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CANopen Slave Software Manual (PDF-File)

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1. Returns the frequency of the timestamp counter if supported by the CAN hardware and or CAN driver of the physical CAN port the CANopen node is using to send and receive messages The data is returned as an UINT64 value PARA GET TIMESTAMP Returns the current value of the timestamp counter if supported by the CAN hardware and or CAN driver of the physical CAN port the CANopen node is using to send and receive messages The data is returned as an UINT64 value 0 or an error code described in the appendix Software Manual Doc No C 2002 21 Rev 2 2 Page 47 of 65 CANopen Slave 4 6 Event handler The base for the event driven interaction between the CANopen slave library and the application are event handler direct callbacks because of performance Each node has an event handler to indicate node specific events or error situations to the application To every entry in the object dictionary an event handler can be attached which is called by the CANopen library if the data of the object is changed or the application is requested to provide new data for this object Every event handler is called directly from within the threads processes of the CANopen slave library For this reason the handler should be programmed thread safe should reduce the execution time to a minimum and is never allowed to use blocking calls Object Eventhandler without timestamps If the data of an entry in the object dire
2. Domain Pointer to structure of RecDomain type If data is NULL for asynchronous auto notify PDO the current data would be transmitted 0 or an error code described in the appendix Software Manual Doc No C 2002 21 Rev 2 2 Page 33 of 65 CANopen Slave Name Synopsis Description Return Page 34 of 65 canOpenGetDictionaryHnd canOpenGetDictionaryHnd Handle of a local directory entry int canOpenGetDictionaryHnd HNODE HNode handle of the CANopen node unsigned short Index index in the object directory unsigned short Subindex subindex of the entry HDICT HDict return of teh handle This function returns a handle to an entry in the object directory It can be executed in every node condition By means of the calls canOpenWriteDictionaryHnd and canOpenReadDictionaryHnd described below you can gain both read and write access to this directory entry via this handle This causes an increased performance compared to an access via index subindex by canOpenWriteDictionary or canOpenReadDictionary because the accroding entry does not have to be searched for in the interlinked directory entries This is particularly of advantage in CANopen nodes with many entries in the local object directory Index specifies the index in the object directory and Subindex specifies the subindex In Hdict the handle of the indexed directory entry is returned if the function returned
3. canOpenCreateNetworkEx Name canOpenCreateNetworkEx Extended initialization of the CANopen network Synopsis int canOpenCreateNetworkEx int NetNo Number of CAN interface SLAVE_NET_INO pNetInfo Network configuration Description This routine initializes interface NetNo and generates a network object in the internal database The caller configures the parameter with the pointer pNetInfo to an initialized structure of the type SLAVE NET INFO described below The structure SLAVE NET INFO comprises all crucial network or stack specific parameter The complete structure should be filled with zeros before it is initialized Some flags of ulOptions just indicate which other members of the structure have to be initialized with proper values or can be left set to 0 The CANopen Slave Software Manual Doc No C 2002 21 Rev 2 2 Page 15 of 65 CANopen Slave following table should provide an overview of ulOptions Flag in ulOptions Affected structure member or Description THREAD PRIOS NATIV sPrioNMT sPrioSDO sPrioPDO and sPrioEMCY sPrioNMT sPrioSDO sPrioPDO and sPrioEMCY HR E NORMALIZE TIMESTAMPS Timestamps of the node s data callback handler are normalized to us instead using raw values Optional pointer to a textual description of this network or NULL usBaudrate The CAN bit rate which should be used for CAN communication In special
4. CANopen Slave CANopen Slave canOpenReadPDO canOpenReadPDO waiting for the reception of data int canOpenReadPDO HPDO hpdo handle of PDO void buffer pointer to the data sink The application waits for the reception of data for a given PDO The timeout values assigned in the PDO definition are valid Buffer is a pointer to an application memory area at least 8 bytes in which the received data can be stored If NULL the callback handler of the mapped directory entries are called otherwise this is suppressed O or an error code described in the appendix canOpenRequestPDO canOpenRequestPDO asynchronous request of data int canOpenRequestPDO HPDO hpdo handle of PDO void buffer pointer to the data sink By means of this function a client requests the transmission of a server PDO by means of a RTR frame The timeout values assigned in the PDO definition are valid Buffer is a pointer to an application memory range at least 8 bytes in which the received data can be stored If NULL the callback handlers of the mapped directory entries are called otherwise this is suppressed 0 or an error code described in the appendix Software Manual Doc No C 2002 21 Rev 2 2 Page 39 of 65 CANopen Slave 4 4 Error Situations and Emergency EMCY Objects The CANopen slave implements an error state machine which can be either in the state Error Free or in the state Err
5. CANopen Slave Software Manual CANopen Slave Software Manual Doc No C 2002 21 Rev 2 2 Page 1 of 65 esd electronic system design gmbh Vahrenwalder Str 207 30165 Hannover Germany www esd electronics com Fax 0511 37 29 8 68 Phone 0511 37 29 80 International 49 5 11 37 29 80 NOTE The information in this document has been carefully checked and is believed to be entirely reliable esd makes no warranty of any kind with regard to the material in this document and assumes no responsibility for any errors that may appear in this document esd reserves the right to make changes without notice to this or any of its products to improve reliability performance or design esd assumes no responsibility for the use of any circuitry other than circuitry which is part of a product of esd gmbh esd does not convey to the purchaser of the product described herein any license under the patent rights of esd gmbh nor the rights of others esd electronic system design gmbh Vahrenwalder Str 207 30165 Hannover Germany Phone 49 511 372 98 0 Fax 49 511 372 98 68 E mail info esd electronics com Internet www esd electronics com USA Canada esd electronics Inc 525 Bernardston Road Suite 1 Greenfield MA 01301 USA Phone 1 800 732 8006 Fax 1 800 732 8093 E mail us sales wWesd electronics com Internet www esd electronics us Page 2 of 65 Software Manual Doc No C 2002 21 Rev 2 2 CA
6. C 2002 21 Rev 2 2 Page 17 of 65 CANopen Slave DevType is the device type which is returned after reading out directory entry 0x1000 The 16 LSB are the Device Profile Number the MSB contain device and or profile specific information The bitmask set in options determines the additional entries in the object directory and the validity of the following parameters STATE REGISTER generate object entry 0x1002 generate object entry Ox1011 If BLOCK_ TRANSFER is set in options the SDO server of the CANopen node support the SDO block transfer in addition to the standard SDO transfers If State REGISTER is set in options the entry for the state register in the object directory is generated If ERROR_REGISTER is set in options MaxErrors determines the size of the error history If SYNCHRON_PDOS is set in options the directory entries COB ID SYNC message 0x1005 communication cycle period 0x1006 and synchronous window length 0x 1007 are generated The definition of synchronous PDOs is only possible if this flag has been set If MANUFACTURER_ INFO is set in options it is possible to store the device name and the hardware and software versions in the object directory by means of DeviceName HardwareVers and SoftwareVers The strings transferred have to be in a static area of the application and not on the stack because the slave only refers to these areas by pointers If GUARDING is set in options the node supports
7. Return CANopen Slave canOpenSetError canOpenSetError setting an error int canOpenSetError CANopen Slave HNODE Hnode handle of the CANopen node unsigned short ErrorCode error code according to 1 unsigned short ErrorInformation error information unsigned short ErrorRegister flags in error register unsigned char ErrorField pointer to error field The CANopen slave changes from error free state into error state In ErrorCode the Emergency Error Code of the EMCY object is determined This EMCY object consists of an application specific error code in the range of 0x00 OxFF This error code has to be connected to one of the following CANopen error codes EMCY_GENERIC_ERROR EMCY CURRENT INPUT EMCY CURRENT OUTPUT EMCY VOLTAGE INPUT EMCY VOLTAGE OUTPUT EMCY TEMPERATURE AMBIENT EMCY DEVICE HARDWARE EMCY DEVICE SOFTWARE INTERNAL EMCY DEVICE SOFTWARE DATA SET EMCY MONITORING EMCY EXTERNAL ERROR EMCY DEVICE SPECIFIC EMCY_CURRENT EMCY CURRENT_INSIDE EMCY VOLTAGE EMCY VOLTAGE INSIDE EMCY_TEMPERATURE EMCY_TEMPERATURE_DEVICE EMCY_DEVICE SOFTWARE EMCY DEVICE SOFTWARE _ USER EMCY ADDITIONAL MODULES EMCY MONITORING COMMUNICATION EMCY ADDITIONAL FUNCTIONS ErrorInformation determines the information to be stored in the two MS bytes of the error history under directory entry 0x1003 If this optional entry has not been made when initializing the CANopen node ErrorIn
8. Argument Configure the behavior of the CANopen stack or a single node at runtime The argument type depends on the command according to this table PARA DISABLE AUTO TRANSMISSION Disable the automatic transmission of objects mapped into PDO which are configured as asynchron PDOs and marked with the auto NOTIFY bit The argument has to be set to NULL This call allows the application to update all objects of a PDO without forcing a transmission of after each update PARA ENABLE AUTO TRANSMISSION Enable the automatic transmission of objects mapped into PDO which are configured as asynchron PDOs and marked with the auto NOTIFY bit The argument has to be set to NULL All asynchron PDOs with mapped objects which are updated since the call to canOpenSetParameter with the command PARA DISABLE AUTO TRANSMISSION are send immediately 0 or an error code described in the appendix Software Manual Doc No C 2002 21 Rev 2 2 CANopen Slave Name Synopsis Description Return CANopen Slave CANopen Slave canOpenGetParameter canOpenGetParameter Get a parameter from the CANopen stack int canOpenGetParameter HNODE hNode Node handle UINT32 uiCommand Command VOID pArg Argument Get a configuration parameter of the CANopen stack or a single node at runtime The argument type depends on the command according to this table PARA GET TIMESTAMP FREQUENCY
