconds and specifies how long a CANopen node must wait

before it may transmit a TPDO again. Note that many CANopen

implementations 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

Identifier to any message transferred. CAN uses the default of an

11-bit 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.

CANopen Firmware for PCAN-MicroMod

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 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 (CAN) Message

Identifier used and for Transmit PDOs the trigger events selected.

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.

CANopen Firmware for PCAN-MicroMod

Subindex

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

immediately applied to the outputs, it is only applied after the SYNC

message 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 Device Profile specific communication. In the

case of DS401 Generic I/O this means that both Event Time and

Inhibit Time are used.

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.

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