CANopen Basics Instruction Manual pdf - Kuhnke

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CANopen Basics 7.2.1 Bus Allocation by Bit-wise Arbiting Message A Message B Message C Fast data transfer via a serial bus demands fast bus allocation mechanisms to decide which one of several parallel transfer requests is served first. In the case of CAN, the identifier of a message is the means to provide this mechanism. The identifier with the lowest number to it has the highest priority. The priorities are defined by setting the appropriate binary values at the system design stage; these values cannot later be changed dynamically. How bus conflicts are avoided Conflicts on the bus are avoided by bit-wise arbiting and the identifiers in that every station monitors the bus signal level with every bit. The dominant status (0) overwrites the recessive status (1). All stations transmitting at a recessive signal level while monitoring the bus at a dominant level will lose the fight and automatically turn into recipients. This simple mechanism ensures that the message with the highest priority will be automatically transferred across the bus. Example: Identifier Data 10 9 8 7 6 5 4 3 2 1 0 Messages A and B will be denied access to the bus because message C has higher priority (identifier). The relevant slaves will turn into recipients. 88 E 615 GB 06.02.2008
7.3 CANopen Object Dictionary CANopen Basics The CANopen communication profile is based on an object dictionary. Index (hex) Object 0001-001F Simple data types 0020-003F Pre-defined complex data types 0040-005F Vendor-specific complex data types 0060-007F Simple data types specific to a device profile 0080-009F Complex data types specific to a device profile 00A0-0FFF Reserved for extensions 1000-1FFF Range of the communication profile 2000-5FFF Vendor-specific range 6000-9FFF Range of the standardised device profile A000-FFFF Reserved The index range from 0001 to 025F is used for the definition of data types. A differentiation is made between simple and complex data types as well as data types defined specifically with regard to vendors or profiles. The index range from 0100 to 1FFF covers the general properties of a device as well as all parameters specific to communication. The specifications for this range are therefore the same for all CANopen units. The index range from 2000 to 5FFF allows for vendorspecific options and extensions of the standardised basic functions. The index range from 6000 to 9FFF covers all device data and/or device functions of a standardised class of devices to meet the demand of open interchangeability of devices. E 615 GB 89 06.02.2008
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Kuhnke Electronics Instruction Manu
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Table of Contents Table of Contents
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Table of Contents 6.1.3 PDO Manager
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1 Introduction Introduction Next to
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1.2 Bus Location Introduction The s
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2 Reliability, Safety 2.1 Target Gr
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2.3.5 Instruction Reliability, Safe
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2.4.1 Project Planning and Installa
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2.5 Electromagnetic Compatibility 2
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Reliability, Safety 2.5.5 Protectio
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Network Configuration (Hardware) 3
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3.3 Bus Cable 3.3.1 Material Networ
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3.4 Line Interfacing 3.4.1 D-Sub So
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Network Configuration (Hardware) Th
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Network Configuration (Software) 4
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4.2.2 Using COBES Network Configura
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• OK • Go to section 4.2.2.2 4.
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4.2.2.4 Further Functions Network C
Page 37 and 38: 5 Setting up Projects Project Setup
Page 39 and 40: 5.1.2 Start ProCANopen Project Setu
Page 41 and 42: Project Setup • Specify a name an
Page 43 and 44: Project Setup This will close the "
Page 45 and 46: 5.1.6 Define the Communication Path
Page 47 and 48: Project Setup Two double arrows in
Page 49 and 50: Project Setup Network Name and Info
Page 51 and 52: The information in the window will
Page 53 and 54: 5.1.8 Transfer the Data to the PLC
Page 55 and 56: Write a Test Program for the PLC ;
Page 57 and 58: 5.1.10 Test the Communication Proje
Page 59 and 60: 5.1.11.1 Analyse Messages Project S
Page 61 and 62: Project Setup 5.1.11.1.2 CANopen Ke
Page 63: Project Setup � CSO08.06 = Config
Page 66 and 67: Project Setup 5.2.2 Configuration S
Page 68 and 69: Project Setup For notes on which fo
Page 70 and 71: Project Setup 5.2.6 Applicable Vari
Page 72 and 73: Kuhnke Control Units 6.1.2 NMT Mast
Page 74 and 75: Kuhnke Control Units 6.2 KUBES Modu
Page 76 and 77: Kuhnke Control Units 6.2.3 Read Ker
Page 78 and 79: Kuhnke Control Units Parameters: In
Page 80 and 81: Kuhnke Control Units Output Functio
Page 82 and 83: Kuhnke Control Units Output Functio
Page 84 and 85: Kuhnke Control Units C/D SO10.08 Da
Page 86 and 87: Kuhnke Control Units 86 E 615 GB 06
Page 90 and 91: CANopen Basics 7.4 Mechanisms of Co
Page 92 and 93: CANopen Basics 7.4.4 Emergency Mess
Page 94 and 95: CANopen Basics 7.4.5.2 Heartbeat Me
Page 96 and 97: CANopen Basics 7.5.1 PDO Mapping Th
Page 98 and 99: CANopen Basics 98 E 615 GB 06.02.20
Page 100 and 101: Appendix 8.2 Abbreviations CAN Cont
Page 102 and 103: Appendix 8.4 Index address ........
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