9. Bits indicate temporary error conditions which are reset if the error is repaired foc NMT Error Control Guarding Heartbeat error CAN Controller Bus Off Reserved for future use by the CANopen stack 5 7 Application specific temporary error it 1 CAN Controller Passive CANopen Slave Software Manual Doc No C 2002 21 Rev 2 2 Page 41 of 65 CANopen Slave The Sticky Bits indicate error conditions which are indicated even if the error is already repaired Description 1 Receive FIFO Overrun PDO Length Error Reserved for future use by the CANopen stack o CAN Controller Error it 5 7 Application specific temporary error The parameter Reason Infol and Info2 contain additional information to an internal generated EMCY object because of a communication or configuration error The table below lists the internally generated EMCY objects and the meaning of the related manufacturer specific parameter Description Reason CAN overrun objects lost fe lo CAN in error passive mode oe 4 FA Life Guard or Heartbeat Error 0 lo Recover from Bus Off 2 lo 0x8210 PDO not processed length error Internal PDO number CAN msg length PDO length 0x8220 PDO length exceeded Internal PDO number CAN msg length PDO length The application can participate using this error schema by setting Page 42 of 65 Software Manual Doc No C 2002 21 Rev 2 2 CANopen Slave Name Synopsis Description
10. Page 55 of 65 CANopen Slave The following example shows some pseudo code how to setup the object dictionary and PDOs using the definition in the previous example Please refer to examplel c which comes with your CANopen library distribution for a fully working example HNODE Node Node handle Create slave node canOpenCreateNodeEx amp Node Initialize object default data and create application specific udtDefaultData uint32 defval 0 udtDefaultData uint32 val 0 Create the dictionary ECLARE DICTIONARY Node Asynclo Declare PDOs ECLARE PDO Node Asynclo Activate slave and enter state state Pre Operational Page 56 of 65 Software Manual Doc No C 2002 21 Rev 2 2 CANopen Slave CANopen Slave 5 Error Codes of Slave Service Functions The following tables list the possible error codes that can be returned by the slave library API calls Some error codes defined in the header of the slave library are only used internally As they wwon t be returned by any API call they are not documented here When evaluating return values you should never use the numerical values but should always use the constants defined for this error codes SCANOPEN_OK Success no warning or error Description The operation was executed without any errors Function All functions SCANOPEN_WRONG_INDEX The parameter index is invalid Description Th
11. Synchronization SYNC Object According to 1 the synchronous communication in CANopen is based on a SYNC object which is a special message with no data The COB ID of the SYNC object can be configured for each node individually to allow multiple SYNC signals in a system The common use case is to have only one SYNC object with the default COB ID of 0x80 The CANopen slave can be configured as SYNC consumer and or SYNC generator As a SYNC consumer on reception of the SYNC object all objects mapped into synchronous RPDOs received since the last SYNC object are indicated to the application and new data for all objects mapped into synchronous TPDOs is requested by the application The generation of the SYNC object requires a special CAN device driver or hardware which supports SYNC generation with a minimized jitter These device drivers are currently not available for all supported OS platforms and or CAN devices If a CANopen node is configured as SYNC generator you have to make sure that there is only one SYNC generator for this SYNC signal on the same network 3 6 Emergency EMCY Object According to 1 error states are indicated on the CAN bus by means of the Emergency EMCY object Such an error condition can be assigned to one of the following categories Communication and Configuration Errors Errors on CAN controller communication layer Receive buffer overflow Heartbeat or Life Guarding Errors Configured PDO size
12. an error code described in the appendix Page 24 of 65 Software Manual Doc No C 2002 21 Rev 2 2 CANopen Slave Name Synopsis Description Return Name Synopsis Description Return CANopen Slave CANopen Slave canOpenDeleteNode canOpenDeleteNode deleting a CANopen node int canOpenDeleteNode HNODE HNode handle of the CANopen node Deletes a node object including the object directory and all COB identifiers used from this node from the internal database Calling this function is only possible in node state NodeOfline O or an error code described in the appendix canOpenActivateNode canOpenActivateNode activating CANopen node int canOpenActivateNode HNODE HNode handle of the CANopen node Prepares the slave node for establishing connections New node state is PreOperational Node and lifegurading are active and accessing the object directory is possible O or an error code described in the appendix Software Manual Doc No C 2002 21 Rev 2 2 Page 25 of 65 CANopen Slave Name Synopsis Description Return Name Synopsis Description Return Page 26 of 65 canOpenGetNodelInfo canOpenGetNodelInfo Return current node state int canOpenGetNodelInfo HNODE HNode Handle of the CANopen node int State Current node state int LastErr Last error state This call returns the curren
13. defined memory region the length of this memory range and the length of the current string Handler is the object event handler of this entry which is called by the CANopen slave library to indicate data changes to the application In comparison to canOpenInitDictionary this handler indicates a timestamp in addition to the values which are indicated with the standard handler Refer to chapter 4 6 for a detailed description of the data event handler 0 or an error code described in the appendix canOpenReadDictionary canOpenReadDictionary reading a local directory entry int canOpenReadDictionary HNODE HNode handle of the CANopen node unsigned short Index index in the object directory unsigned short Subindex subindex of entry void Data pointer to data sink This function reads an entry in the local object directory It can be called in every node state Index is the index in the object directory and subindex is the subindex Data is a pointer to an application memory area in which the data is stored This memory range must have a size of at least 4 bytes In numerical data data is a pointer to the data in other data types it is a pointer to a pointer to the data 0 or an error code described in the appendix Software Manual Doc No C 2002 21 Rev 2 2 CANopen Slave Name Synopsis Description Return CANopen Slave CANopen Slave canOpenWriteDictionary canO
14. mandatory and which other member variables in the SLAVE NODE INFO structure must be initialized An index that is not listed in this table is either not supported or is reserved in 1 Flag in ulOptions Member to initialize 0x1000 Device Type Created implicitly ulDeviceType 0x1002 Manufacturer Status Py E 0x1003 Pre defined error a E ucMaxErrors field 0x1005 COB ID SYNC SYNCHRON _PDOS ulSyncCobID to Comm cycle period SYNC_GENERATION ulCyclePeriod 0x1007 Sync Window length Page 20 of 65 Software Manual Doc No C 2002 21 Rev 2 2 CANopen Slave CANopen Slave 0x1008 Manufacturer device MANUFACTURER_ INFO pszDevicename to name HW version pszHwVersion Ox100A and SW version pszSwVersion Ox100D Lifetime factor ucLifeTime COB ID EMCY Created implicitly Inhibit time EMCY Created implicitely usEmcyInhibit 0x1016 Consumer Heartbeat CONSUMER_HEARTBEAT ucMaxConsumerHB Time pulListCHBT 0x1017 Producer Hearbeat PRODUCER_HEARTBEAT usProducerHBTime 0x1018 Identity Object Created implicitly ucMaxIdentityObject ul Vendorld ulProductCode ulRevisionNumber ulSerialNumber 0x1020 Verify Configuration PARAMETER_STORE JECT ADDITIONAL SDOS ucServerSDO ucClientSDO Support SDO block BLOCK_TRANSFER transfer The following tables provide a description about every supported member in the SLAVE NODE INFO structure Defines
15. met The number of created RPDOs TPDOs exceed the number of supported PDOs defined by canOpenCreateNodeEx Map an object into different PDOs without defining the MULTI MAP flag for this object The same object is mapped into more different PDOs than the maximum allowed number configured with canOpenCreateNodeEx In other cases contact esd gmbh if it is possible to get a version of the CANopen slave with a greater built in maximum for this object canOpenCreateNode canOpenCreateNodeEx canOpenDefinePDO SCANOPEN_WRONG_NODESTATE Wrong nodestate for this operation Severity Description Solutions Function Page 62 of 65 Warning Error A requested operation could not be performed because the CANopen slave is not in the correct nodestate If this happens during initialization make sure that the CANopen slave is not already started If this happens for an operation that should cause a data transmission this is a warning that the transmission was not performed because of the wrong node state All functions Software Manual Doc No C 2002 21 Rev 2 2 CANopen Slave CANopen Slave SCANOPEN_SERVICE_NOT_ALLOWED Requested operation aborted Severity Description Solutions Function Error A requested operation was not completed because of internal reasons If you want to delete a network make sure that all nodes that belong to this network haven been deleted previously If you want to
16. nth SYNC object InhibitTime determines in ms how long after transmission of this PDO this isn t allowed to be transmitted again TxTout and RxTout are the timeout intervals at transmission or reception of data The parameter iEventTimer defines the time in ms after which an asynchron TPDO is sent in either case even it s data hasn t changed The parameter Mapping describes the mapping of directory entries into the PDO by specifying index and subindex The list has to be terminated by a zero for index and subindex Dummy mapping according to 1 is supported by specifying a value between 0x01 and 0x07 as index and a O as subindex In Hpdo the handle for this PDO is stored O or an error code described in the appendix canOpenWritePDO canOpenWritePDO asynchronous transmission of a transmit PDO int canOpenWritePDO HPDO hpdo handle of PDO void buffer pointer to the data sink Transmitting the asynchronous transfer PDO This service is only possible in node state Operational If buffer is NULL the PDO is transmitted as is Otherwise the specified data is taken over and the updated PDO is transmitted The corresponding mapping entries of the Object Dictionary are also updated by doing this 0 or an error code described in the appendix Software Manual Doc No C 2002 21 Rev 2 2 CANopen Slave Name Synopsis Description Return Name Synopsis Description Return
