Chinese Version

CANopen Master/Manager Software

Highlights Suitable for the implementation of CANopen devices with master and/or slave functionality Complete CANopen master functionality with standardized boot-up procedure based on DS302 (can be switched off during run-time) Comprehensive functionality based on the current CANopen specificaiton DS301 version 4.02 Supports CANopen slave devices according to DS301 Version 3 and Version 4 Supports hot-swapping of CANopen devices in the running system Simple integration of application program via the data interface providing process image according to DS302 Comprehensive diagnosis interface IEC61131-3 support based on DS302 and DS405 Local Object Dictionary with integrated management of network variables according to DS302/DS405 All functions can be parameterized via the Object Dictionary Automatic configuration of devices with system start-up (plug&play) by integrated Configuration Manager Easy integration of IEC61131-3 run-time systems (with and without operating systems) Integrated SDO Manager (option)

FUNCTION OVERVIEW

The CANopen Master/Manager software is a powerful software package which enables the implementation of CANopen master or CANopen manager devices. Devices implemented in this way can be operated as master- and as pure slave device. The software package is based on the following standards of the CiA (CAN in Automation):

• DS301 Version 4.02, CANopen Specification Application Layer and Communication Profile
• DS302 Version 3.0, Framework for Programmable Devices
• DS405 Version 2.0, Interface and Device Profile for IEC61131-3 Programmable Devices

The data interface consists of a commanc interface, a process image and a comprehensive diagnostics interface and enables simple integration of application programs and PLC run-time systems. Because all necessary interfaces and functions are included in the software package, the user no longer needs to convern himself with the time consuming development and testing of CANopen specific functions (such as control of the system boot-up, test whether the correct devices are present, automatic download of configuration data or specific reaction to node failures), as is the case when using other CANopen software packages.

Data Interface and Process Image

The exchange of process data with the application program occurs via a data interface. This allows a complete decoupling of application and communication software and thus enables the implementation of single processor and multi processor systems. The data interface consists of the following areas:

Process image: the I/O data to be received respectively transmitted and other process variables, are passed between the application and CANopen Manager/Master via the process map. The process image is managed according to DS302/DS405 via network variables.

Command interface: the command interface provides the application with all necessary functions for the control of the CANopen Manager/Master. This includes commands for initialization, checking the device and system status and for the implementation of function modules according to DS405.

Client SDO interface: this interface enables the execution of SDO requests by the application. The data length of the SDO is unlimited in principle.

Event interface: this interface informs the CANopen Master/-Manager application of important events in the device and in the system.

Diagnosis interface: the diagnosis interface enables the application to obtain infromation on all devices in the system at any time.

NMT Master, Stadardized Bootup Procedure

The NMT master is able to control and monitor up to 126 slave devices. It controls the system start-up according to the standardized boot-up procedure defined in DS302. This boots a CANopen system according to a specified sequence with numerous options such as system check (check of all devices present in the system for device parameters like manufacturer, device type, revision number, serial number, etc.), automatic download of configuration data (by Configuration Manager), re-boot of a device, re-boot of the system after a device failure, differentiation between manadatory and optional devices, hot-swapping of devices, etc. The software supports both devices according to CANopen Version 4 and Version 3. In addition, the NMT master also has an automatic boot-up procedure. The current system configuration is independently determined and the process image and the network variables are automatically created. Node monitoring is carried out either by Node Guarding or Heartbeat. The NMT master can be completely configured via object entries according to DS302. The master function can be switched off during run-time. The master function can be switched off during run-time. The device can thus also work as a CANopen slave device in a system.

Process (PDO) and Service Data Objects (SDO)

The PDOs support the transmission modes asychronous (as an option with event timer), synchronous (cyclically and acyclically) as well as on request ('RTR Only'). For the PDO Mapping, bytewise granularity is the standard. Dummy mapping is also available, as well as variable inhibit times. Objects can be entered in several PDOs simultaneously. SDOs are available both as Client- and as Server-SDOs and support the transfer types expedited, non-expedited (segmented) and block transfer. The number of SDOs and PDOs which can be used is only limited by the resources available.

Local Object Dictionary

The CANopen Master/Manager software has its own Object Dictionary. This contains almost all object entries specified in DS301 and the management of network variables according to DS302/DS405. In addition, entries according to DS302 are available for the configuration of the NMT masters. This enables the complete configuration of the CANopen Master/Manager via the network. The application program can also access the local Object Dictionary via the Client SDO interface. In this way, for example, a configuration possibility can be implemented via local user interfaces (e.g. display or serial interface).

Configuration Manager

The Configuration Manager is a central function for the automatic configuration of CANopen slave devices within the system. According to DS302, the Configuration Manager stores the configuration data of slave devices. When starting slave devices, these can be configured automatically. This enables easy service and the replacement of defective devices in a system. Non-volatile memory is required for storing the configuration data.

SDO Manager

For the implementation of a full CANopen Manager, the SDO Manager is available as an option (on request). This function enables the independent dynamic setting-up of SDO connections between devices in a system. If one device wants to have an SDO connection to another device, it requests this connection via its SRD function from the SDO Manager. The latter sets up the connection by allocating corresponding identifiers to the Client- and Server-SDOs of the two devices. The advantage of using an SDO Manager is the easy integration of service devices into a CANopen system during run-time and the resource saving use of time limited SDO connections.

Support of ICE61131-3 Run-Time Systems

Both the data interface and the program structure allow easy integration of the CANopen Master/Manager software into PLC run-time systems such as CoDeSys from 3S.

Scalability & Hardware Specific Adaptation

Adaptation of the CANopen Master/Manager Software to the hardware is done in a central file. The resource requirements can also be controlled and adjusted via a configuration file, for example by adapting the size of the process image, the number of availabel TX- and RX-PDOs and network variables or of Client or Server SDOs to the application's requirements. Furthermore, it is also determined by the configuration file which function units of the CANopen Master/Manager software should be present in the device.

Implementation

The CANopen Master/Manager software is delivered as C source code. The documentation and the sample program included in the delivery enable a quick start with the software package.

Supported Processors/CAN Controllers & Compiler

The software package is supplied as a standard C code and can therefore be run on a wide range of processors.

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