CANopen Manager / Slave Manual - esd electronics, Inc.

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CANopen Manager 2. Overview The CANopen manager library allows an easy integration of the complex CANopen manager functionality in an application with the need for a sophisticated CANopen network and process control. The library implements a complete CANopen manager according to CiA DS-301 and DS-302 with support for the standardized network bootup, error control via cyclic node guarding or heartbeat monitoring, EMCY object monitoring, SYNC generation, error handling and support for SDO services. Some highlights of the library are: < Comprehensive set of services based on the CANopen specifications CiA DS-301 and CiA DS-302 to easily integrate CANopen manager functionality into an application. < Support for several (real-time) operating systems and CAN adapter available with the same OS and hardware independent proven CANopen manager core. < Comes as fully multi-threaded shared or static library. All CANopen manager related tasks like the check of the network integrity, control of the parallel system boot-up, automatic download of device configuration files and the detection of CANopen slave device failures are handled in background. < Supports CANopen slave devices which comply to DS-301 V 3.x and 4.x. < Supports control of multiple CAN networks. < Can be configured by the application with an XML based configuration file or with the help of additional tools via CAN and the standardized object dictionary. < For device configuration DCF files which comply to DS-306 as well as CCF files which comply to DS-302 are supported. 2.1 Notes to this Manual This manual describes the CANopen manager software package by esd. The CANopen manager is available for various (real-time) operating systems and CAN adapter. The first chapters of this manual describe the general functionality of the CANopen manager. The operating system specific features of the manager are listed in the appendix. Knowledge of CANopen definitions and protocol descriptions is required.. References to CiA publications are accordingly cross-referenced (/1/.../3/). 2.2 Introduction The CANopen protocol started as CAL based protocol using its communication and network management services and defined application and device specific objects which are stored in an object dictionary. Nowadays the CANopen protocol is improved without any reference to CAL. Each remote node in a CANopen network is assigned a module identifier (1-127) which has to be unique in the network. CANopen nodes are configured by the configuration manager part of the CANopen manager via access to the object dictionary based on Device Configuration Files (DCF). The CANopen nodes are managed and monitored by the NMT master via CAN after the boot-up. Page 6 of 47 Software Manual • Doc. No.: C.2002.21 / Rev. 2.2 CANopen Manager
2.3 Features of the CANopen manager library CANopen Manager The CANopen manager library provides all features to configure, start and monitor CANopen slaves. The library can be used easily as stand-alone application to setup a CANopen network based on a manager configuration file in XML format and DCF files for the CANopen nodes but provides also a Application Programmer Interface (API) to control remote slaves by a custom application. All functionality specified by CANopen for a master to configure and manage remote nodes is covered by the library: ! Detection of CANopen nodes in the CAN network. ! Configuration of CANopen nodes with or without DCF files (Configuration manager). ! Management and monitoring of remote node states (NMT master). ! Monitoring of CANopen Emergency Objects. ! SYNC object generation (Hardware dependent). Communication between the library and the application is realized with an event mechanism. In addition the libraries API gives the application the possibility to: ! Control the node state of remote slaves. ! Monitor the node state of remote slaves. ! Read and write object dictionary entries of remote slaves. 2.4 Receiving process data The CANopen manager library doesn't support receiving process data in PDOs directly. If you want to build an application which is intended to manage a CANopen network and process the data of the CANopen slave devices in this network you have to create a further CANopen slave with the CANopen slave library, assign it another node-ID than the one which is assigned to the CANopen manager and can use the slave API to process the data. CANopen Manager Software Manual • Doc. No.: C.2002.21 / Rev. 2.2 Page 7 of 47
Page 1 and 2: CANopen Manager CANopen Manager Sof
Page 3 and 4: Manual File: Date of Print: 2008-06
Page 5: 1. Reference CANopen Manager /1/: C
Page 9 and 10: 3.2.2 Element description CANopen M
Page 11 and 12: Boot_Time Optional USHORT 0x1F89 10
Page 13 and 14: Preset_Emergency_Consumer Optional
Page 15 and 16: 3.2.4 Elements of Node_Id Madatory
Page 17 and 18: Device_Type_Identification Optional
Page 19 and 20: NMT_Reset_Node Optional BOOL TRUE,
Page 21 and 22: 4. Manager API 4.1 Overview The API
Page 23 and 24: mcanOpenConfig() Name: mcanOpenConf
Page 25 and 26: 4.3 Optional node control functions
Page 27 and 28: mcanOpenGetNodeState() CANopen Mana
Page 29 and 30: mcanOpenWriteSDO() Name: mcanOpenWr
Page 31 and 32: mcanOpenNodeControl() CANopen Manag
Page 33 and 34: mcanOpenStopNode() Name: mcanOpenSt
Page 35 and 36: 6. Appendix 6.1 Error Codes CANopen
Page 37 and 38: MCAL_CAN_CONTR_OFF_BUS Error in CAN
Page 39 and 40: CANOPEN_DCF_WRONG_NODE_ID Error dur
Page 41 and 42: CANOPEN_DCF_OUT_OF_LIMITS Error dur
Page 43 and 44: Severity Error MCAL_NO_NET Net numb
Page 45 and 46: MCAL_TOGGLE_ERROR Protocol error Se
Page 47 and 48: MCAL_NODE_NOT_FREE Getting node con
Page 49 and 50: Page 2 of 65 N O T E The informatio
Page 51 and 52: Contents Page 1. Reference ........
Page 53 and 54: CANopen-Slave 1. Reference /1/: CiA
Page 55 and 56: CANopen-Slave 3. CANopen Slave Base
Page 57 and 58:
CANopen-Slave canOpenCreateNetwork
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CANopen-Slave 3.5 Synchronization (
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CANopen-Slave The Sticky Bits indic
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CANopen-Slave Page 16 of 65 followi
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CANopen-Slave Page 18 of 65 DevType
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CANopen-Slave Page 20 of 65 canOpen
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CANopen-Slave Page 22 of 65 ucMaxEr
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CANopen-Slave Page 24 of 65 ucError
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CANopen-Slave 4.2 Local Object Dire
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CANopen-Slave Page 32 of 65 these v
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CANopen-Slave 4.3 PDO Services Foll
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CANopen-Slave Page 38 of 65 A value
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CANopen-Slave 4.4 Error Situations
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CANopen-Slave The Sticky Bits indic
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CANopen-Slave 4.6 Event handler The
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CANopen-Slave ulEvent ulArg1 ulArg2
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CANopen-Slave DICTIONARY_ENTRY(Inde
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CANopen-Slave PDO Tables The follow
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CANopen-Slave The following example
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CANopen-Slave SCANOPEN_WRONG_SUBIND
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CANopen-Slave SCANOPEN_VALUE_TOO_LO
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CANopen-Slave SCANOPEN_TOO_MANY_OBJ
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CANopen-Slave SCANOPEN_INVALID_HAND
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CANopen Manager / Slave Manual - esd electronics, Inc.

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