17. write read a PDO check that the PDO type that belongs to this handle matches the operation canOpenRemoveNetwork canOpenWritePDO canOpenReadPDO canOpenRequestPDO SCANOPEN_LENGTH_MISMATCH PDO length error Severity Description Solutions Function The length of a received PDO does not match the PDO definition Make sure that the configuration of the PDO transmitter matches the receiver configuration Use dummy mapping for PDO bytes that your application is not interested in canOpenReadPDO canOpenRequestPDO SCANOPEN_INIT_ERRORS Error during initialization Severity Description Solutions Error An initialization operation could not be completed because of a CAN driver error Make sure that the CAN driver for the network that is used from the CANopen slave is installed and initialized correctly Function canOpenCreateNwtwork canOpenCreateNode CANopen Slave Software Manual Doc No C 2002 21 Rev 2 2 Page 63 of 65 CANopen Slave SCANOPEN_INVALID_HANDLE Function call with invalid handle Description An operation could not be completed because the given handle is invalid Solutions Check if a variable to store a CANopen handle is used for other things during operation Check that after a canOpenDeleteNode call the node handle is no longer used for further calls Function All functions using a handle as parameter SCANOPEN_ACCESS_ERROR Operation failed because
18. 0x00 to OxFE The entry at sub index OxFF which describes the structure of this object dictionary entry according to 1 is initialized implicitely For complex data types of OBJ_ ARRAY the sub index 0 is initialized automatically to the number of sub entries For complex data types of OBJ_ RECORD the sub index O has to be initialized to the number of sub entries by the application EntryName is an optional textual description of the entry This description is only important for configuration file generation Usually set this parameter to NULL because this description extends the memory requirements for an individual subentry The parameter flags defines the access rights and other properties of the object dictionary entry Supported values are READ_ACCESSand WRITE ACCESS To allow the mapping into a PDO the entry has to be marked as MAPPABLE If the entry should be mappable more than once it has to be marked as MULTI_ MAP Data is a pointer to a union of structures of type DictionaryData The application has to initialize the data type related part of the union and is responsible For numerical data types the structure has members for the current value the default value and the lower and upper limits The memory to keep these values is managed by the CANopen slave library For multibyte data types the structure has to be initialized with a pointer to an application defined memory region the length of this memory range and the length of the cur
19. 1 according to following table In addition it is possible to mark an asynchron PDO by AUTO NOTIFY This PDO has the properties described above For an asynchron transmit PDO it is possible to define via the flag TX_DONE_ PDO whether the CAN driver function 2 canCalWrite instead of canCalSend is used for the data transfer Value cyclical acyclical synchronous asynchronous only RTR A A AAA azo x x reserved ESE ARA ee T a ad A E M MEA MA E A A AE The number of Tx objects which automatically transmit the data at the reception of an RTR frame can possibly be limited by the CAN controller hardware Because this feature is also used by the node life gurading mechanism the number of Tx objects which support this is to be kept as small as possible The transmission of this PDO is triggered by means of a manufacturer specific event The transmission of this PDO is triggered by means of a device specific event CANopen Slave Software Manual Doc No C 2002 21 Rev 2 2 Page 37 of 65 CANopen Slave Return Name Synopsis Description Return Page 38 of 65 A value of O describes a transfer PDO which is transmitted once at the reception of the SYNC object or a receive PDO whose data is taken over by the application at the reception of the SYNC object A value n between 1 and 240 describes a cyclical synchronous transfer PDO which is only transmitted at the reception of every
20. 2 21 Rev 2 2 CANopen Slave CANopen Slave SCANOPEN_CANNOT_START_DAEMON Error creating an internal thread Description During CANopen slave initialization a necessary internal CANopen protocol thread could not be started Solutions Increase the available memory for the CANopen slave process Make sure that the CAN driver is started properly Function canOpenCreateNetwork canOpenCreateNode canOpenActivateNode SCANOPEN_WRONG_PARAMETER Invalid parameter SCANOPEN_VALUE_TOO_HIGH Parameter value exceeds maximum Severity Description A dictionary object value exceeds the given maximum for this entry Solutions Compare value with defined maximum of this entry Function canOpenWriteDictionary canOpenWriteDictionaryHnd CANopen Slave Software Manual Doc No C 2002 21 Rev 2 2 Page 59 of 65 CANopen Slave SCANOPEN_VALUE_TOO_LOW Parameter value below minimum Severity Description A dictionary object value is below the given minimum for this entry Solutions Compare value with defined minimum of this entry Function canOpenWriteDictionary canOpenWriteDictionaryHnd SCANOPEN_WRONG_TYPE Wrong data type Severity Error Description The data type is not supported by the CANopen slave or the given data type does not match the referenced entry of the object dictionary Solutions Use supported data types listed in manual Check defined data type for this object d
21. ANopen slave library The object dictionary entries in the Device Profile Specific Area and the Manufacturer Specific Area are fully configurable by the application The PDOs as well as the SDO services work directly with these dictionary entries For an object dictionary entry mapped into a TPDO an update performed by the application might depending on the PDO confguration immediately cause the transmission of this PDO For every entry mapped into an RPDO a callback handler can be attached so the CANopen slave library supports a very fast event based mechanism to indicate the update caused by another CANopen slave device 3 3 NMT state machine The CANopen slave implements the NMT state machine according to 1 After creating the node with canOpenCreateNodeEx the slave is in the special state NodeInit In this state it s possible for the application to extend and initialize the local dictionary and define the PDOs In this state the CANopen slave node isn t active on the CAN bus After this task is completed a call to canOpenActivateNode changes the node state to Pre Operational or to Operational if configured as auto start device Further node state changes between Pre Operational Operational and Stopped or a node reset are caused by NMT messages of the CANopen manager The application keeps track of the current node state with the help of it s node event handler and or the API canOpenGetNodelnfo The application can switch back into t
22. DefinePDO Alternatively you can use a set of macros to ease the programming effort Change the node state to Pre Operational by calling canOpenActivateNode If the node state changes to Operational PDOs can be exchanged with other CANopen slave nodes PDO communication is different for synchronous and asynchronous PDOs and depends on the configured PDO communication parameter CANopen Slave Software Manual Doc No C 2002 21 Rev 2 2 Page 9 of 65 CANopen Slave canOpenCreateNetwork gt l canOpenCreateNode canOpenExtendDictionary 4 canOpenInitDictionary canOpenDefinePDO canOpenActivateNode canOpenReadDictionary canOpenWriteDictionary canOpenReadPDO canOpenWritePDO canOpenRequestPDO canOpenGetNodelnfo canOpenRemoveNetwork l canOpenDeleteNode 4 canOpenResetNode canOpenWaitForNodeState canOpenResetError canOpenSetError Fig 2 Flow chart of API Calls The flow chart above shows the order of API calls to create and manage the CANopen slave A detailed description of the API is described in chapter 4 Page 10 of 65 Software Manual Doc No C 2002 21 Rev 2 2 CANopen Slave CANopen Slave 3 2 Object Dictionary The object dictionary is the crucial part for process data exchange between the application and the C
23. ECIFIC ErrorField is a pointer to a 5 byte long character chain which contains an application specific state description and is transmitted by means of the EMCY object 0 or an error code described in the appendix Software Manual Doc No C 2002 21 Rev 2 2 CANopen Slave 4 5 Assistant Functions canOpenGetVersions CANopen Slave Name canOpenGetVersions Return version of slave components Synopsis void canOpenGetVersions CANOPEN_VERSIONS versions pointer to version structure Description This function returns the version numbers of the components described in the introduction A pointer to the data structure below which is initialized by the CANopen slave library typedef struct unsigned unsigned unsigned unsigned unsigned unsigned unsigned unsigned short short short short short short short short CANOPEN VERSIONS cos sdm pdm nmt dbt cms sys can The revision number of each component is a 16 bit value with the following format Bits 15 12 Bits 11 8 level revision change Return N A CANopen Slave Software Manual Doc No C 2002 21 Rev 2 2 Bits 7 0 Page 45 of 65 CANopen Slave Name Synopsis Description Return Page 46 of 65 canOpenSetParameter canOpenSetParameter Configure parameter of CANopen stack int canOpenSetParameter HNODE hNode Node handle UINT32 uiCommand Command VOID pArg
24. Nopen Slave Manual File I Texte Doku MANUALS PROGRAM CAN CAL COPN CANOPEN Coslv221 wpd Date of Print 2008 06 05 Described Software CANopen Slave Revision 2 2 x Order Number CANopen Slave C 1405 88 Changes in the chapters The changes in the user s manual listed below affect changes in the software as well as changes in the description of the facts only i ae Alterations in Alterations in Alterations in the appendix versus previous revisions software documentation Extended documentation of SYNC and NMT error control objects x Documentation of new entry canOpenCreateNetworkEx Documentation of SYNC generation Revised canOpenExtendDictionary and canOpenInitDictionary Documentation of new entry canOpenInitDictionaryTs Documentation of the entry canOpenSetParameter Documentation of the new entry canOpenGetParameter Documentation of object handler with timestamps Documentation of EV_BOOTUP for the node s event handler Documentation of new macros BEGIN DICTIONARY TABLE TS and END_ DICTIONARY TABLE TS CANopen Slave Software Manual Doc No C 2002 21 Rev 2 2 Page 3 of 65 Contents Page 1 Ref r nc 20 A AAA A Bee A A A RCA 6 Ze IMP UCH N vis IAS AAA AAA A Fi J CANOPEN Slave ts a ee ne SES eee e T E 8 3 1 DA A a ed cd TEA a aA e O 8 3 27 A ae hence cane Mate gt Bidet Ge Og thle Pil 11 33 NMT state machine o ladaa dt add paw teh Seg 11 3 4 Heartbeat Node Guarding and Life G
25. according CANopen variable type and is explained under canOpenWritePDO 0 or an error code as described in the appendix Software Manual Doc No C 2002 21 Rev 2 2 Page 35 of 65 CANopen Slave 43 PDO Services Following services serve the definition of a process data object PDO the determination of a default mapping of entries of the object directory into the PDO and the asynchronous transmission and reception of data For normal asynchronous transfer PDOs the transmission has to be explicitly arranged for by means of the application The same goes for the waiting for new data or the request in asynchronous receive PDOs In addition asynchronous PDOs can also be marked as auto notify though so that transfer PDOs are immediately transmitted when updating their data and that the eventhandler s of the mapped objects are executed when data for a Rx PDO is received The transmission of synchronous transfer PDOs is internally arranged for by means of the CANopen slave after receiving the SYNC object in view of the configurated cycle period The application only has to care about updating the data The application is informed about received data after the reception of the SYNC object in view ofthe configurated cycle period by means of calling the object eventhandlers of the mapped directory entries canOpenDefinePDO Name canOpenDefinePDOO initializing a PDO Synopsis int canOpenDefinePDO HNODE HNode handle of the CANo
26. ata Defines define WRITE STATE 32 OUTPUT LINES 0x6320 define READ INPUT 32 BIT 0x6120 Definition of local Object Dictionary BEGIN DICTIONARY TABLE Asynclo DICTIONARY ENTRY WRITE STATE 32 OUTPUT LINES 2 OBJ ARRAY MAP UINT32 MAPPABLE READ ACCESS WRITE ACCESS gudtDefaultData DataEventHandler NULL DICTIONARY ENTRY READ INPUT 32 BIT 2 OBJ ARRAY a Pz ey Es F MAP UINT32 MAPPABLE READ ACCESS udtDefaultData DataEventHandler NU END DICTIONARY TABLE Definition of Default Mapping Table of PDOs BEGIN MAPPING TABLE OutputMappingl MAPPING ENTRY WRITE STATE 32 OUTPUT LINES 1 MAPPING ENTRY WRITE STATE 32 OUTPUT LINES 2 END MAPPING TABLE BEGIN MAPPING TABLE InputMappingl MAPPING ENTRY READ INPUT 32 BIT 1 MAPPING ENTRY READ INPUT 32 BIT 2 END MAPPING TABLE Definition of PDOs BEGIN PDO TABLE Asynclo PDO ENTRY DEFAULT PDO1 E RECEIVE PDO ASYNCHRON PDO AUTO NOTIFY PDO 255 0 5000 5000 0 OutputMappingl PDO ENTRY DEFAULT PDO1 TIMER DRIVEN PDO TRANSMIT PDO AUTO NOTIFY PDO 25 5 0 5000 5000 0 InputMappingl ND PDO TABLE E CANopen Slave Software Manual Doc No C 2002 21 Rev 2 2
27. cal Object Directory Services The services described in this section are used to extend the node s object dictionary by custom object entries as well as to provide read and write access to the local object dictionary Extending the object dictionary is only possible in the Manufacturer Specific Area Index 0x2000 to OxSFFF and the Standardized Device Profile Area Index 0x6000 Ox9FFF The application has full control about the object type data type access rights default values etc The objects may be mapped into PDOs as described in the following chapter The subindex OxFF which describes the structure of the object dictionary entry is created automatically An event handler can be assigned to every object External read access to the object dictionary entries by the CANopen manager or another slave on the CAN bus with an SDO service is processed asynchronously to the running application by the SDO server External write access to the object dictionary entries by the CANopen manager or another slave on the CAN bus with an SDO service is indicated to the application with the object event handler The application can validate the data and prevent an update canOpenExtendDictionary Name canOpenExtendDictionary Extending the local Object Dictionary Synopsis int canOpenExtendDictionary HNODE HNode Handle of the CANopen node unsigned short Index Index in object directory unsigned short Subentries Number
28. ctory is changed by an external PDO or SDO service or the application is requested to update the data the attached object event handler is called with the five arguments below Net number int Module number int Index int Subindex int Pointer to received data void e pa le The pointer to the data gets invalid after return from the event handler It is possible to define the same event handler for all nets nodes and dictionary entries and dispatch the first 4 parameter to relate data to the object Object Eventhandler with timestamps If the data of an entry in the object directory is changed by an external PDO or SDO service or the application is requested to update the data the attached object event handler is called with the five arguments below Net number int Module number int Index int Subindex int Pointer to received data void Timestamp UINT64 IN ee ES The pointer to the data gets invalid after return from the event handler It is possible to define the same event handler for all nets nodes and dictionary entries and dispatch the first 4 parameter to relate data to the object The timestamp is captured with the reception of the PDO or at the end of an SDO service It is either araw value which has to be normalized by the application or the CANopen stack can be configured to normalize the timestamps to us with canOpenCreateNetworkEx Node Eventhandler Page 48 of 65 Software Manual D
29. debug builds of the slave stack this parameter configures a mask to control the debug trace In release builds of the stack this parameter is ignored usDebugMask sPrioNMT KAD PRIO OVERWRITE EAD PRIOS NATIVI F py Thread priority of the NMT thread sPrioSDO THRI EAD PRIO OVERWRITE and THRI EAD PRIOS NATIVI e F py Thread priority of the SDO thread sPrioPDO EAD PRIO OVERWRITE EAD PRIOS NATIVE Thread priority of the PDO thread sPrioEMCY Thread priority of the EMCY thread Return 0 or an error code described in the appendix EAD PRIO OVERWRITE EAD PRIOS NATIVE Page 16 of 65 Software Manual Doc No C 2002 21 Rev 2 2 CANopen Slave Name Synopsis Description Return Name Synopsis Description CANopen Slave CANopen Slave canOpenRemoveNetwork canOpenRemoveNetwork removing a network int canOpenRemoveNetwork int NetNo number of CAN interface This routine removes the network object of net NetNo from the database O or an error code described in the appendix canOpenCreateNode canOpenCreateNode Initialize a CANopen node deprecated int canOpenCreateNode int NetNo number of CAN interface char NodeName name of slave node int Mod ID module number of node unsigned long DevType device type in
30. depends on the main event type The following table summarizes the possible event types with their subarguments ulargl ulArg2 pArg2 EV_STATE CHANGE node has changed into state EV_COMMUNICATION EV_BEGIN VEA Reset Communication state EV_RESET EN CONFIGURATION ae MES Store configuration request CANopen Slave Software Manual Doc No C 2002 21 Rev 2 2 Page 49 of 65 CANopen Slave ulArgl ulArg2 pAre2 EV CONTROBLER OR Recovery from CAN bus off state A A state EV_CONTROLLER_BUS_OFF Po can CAN Controller enters bus off state enters bus off state EV_FI ev_rzro_overron OVE everrooverrs CAN controller overrun error EV_PDO_FIFO_OVERRUN Number of lost Receive FIFO of PDO daemon is PDOs overrun EV FDO ARS ERROR CAN driver The receive request of the PDO error code daemon returned with an unexpected error BY Spe Oe eee PDO number A received PDO isn t processed because the length of the received PDO is smaller than the length according to the current mapping EV_PDO_LENGTH_ EXCEEDED PDO number A received PDO isn t processed because the length of the received PDO exceeds the length according to the current mapping for this PDO Node ID of the EMCY producer Ptr to EMCY EMCY object received object EV_CONSUMER_ HEARTBEAT EV_START Heartbeat monitoring started COI MEAN ee pros Poon messege received EO NERTIR DICTIONARY Index Subindex Write access to object dictio
31. e object entry that should be referenced by the parameter index does not exist Solutions Create an entry in the object dictionary with this index before you reference it Function canOpenInitDictionary canOpenReadDictionary canOpenWriteDictionary CANopen Slave Software Manual Doc No C 2002 21 Rev 2 2 Page 57 of 65 CANopen Slave SCANOPEN_WRONG_SUBINDEX The parameter subindex is invalid Description The object entry that should be referenced by the parameter index exist but the subindex does not exist Solutions Create an entry in the object dictionary with this index and subindex before you reference it Function canOpenInitDictionary canOpenReadDictionary canOpenWriteDictionary SCANOPEN_OUT_OF_MEMORY Error allocating a resource Severity Error Description Allocating a resource like memory or a synchronization object that is necessary to complete the operation failed Solutions Increase the available memory for the CANopen slave process Function canOpenActivateNode canOpenCreateNetwork canOpenCreateNode canOpenDefinePDO canOpenExtendDictionary SCANOPEN_WRONG_BAUDRATE An unsupported CAN baudrate was used Severity Description The CANopen slave should be initialized with a CAN baudrate that is unsupported by this implementation Solutions Use a supported baudrate Function canOpenCreateNetwork Page 58 of 65 Software Manual Doc No C 200
32. facturer Software Version of this device Page 22 of 65 Software Manual Doc No C 2002 21 Rev 2 2 CANopen Slave CANopen Slave CANopen Slave ulSyncCobID Mandatory if SYNCHRON_PDOS or SYNC_GENERATION is set Defines the COB ID of the SYNC object for this node as SYNC producer and or SYNC consumer Initialize to DEFAULT _SYNC_COBID which becomes 0x80 to use the standard 1 default as SYNC consumer To configure the node as SYNC generator you have to set the bit SYNC_ PRODUCE too ulCyclePeriod Mandatory if SYNC_GENERATION is set Defines the cycle time of the SYNC object in us as SYNC generator SYNC generation is only started if the SYNC_PRODUCE bit in ulSyncCobID is set and this value is not 0 Note SYNC generation has to be supported by the CAN driver Only CAN driver gt V 3 x x support this feature ulSyncWindowLen Reserved for future use ulTimestampCobld Reserved for future use Defines the COB ID of the EMCY object If this is set to 0 or D EMCY COBID the value becomes 0x80 iModId is used usEmcyInhibit Optional Defines the inhibit time for the EMCY object in ms If this is set to 0 or DEFAULT EMCY INHIBIT TIME there is no inhibit time to produce EMCY messages for the device usProducerHbTime Mandatory if PRODUCER_HERTBEAT is set Defines the producer heartbeat time of this device in ms If this is set to 0 or DEFAULT PRODUCER HEARTBEAT TIME heartbeat is disabled on startu
33. faultless otherwise a NULL is returned 0 or an error code as described in the appendix Software Manual Doc No C 2002 21 Rev 2 2 CANopen Slave Name Synopsis Description Return Name Synopsis Description Return CANopen Slave CANopen Slave canOpenReadDictionaryHnd canOpenReadDictionaryHnd Reading a local directory entry int canOpenReadDictionary HDICT HDict handle of object directory entry void Data pointer to the data sink By means of this function an entry indexed by Hdict in the local object directory is read This function can be called in every node status Data is a pointer to an address range of the application in which data is stored This memory range must have a capacity of at least 4 bytes For numerical data Data is a pointer to the data for other types of data it is a pointer to a pointer to the data 0 or an error code as described in the appendix canOpenWriteDictionaryHnd canOpenWriteDictionaryHnd Changing a local directory entry int canOpenWriteDictionaryHnd HDICT HDict handle of object directory entry void Data pointer to data source By means of this function an entry indexed by Hdict in the local object directory is changed If the entry is mapped on a PDO the PDO data is automatically actualized The function can be executed in every node status The kind of data referred to by Data depends on the
34. formation is ignored A mask with flags is given as ErrorRegister These flags are to be set in the error register directory entry 0x1001 The mask is logically OR ed to the current value of the entry before the value is entered into the EMCY object Possible values are ERROR_GENERIC ERROR_VOLTAGE ERROR_COMMUNICATION ERROR_MANUFACTURER_SPECIFIC ERROR_CURRENT ERROR_TEMPERATURE ERROR_DEVICE SPECIFIC ErrorField is a pointer to a 5 byte string which contains an application specific description of the error and is transmitted by means of the EMCY object 0 or an error code described in the appendix Software Manual Doc No C 2002 21 Rev 2 2 Page 43 of 65 CANopen Slave Name Synopsis Description Return Page 44 of 65 canOpenResetError canOpenResetError resetting an error int canOpenWritePDO HNODE Hnode handle of the CANopen node unsigned short ErrorRegister flags in error register unsigned char ErrorField pointer to error field An error of the CANopen slave is reseted An EMCY object with ErrorReset in the error code field is transmitted If this was the last error the node changes from error state into error free state ErrorRegister is a mask of flags to reset in the error register directory entry 0x1001 Possible values are ERROR_GENERIC ERROR_CURRENT ERROR_VOLTAGE ERROR_TEMPERATURE ERROR_COMMUNICATION ERROR_DEVICE SPECIFIC ERROR_MANUFACTURER_SP
35. g 1 Operation mode of CANopen slave Page 8 of 65 Software Manual Doc No C 2002 21 Rev 2 2 CANopen Slave CANopen Slave The COB identifiers of the PDOs the PDO mapping and a number of additional parameter can be configured by the application as well as by a CANopen manager dynamic mapping The communication between the application and the CANopen library is based on a procedural interface the asynchron communication from the CANopen library to the application is event driven based on callback handlers The following steps are necessary creating a virtual slave node and make this node available for configuration and control by a CANopen manager and communication with further CANopen slaves l Initialization of the CAN bus and start of the NMT daemon by calling canOpenCreateNetwork or canOpenCreateNetworkEx Initialization of the virtual slave by attaching the node event handler and defining the entries of the object directory in the Communication Profile Area calling canOpenCreateNodeEx Creation of additional entries in the Manufacturer Specific Area and the Standardized Device Profile Area of the object directory by calling canOpenExtendDictionary Initializion of these entries and assignment of the object event handler by calling canOpenInitDictionary or canOpenInitDictionaryTs Alternatively you can use a set of macros to ease the programming effort Creation and initialization of the PDOs by calling canOpen
36. he NodelInit state with the API canOpenResetNode 3 4 Heartbeat Node Guarding and Life Guarding The CANopen specification 1 defines a Heartbeat and a Node Guarding mechanism for error control which are both supported by the slave stack If configured for Node Guarding the NMT manager polls the CANopen device for it s current node state on a regular basis to detect failures In addition the node can setup a timer with each NMT master request and can use the expiration of this timer as an indication that the communication with the NMT master is interrupted Life Guarding If configured for Heartbeat the slave node transmits the heartbeat message with it s current node state autonomously with a configurable heartbeat producer time which is checked by the NMT master To support a similar mechanism to the Life Guarding the node can also be configured as a heartbeat consumer to monitor the heartbeat of the NMT master and other CANopen nodes Today it is recommended to use the heartbeat mechanism instead of the node guarding because it consumes less CAN bus bandwidth no polling and is more flexible The CANopen stack handles both error control mechanisms completely in background and indicates all error control related events to the application which can configure an application specific behavior in case of a NMT error control failure CANopen Slave Software Manual Doc No C 2002 21 Rev 2 2 Page 11 of 65 CANopen Slave 3 5
37. ibitTime TxTout RxTout Reserved Defines a new PDO entry without a default mapping Please refer to the documentation of canOpenDefinePDO for the data types and possible values of COBid TransMode InhibitTime TxTout and RxTout DECLARE PDO hNode PDO Name Extends and initialize the slave node with a previously defined PDO table The parameter Node is the node handle which is returned by canOpenCreateNodeEx The parameter PDO_Name defines the dictionary table which is started with BEGIN_PDO_TABLE Internally these macros define and use arrays of the type cos PDO ENTRY with the variable name PDO_Name prefixed by the string PDO_Table_ which normally do not need accessed directly by the application If the application needs the PDO handle which is returned by canOpenDefinePDO to use direct PDO services for reading or writing PDOs this handle is stored in member handle of the structure COS PDO ENTRY Page 54 of 65 Software Manual Doc No C 2002 21 Rev 2 2 CANopen Slave CANopen Slave The following example shows how to create dictionary tables mapping tables and PDO tables using the macros described above This code is usually located in the module that implements initialization and setup of the CANopen slave node include lt scanopen h gt Forward declarations static DictionaryData udtDefaultData int DataEventHandler int NetNo int NodeNo int index int subindex void d
38. ich groups errors in certain categories to indicate if further error conditions are pending The EMCY message also contains a maufacturer specific part which describes the error in more detail A repaired error situation is indicated with the Emergency Error Code set to 0 Reset Error If the EMCY object is caused by a communication or configuration error detected internally the manufacturer specific part is used as described below and the bytes 3 and 4 of the EMCY object become the MSW of the related entry in the error history Data Byte 3 4 5 6 7 Description Temporary Bits Sticky Bits Infol The Temporary Bits indicate temporary error conditions which are reset if the error is repaired oo NMT Error Control Guarding Heartbeat error CAN Controller Passive CAN Controller Bus Off Reserved for future use by the CANopen stack Application specific temporary error CANopen Slave Software Manual Doc No C 2002 21 Rev 2 2 Page 13 of 65 CANopen Slave The Sticky Bits indicate error conditions which are indicated even if the error is already repaired Bit Description CAN Controller Error Receive FIFO Overrun 2 PDO Length Error 3 4 Reserved for future use by the CANopen stack Application specific temporary error The parameter Reason Info and Info2 contain additional information to an internal generated EMCY object because of a communication or configuration error The table below lists the i
39. ictionary entry Function canOpenExtendDictionary canOpenReadDictionary canOpenReadDictionaryHnd SCANOPEN_WRONG_OBJECT_TYPE Wrong object type Description The object type is not supported by the CANopen slave Solutions Use supported object types listed in manual Function canOpenExtendDictionary Page 60 of 65 Software Manual Doc No C 2002 21 Rev 2 2 CANopen Slave CANopen Slave SCANOPEN_PDO_MAPPING_ERROR An error occurred during PDO mapping Severity Description An error occurred while the default mapping list for a PDO is checked Reasons for the failures are that an object dictionary entry referenced by index subindex does not exist is not mappable has wrong access rights or is already mapped to another PDO Solutions Check if an object with this index subindex exist Check if this object is marked as mappable Check is the access rights are correct for the PDO type Check if this object is not already mapped to another PDO Function canOpenDefinePDO CANopen Slave Software Manual Doc No C 2002 21 Rev 2 2 Page 61 of 65 CANopen Slave SCANOPEN_TOO_MANY_OBJECTS A certain object type exceeds internal limits Severity Description Solutions Function During initialization the built in maximum for a certain internal object type like number of CANopen nodes is exceeded If this is the return value of canOpenDefinePDO check if one of the following error conditions is
40. ion HNDO HNode handle of this CANopen node Description This API call initializes a CANopen node with the Node ID iModID for the logical CAN net iNetNo The caller determines the extend of Communication Profile Area objects 1 and their default values with the pointer pSlavelnfo to an initialized structure of the type SLAVE _NODE_INFo which is described below One member of this structure affects the kind of node events which are handled in the node event handler EventHandlers A detailed description of the node events can be found in section 4 6 If the API call returned without errors the node handle which is the argument for further API calls is stored at the memory location given by Hnode After successful initialization the node enters the node state NodeOffline The structure SLAVE NODE INFO comprises all crucial information to describe extend and default values of the Communication Profile Area and other node specific configuration values The complete structure should be filled with zeros before it is initialized The basic idea of this structure is that the ulOptions member is a bitmask that defines which other members of the structure have to be initialized with proper values or can be left set to 0 The following table should provide an overview which flag in ulOptions causes which entry in the object dictionary to be created which entries are created implicitly as CANopen 1 defines them as
41. ired error is indicated to the application layer and on the CAN bus in the following ways The error is indicated in the mandatory Error Register Object 0x1001 according to 1 An Emergency EMCY Object according to 1 is transmitted on the CAN Bus The details of the EMCY object is described below The CAN identifier of this object can be configured with the parameter ulEmcyCobld of the structure SLAVE_NODE_INFO which is described together with canOpenCreateNodeEx If the slave is initialized to support an error history via the Pre defined error field 0x1003 the latest error event is inserted at the top of this array If the error is detected internally because of a communication or configuration problem in addition to the previous operations the error is indicated to the application via the node s event handler The 8 byte EMCY object according to 1 has the following structure Emergency Error Code Manufacture specific error code A list of pre defined Emergency Error Codes is described in 1 and defined in the header scanopen h starting with the prefix Emcy If an error event is caused by the application calling the API functions canOpenSetError or canOpenResetError the 5 bytes of manufacturer specific error information can be used without any restrictions If the EMCY object is transmitted because of an internal communication or configuration error the 5 bytes are used in the following way eT mE The Temporary
42. is object dictionary entry according to 1 is initialized implicitely For complex data types of OBJ_ ARRAY the sub index 0 is initialized automatically to the number of sub entries For complex data types of OBJ_RECORD the sub index 0 has to be initialized to the number of sub entries by the application EntryName is an optional textual description of the entry This description is only important for configuration file generation Usually set this parameter to NULL because this description extends the memory requirements for an individual subentry The parameter flags defines the access rights and other properties of the object dictionary entry Supported values are READ_ACCESSand WRITE ACCESS To allow the mapping into a PDO the entry has to be marked as MAPPABLE If the entry should be mappable more than once it has to be marked as MULTI_MAP Data is a pointer to a union of structures of type DictionaryData The application has to initialize the data type related part of the union and is responsible For numerical data types the structure has members for the current value the default value and the lower and upper limits The memory to keep Software Manual Doc No C 2002 21 Rev 2 2 Page 31 of 65 CANopen Slave Return Name Synopsis Description Return Page 32 of 65 these values is managed by the CANopen slave library For multibyte data types the structure has to be initialized with a pointer to an application
43. life and nodeguarding The default values for guard time and life time factor can be defaulted by means of GuardTime and LifeTime If ADDITIONAL_SDOS is set in options the number of additional SDO servers and SDO clients can be determined in ServerObjects and ClientObjects The default SDO server has to be included in ServerObjects In the current version of the slaves it is not possible to generate additional SDO servers and SDO clients Page 18 of 65 Software Manual Doc No C 2002 21 Rev 2 2 CANopen Slave Return CANopen Slave CANopen Slave It is possible to to connect a callback function by means of EventHandlers If an event occurs the code of this handler is executed A detailed description of the callback handler can be taken from section 4 6 If the returned value of the call is 0 the handle with which it is possible to access the node at further API calls is in HNode If initialization was successful the node enters state NodeOffline 0 or an error code described in the appendix Software Manual Doc No C 2002 21 Rev 2 2 Page 19 of 65 CANopen Slave canOpenCreateNodeEx Name canOpenCreateNodeEx Extended initialization of a CANopen node Synopsis int canOpenCreateNodeEx int iNetNo Number of logical CAN network int iMod ID Module number of node int EventHandler SLAVE_EVENT pEvent Application event handler SLAVE_NODE_INFO pSlaveInfo Ptr to node configurat
44. mismatches Application Errors All types of errors which are application specific like problems related to current voltage temperature etc Errors which belong to the 1 category are detected by the CANopen stack autonomously In addition to send an EMCY object the error is indicated to the application via the node s event handler Errors of the 2 category have to be indicated to the stack using the related slave API The ability to generate SYNC objects depens on the support by the CAN hardware and the CAN driver Only hardware driver combinations which support the Scheduling of CAN frames support the generation of the SYNC object Page 12 of 65 Software Manual Doc No C 2002 21 Rev 2 2 CANopen Slave CANopen Slave The 8 byte EMCY object has the following structure Identifier Data Default 3 4 5 6 7 0 1 2 0x80 F Emergency Error Error Manufacturer Specific Error Code NodeID Code Register Index Index 0x1003 Index Index 0x1003 0x1014 Bit 0 15 0x1001 Bit 16 31 The Emergency Error Code describes the reason for the error A list of pre defined error codes is defined in 1 Additional error codes may be defined in the CANopen device profiles If the slave stack is configured to support an error history via the pre defined error field 0x1003 the Emergency Error Code becomes the LSW of the related entry in the error history The EMCY object also reflects the current state of the Error Register 0x1001 wh
45. mple for a single value or array descriptor of data type INTEGER32 const char DescrSimple TYP_INT32 0 Example for a record descriptor of a INTEGER32 at sub index 1 and an INTEGER16 at sub index 2 The UNSIGNED8 entry at sub index 0 is also defined const char DescrComplex TYP_UINT8 TYP_INT32 TYP_INT16 0 0 or an error code described in the appendix Software Manual Doc No C 2002 21 Rev 2 2 Page 29 of 65 CANopen Slave Name Synopsis Description Page 30 of 65 canOpenInitDictionary canOpenInitDictionary Initialize local dictionary and attach handler int canOpenInitDictionary HNODE Hnode Node handle unsigned short Index Index unsigned short Subindex Subindex const char EntryName Textual description unsigned short Flags Properties of entry pDictionaryData Data Default data PFN_COS_DATA_HANDLER Handler Data event handler Initialize a single dictionary entry of the CANopen nodes Hnode object dictionary The entry has to be created previously with a call to canOpenExtendDictionary This initialization has to take place for every entry in the object dictionary before the object can be used If the function is called in any other node state but NodeOffline it will return with an error Index has to be in range of the Manufacturer Specific Area or the Standardized Device Profile Area 0x2000 to Ox9FFE and Subindex in the range from
46. nary entry Deprecated event handler Ifthe CANopen node is created with the deprecated API canOpenCreateNode an event handler of the following syntax is called int EventHandler int int int int The handler should always return SCANOPEN_OK and shouldn t block The four parameter that are indicated to the application are Net number and module number Event cause as ulEvent described above Subargument 1 as ulArg1 described above Subargument 2 as ulArg2 described above PA Only the event types EV_GUARDING EV_STATE CHANGE and EV_RESET are supported With the help of the macros CANOPEN_NET and CANOPEN_NODE the logical net number and node number can be extracted from the first parameter which combines these two values Page 50 of 65 Software Manual Doc No C 2002 21 Rev 2 2 CANopen Slave CANopen Slave 4 7 Macros The CANopen slave library comes with a set of several useful macros which simplify common programming tasks and make the code more readable The base concept of several macros is implementing a static table with entries in the local scope of your source module to define the CANopen slave related objects Object dictionary entries PDO mapping tables PDOs After creating the CANopen slave node with canOpenCreateNodeEx and before activating the node with canOpenActivateNode you write a further macro directly in your code which expands to the API calls which are usually create and or ini
47. nt Functions ES ae ol oh SS RN AS NS a eau 45 canOpenGetVersions eds edule A Ben a whee 6 oacia ae a Se ee 45 CanOPen SetParameter Q a oie eee eee Oras ae wean a Peale 46 canOlpenGietP arameter ci cay sida OG gs SOG AS AA 47 4 65 Event handler a wea tedden Bee Pe E aces Reda Rwy ate a 48 Object Eventhandler without timestamps 0 00 cece eee ee eens 48 Object Eventhandler with timestamps o oooooocoocoooncccro eee 48 Page 4 of 65 Software Manual Doc No C 2002 21 Rev 2 2 CANopen Slave 4 7 Macros e duna aa a tt blade ches Ad Na 51 Dictionary Entry Tables 0 IS Ces heen a da 51 PDO Mapping Tables nata alada 53 PPO Tables a a td aR 54 5 Error Codes of Slave Service Functions CANopen Slave Software Manual Doc No C 2002 21 Rev 2 2 Page 5 of 65 CANopen Slave 1 Reference 1 2 3 4 5 6 ITI CiA DS 301 CANopen Application Layer and Communication Profile V4 0 2 February 2002 electronic system design gmbh CAN Interface Manual December 1996 electronic system design gmbh CAL CANopen Systeminterface Manual December 1996 electronic system design gmbh CAL CANopen Porting Guide December 1996 CiA DS 102 CAN Physical Layer for Industrial Applications April 1994 CiA DS 201 CAN Reference Model February 1996 CiA DS 401 Device Profile for I O Modules December 1996 Page 6 of 65 Software Manual Doc No C 2002 21 Rev 2 2 CANopen Slave CAN
48. nternally generated EMCY messages and the meaning of the related manufacturer specific parameter 0x8100 Message Lost Error 1 Rx Daemon FIFO of Lost Messages 0x8110 CAN overrun objects lost 0x8120 CAN in error passive mode o 0 0x8130 Life Guard or Heartbeat Error sl 0x8 140 Recover from Bus Off fo 0x8210 PDO not processed length error Internal PDO number CAN msg length PDO length 0x8220 PDO length exceeded Internal PDO number CAN msg length PDO length Page 14 of 65 Software Manual Doc No C 2002 21 Rev 2 2 CANopen Slave CANopen Slave 4 Program Interface The following chapter describes the interface of the CANopen slave The meaning of error codes of the returned values is shown in the appendix 4 1 Management Services The services described below serve the initialization control and monitoring of CANopen networks and CANopen slaves canOpenCreateNetwork Name canOpenCreateNetwork initializing the network deprecated Synopsis int canOpenCreateNetwork int NetNo number of CAN interface char NetName textual description unsigned short Baudrate baudrate Description This routine initializes interface NetNo and generates a network object in the internal database Optionally a pointer to a textual description can be given Baudrate is specified in kbit s The support of baudrates depends on CAN layer 2 driver Return 0 or an error code described in the appendix
49. oc No C 2002 21 Rev 2 2 CANopen Slave CANopen Slave The node event handler that is defined in canOpenCreateNodeEx is called every time the CANopen slave has to indicate an event or error to the application The application can define an event mask with events that are to be indicated using the parameter ulEventMask of the structure SLAVE _NODE_INFO which is a parameter of canOpenCreateNodeEx The event handler itself has to follow the syntax int EventHandler SLAVE EVENT pEvent The handler should always return SCANOPEN_OK and shouldn t block The argument of the event handler is a pointer to the following structure typedef struct unsigned long unsigned long union void arg SLAVE EVENT unsigned short unsigned short FELA usNetNo usModld ul lLEvent u lArgl unsigned long ulArg2 pArg2 The member variable usNetNo and usModld describe the logical net number and the local slave Node ID of the event source so a common event handler might be used for all local slaves on all configured networks The member variable u Event is the event type The event types are the same that are used to define the event mask in the structure SLAVE _NODE_ INFO mentioned above The argument ulArgl is the first subargument of the event type The second subargument is either another decimal or a pointer to a data structure whose type
50. of access rights Severity Description The operation could not be performed because the referenced object in the object dictionary has the wrong access rights Solutions The referenced object exist but the access rights are incorrect for this operation If you want e g writing to an object dictionary entry that is marked as read only you will get this error Function canOpenWriteDictionary canOpenReadDictionary SCANOPEN_PDO_PARAMETER_ERROR Invalid communication parameter Severity Description The operation could not be performed because at least one PDO communication parameter is invalid Solutions Check communication parameter Function canDefinePDO Page 64 of 65 Software Manual Doc No C 2002 21 Rev 2 2 CANopen Slave CANopen Slave SCANOPEN_NOT_IMPLEMENTED The functionality isn t implemented Severity Description The operation could not be performed because this feature isn t implemented in this version of the CANopen slave library Solutions Contact esd GmbH Function SCANOPEN_INHIBITED PDO inhibit time not reached Severity Description A PDO can not be send because the configured inhibit time isn t exceeded since the last transmission Solutions Try to repeat the failed operation later Function canOpenWriteDictionary canOpenWritePDO CANopen Slave Software Manual Doc No C 2002 21 Rev 2 2 Page 65 of 65
51. of subentries unsigned short ObjectType Object type of entry const char DataType Data type description Description Extends the local object dictionary of the CANopen node with the node handle HNode in the Manufacturer Specific Area or the Standardized Device Profile Area This function fails if called in another node state but NodeOffline Index is the index in the object directory in the range from 0x2000 to Ox9FFF and Subentries has to be set to the number of subentries of this entry in the range from 0 254 ObjectType is either the simple data type OBJ_VAR or one of the complex data types OBJ_ ARRAY or OBJ_ RECORD Simple data types only support sub index 0 DataType is a zero terminated descriptor array with only one entry for the data types OBJ_ VAR and OBJ_ ARRAY For entries of the data type OBJ_ RECORD the descriptor array contains the data type of every sub index Page 28 of 65 Software Manual Doc No C 2002 21 Rev 2 2 CANopen Slave Return CANopen Slave CANopen Slave Dictionary entries of the data type OBJ_ARRAY and OBJ_RECORD store the number of sub entries in the format UNSIGNEDS as an RO entry at subindex 0 For arrays this entry is created automatically For records this isn t the case for historical reasons which means the application has to define the entry at subindex O as TYP_UINTS in the descriptor string to be compatible with the current revision of the specification 1 Exa
52. open Slave 2 Introduction The CANopen slave library allows an easy development of CANopen based slave devices for sophisticated process control of current automation systems or for simulation and test purposes Some highlights of the library are gt Comprehensive set of services based on the CANopen specification CIA DS 301 V4 1 to easily integrate CANopen slave functionality into an application gt Support for several real time operating systems and CAN adapter available with the same OS and hardware independent proven CANopen slave core gt Comes as fully multi threaded shared or static library which can be used by several applications at the same time All CANopen related tasks like SDO server replies error control etc is handled in background gt Allows the implementation of several independent CANopen devices with separated object dictionaries communicating on the same or different physical CAN ports All CANopen slave functionality is fully configurable at runtime Consistent API independent of the CPU architecture operating system or CAN hardware makes a migration to a different platform easy gt Support to optionally timestamp received data CANopen Slave Software Manual Doc No C 2002 21 Rev 2 2 Page 7 of 65 CANopen Slave 3 CANopen Slave Based on this library it is possible to create up to 255 independent virtual CANopen slave devices for up to 16 physical CAN nets The application programming in
53. or A state change can be caused by the application layer using the API described in this chapter or is caused internally if a communication or configuration error situation is detected or resolved The picture below describes the possible transitions between the error free and the error state 0 Error Free Status 2 Error Situation Fig 3 Error State Transition Diagram 0 After calling canOpenActivateNode the CANopen node gets into error free state 1 If canOpenSetError is called by the application or an internal communication or configuration error is detected the error is indicated as described in the following abstract and the CANopen node changes into the error state The internal node error counter is incremented 2 If canOpenSetError is called again the previous tasks are repeated and the CANopen node remains in the error state 3 If canOpenResetError is called by the application or an internal communication or configuration error condition is solved the error is incicated as described in the following abstarct and the node s internal error counter is decremented As long as the counter doesn t reach 0 the CANopen node remains in the error state 4 If the internal error counter becomes O during the previous step the node changes back into the error free state Page 40 of 65 Software Manual Doc No C 2002 21 Rev 2 2 CANopen Slave CANopen Slave An error situation or an repa
54. p pulListCHBT Mandatory if EMCY_CONSUMER is set Defines the list of default emergency consumer entries The argument is a pointer to an array of unsigned long values Each entry has to be defined with the macro CHBT_ENTRY which takes two arguments The first argument is the node number that is to be monitored the second argument the heartbeat time in ms The list has to be terminated with the entry END_OF_CHBT_LIST The number of entries should shouldn t exceed the number of entries given with the parameter ucMaxConsumerHB Example Software Manual Doc No C 2002 21 Rev 2 2 Page 23 of 65 CANopen Slave ucErrorBehaviour Mandatory if ERROR_BEHAVIOUR_OBJECT is set This parameter defines the default behaviour of the slave if an fatal error occurred Possible values are ERROR_BEHAVIOUR_DEFAULT Change to node state Pre Operational ERROR_BEHAVIOUR_NO_CHANGE No change in node state ERROR_BEHAVIOUR_STOP Change to node state STOPPED ucMaxMapped Conditional for multimap support This parameter defines in how many different PDOs the same object dictionary can be mapped if the this object dictionary entry is created supporting this feature If this parameter is 0 the default value of 8 will be used usPdoRxQueusize Size of PDO daemon receive queue Defines the size of the Rx daemon receive queue in multiple of PDO messages The default value is 256 Return O or
55. pen node const char Name designator of this PDO UINT32 COBid default COB identifier of PDO UINT16 TransMode transfer mode of PDO INT32 InhibitTime inhibit time of this PDO UINT16 TxTout transmit timeout of this PDO UINT16 RxTout receive timeout of this PDO INT32 iEventTimer Event timer in ms of this PDO UINT16 Mapping default mapping of this PDO HPDO hpdo PDO handle Description This function creates and initializes an additional PDO for the CANopen node The total number of RPDOs TPDOs which is supported by this node instance is a defined with canOpenCreateNodeEx The attempt to create more TPDOs RPDOs results in an error The PDO configuration after bootup or reset is defined by these passed configuration parameters The node s object directory entries in the PDO Communication Parameters and the PDO Mapping Parameters area are generated implicitly The position within the node s object directory is determined by the order of calls to this function in the application code Name is legacy parameter which is no longer supported and is ignored by the library Always set this parameter to NULL Page 36 of 65 Software Manual Doc No C 2002 21 Rev 2 2 CANopen Slave CANopen Slave The parameter COBid defines the PDO s default COB ID which according to 1 consists of the CAN ID and additional control bits To apply these control bits you have to combine them
56. penWriteDictionary modifying a local directory entry int canOpenWriteDictionary HNODE HNode handle of the CANopen node unsigned short Index index in the object directory unsigned short Subindex subindex of entry void Data pointer to data source This function modifies an entry in the local object directory If the entry is mapped into a PDO the PDO data are automatically updated It can be called in every node state Index shows the index in the object directory and subindex shows the subindex Data is a pointer to the new data in an application memory area Following table shows in which way data has to be provided by the application and the column Copy shows whether data is copied into the slave memory If the values are not coped into the slave memory like strings for instance the pointers in the transferred structures have to refer to static memories because they are being referenced at a read or write access by the slave CANopen data type Reference type Bool Pointer to new data 1 byte Int8 Int16 Int32 Pointer to new data 1 byte 2 bytes 4 bytes Uint8 Uint16 Uint32 Pointer to new data 1 byte 2 bytes 4 bytes Float Pointer to new data 4 bytes Visible String Pointer to structure of RecVisString type Octet String Pointer to structure of RecOctString type Time Of Day Pointer to structure of CAN_TIME OF_DAY type Time Difference Pointer to structure of CAN TIME DIFFERENCE type
57. r object dictionary entries with attached handlers with timestamps CANopen Slave Software Manual Doc No C 2002 21 Rev 2 2 Page 51 of 65 CANopen Slave DICTIONARY ENTRY Index Subindex ObjectType DataType Flags Data Handler EntryName Defines a new dictionary entry Please refer to the documentation of canOpenExtendDictionary for the data types and possible values of Index Subindex ObjectType and DataType Please refer to the documentation of canOpenInitDictionary for the data types and possible values of Flags Data Handler and EntryName The parameter EntryName isn t supported at the moment and has to be set to NULL If dictionary entries of the object type OBJ_ARRAY Or OBJ_RECORD are defined the read only dictionary entry for subindex 0 with data type Uint8 initialized to the number of subentries is created implicitly One disadvantage of using macros extending and initializing the object dictionary is that for the object type OBJ_ARRAY and OBJ RECORD the individual subentries can not be initialized to different default values access attributes or handler as they all get initialized with the same parameters If you want to forece individual values you can override the initialization performed by the macro with required calls of canOpenInitDictionary after DECLARE_ DICTIONARY and before canOpenActivateNode is called DECLARE DICTIONARY hNode DictionaryName Extends and ini
58. rent string Software Manual Doc No C 2002 21 Rev 2 2 CANopen Slave Return Name Synopsis Description CANopen Slave CANopen Slave Handler is the object event handler of this entry which is called by the CANopen slave library to indicate data changes to the application Refer to chapter 4 6 for a detailed description of the data event handler 0 or an error code described in the appendix canOpenInitDictionaryTS canOpenInitDictionary Initialize dictionary and attach timestamp handler int canOpenInitDictionaryTs HNODE Hnode Node handle unsigned short Index Index unsigned short Subindex Subindex const char EntryName Textual description unsigned short Flags Properties of entry pDictionaryData Data Default data PFN_COS_ DATA HANDLER TS Handler Data event handler Initialize a single dictionary entry of the CANopen nodes Hnode object dictionary The entry has to be created previously with a call to canOpenExtendDictionary This initialization has to take place for every entry in the object dictionary before the object can be used If the function is called in any other node state but NodeOffline it will return with an error Index has to be in range of the Manufacturer Specific Area or the Standardized Device Profile Area 0x2000 to Ox9FFF and Subindex in the range from 0x00 to OxFE The entry at sub index OxFF which describes the structure of th
59. t Options default properties int MaxErrors size of error history char DeviceName device name char HardwareVers hardware version number char SoftwareVers software version number unsigned short GuardTime default guardtime in ms unsigned short LifeTime default lifetime factor unsigned short ServerObjects number of additional SDO servers unsigned short ClientObjects number of additional SDO clients int EventHandler int int int int event handler of CANopen node HNDO HNode handle of this CANopen node Using this API is deprecated as improvements and extensions introduced with DS 301 V4 x can not be configured and the node event handler only supports a limited number of possible events New applications should use canOpenCreateNodeEx instead This API remains only for backward compatibility of existing applications This function generates a CANopen node object with object directory for net NetNo The entries DeviceType 0x1000 and Error Register 0x 1001 required following 1 as well as the optional entry Node ID 0x100B are automatically created in the object directory NodeName is a pointer to a textual description of the node with module number ModID in the range of 1 to 127 The module number determines the COB identifiers for the SDO server the identifier for node guarding and the emergency object according to 1 Software Manual Doc No
60. t state of the node referenced by Hnode Valid values for State are NodeInit NodePreOperational NodeStopped NodeOperational In LastErr the error number of the last error is returned 0 or an error code described in the appendix canOpenResetNode canOpenResetNode resetting CANopen node int canOpenDeleteNode HNODE HNode handle of the CANopen node The slave is reset to state NodeOffline Nodeguarding and SDO server processes are terminated All used COB identifiers are freed and all entries in the object directory are reset to default values 0 or an error code described in the appendix Software Manual Doc No C 2002 21 Rev 2 2 CANopen Slave Name Synopsis Description Return CANopen Slave CANopen Slave canOpenWaitForNodeState canOpenWaitForNodeState Block until transistion in given node state int canOpenWaitForNodeState HNODE HNode handle of the CANopen node unsigned short StateMask state mask The application is blocked until the node is in a determined state It is possible to wait for one or more state StateMask is the logical OR combination of the following constants describing the node states to wait for Valid parameters are WFNS INIT WFNS STOPPED WFNS PRE OPERATIONAL WFNS OPERATIONAL Current node status or an error code described in the appendix Software Manual Doc No C 2002 21 Rev 2 2 Page 27 of 65 CANopen Slave 4 2 Lo
61. terface API of the CANopen slave library is a procedural API which is defined in the header file scanopen h Depending on the operating system the library has to be either linked to the application or is implemented as a shared library which can be loaded dynamically In order to understand this document some basic principles of CANopen are explained in this chapter For further details please refer to 1 3 1 Overview The application creates one or more CANopen slaves with a node ID that has to be unique in the physical CAN network Each CANopen slave node has an individual object directory at least one service data object SDO and one emergency object EMCY whose defaults COB IDs are based on the node ID default connection set The application can extend the object directory with manufacturer specific entries or according to standardized device profiles 7 and map the process variables into the object directory as shown in figure 1 The entries of the object dictionary can be mapped into process data objects PDO which are transmitted or received using the CAN bus Application Process variable 1 Process variable 2 32 bits 16 bits CANopen Slave Object directory gt XXXX xx process variable 1 yyyy yy process variable 2 lt Process variable 1 Process variable 2 32 bits 16 bits 16 bits PDO eg CAN Bus Fi
62. the maximum number of Rx PDOs of this node Defines the maximum number of Tx PDOs of this node ucServerSDO Mandatory if ADDITIONAL _SDOS is set Defines the maximum number of SDO server If ADDITIONAL_SDOS isn t set the default SDO server will be created ueClientSDO Se Reserved for future use CANopen Slave Software Manual Doc No C 2002 21 Rev 2 2 Page 21 of 65 CANopen Slave Defines the maximum number of errors 1 127 that can be stored in the error history Defines the number of subindices 1 4 of entry Identity Object 0x1018 CiA registered vendor id for this device ulProductCode Mandatory if ucMaxIdentityObject gt 1 Vendor specific product code for this device ulRevisionNumber Mandatory if ucMaxIdentityObject gt 2 Vendor specific revision number for this device ulSerialNumber Mandatory if ucMaxIdentityObject 4 Vendor specific serial number for this device ucMaxConsumerHB Mandatory if CONSUMER_HEARTBEAT is set Number of subentries 1 127 of the Consumer Hearbeat object ucLifetime Mandatory if GUARDING is set Default lifetime factor used by this device for life guarding usGuard Time Mandatory if GUARDING is set Default guardtime used by this node for life guarding Device type of this device NULL terminated string for Manufacturer Info of this device NULL terminated string for Manufacturer Hardware Version of this device NULL terminated string for Manu
63. tialize the slave node with a previously defined dictionary table The parameter hNode is the node handle which is returned by canOpenCreateNodeEx The parameter DictionaryName defines the dictionary table which is started with BEGIN DICTIONARY TABLE Internally these macros define and use arrays of the type cos DICT ENTRY with the variable name DictionaryName prefixed by the string Dict Entry _ which do not need accessed directly by the application At the end of the explanation of the PDO Table related macros you will find an example using these macros Page 52 of 65 Software Manual Doc No C 2002 21 Rev 2 2 CANopen Slave CANopen Slave PDO Mapping Tables The following macros are used to define a default mapping of entries in the object dictionary to the PDO of the slave node Their only purpose is to provide the possibility of a more clearly laid out code for the mapping data structure which is referenced in canOpenDefinePDO BEGIN MAPPING TABLE MappingName Begins the definition of a PDO mapping table You can define more than one PDO mapping defining different values for MappingName You have to define the PDO mapping table either in the local scope of your source module or in the local scope of code that is implementing DECLARE PDO END MAPPING TABLE Ends the definition of a PDO mapping table MAPPING ENTRY Index Subindex Defines a new mapping entry Please refer to the doc
64. tialize these objects processing the defined table As these macros simply expand to the standard API calls a mixed usage of macros and API calls in the code to setup and initialize the CANopen slave node is possible Dictionary Entry Tables The following macros are used in lieu of repetitive calls to canOpenExtendDictionary and canOpenInitDictionary or canOpenInitDictionaryTs BEGIN DICTIONARY TABLE DictionaryName Begins the definition of a dictionary table for object dictionary entries with attached handlers without timestamps You can define more than one dictionary table defining different values for DictionaryName Y ou have to define the dictionary table either in the local scope of your source module or in the local scope of code that is implementing DECLARE_DICTIONARY END DICTIONARY TABLE Ends the definition of a dictionary table for object dictionary entries with attached handlers without timestamps BEGIN DICTIONARY TABLE TS DictionaryName Begins the definition of a dictionary table for object dictionary entries with attached handlers with timestamps You can define more than one dictionary table defining different values for DictionaryName Y ou have to define the dictionary table either in the local scope of your source module or in the local scope of code that is implementing DECLARE_DICTIONARY END DICTIONARY TABLE TS Ends the definition of a dictionary table fo
65. uarding 00 0000 eee 11 3 5 Synchronization SYNC Object ca di es 12 3 6 Emergency EMCY Object ia A aaa Aa 12 4 Program Interface no ii A A AAA AA AS 15 4 1 Manas ement Services occ oid fas aad A a E AS 15 canOpenCreateNetwork ei a a ds 15 canOpenCreateNetworkEx co ts a A Al 15 canOpenRemove Ne iWOrK lirio ED A Ai Ges 17 Can Pen re ate Node ada ls a t a ia a lo a a 17 canOpenCreateNodeEx a ai IA It ti 20 capear ok Ni tee ef 25 canOpenActivateNode is died dee dere hee et ead dee ead 25 CANO PenGeiNodeMIG Mos endeared sh de deka pate hd rd panda pie 26 CanOpenR eset Node scans aaa atacan 26 canOpen WaitForNodeState ecu esa eae eee ee FeV a eae 2 42 Local Object Directory ds RS ARA Ree oN 28 canOpenExtendDictionary 22 s ce ose8e5 hb pe a 28 canOpenlInitDictionary ta 30 canOpenInitDictionary TSO ria A ADA da 31 canOpenReadDictionary oooooooococo e rnare rare 32 canOpenWriteDictionary ans A a 33 canOpenGeDictiona OA sr rd A A as 34 canOpenReadDictionatyHind cams a a a a 35 canOpenWiteDictiona HA A ta 35 4 3 IS A A aa ates A EE 36 canOpenDerineP DOW a A a te 36 canOpen Writer DOG acia pie iS RE ER 38 CanOpenReadP DOO ods tos en a ra do a ORS 39 canOpenRequesteDO 20 caverta ty ae ele ies 39 44 Error Situations and Emergency EMCY Objects ooooooooommmmo o 40 CANO DEN SS LE ROTO Snead adds hod ie hE Oa saab Gea Le Oe wee 43 cap ESCPEITON Yi ee sorn cet RE 44 4 5 Assista
66. umentation of the parameter Mapping for canOpenDefinePDO for more details about the macro parameter Index and Subindex Internally these macros define arrays of the type unsigned short with the variable name MappingName prefixed by the string Mapping which do not need accessed directly by the application At the end of the explanation of the PDO Table related macros you will find an example using these macros CANopen Slave Software Manual Doc No C 2002 21 Rev 2 2 Page 53 of 65 CANopen Slave PDO Tables The following macros are used in lieu of repetitive calls to canOpenDefinePDO BEGIN PDO TABLE PDO Name Begins the definition of a table with PDO descriptions You can define more than one PDO table defining different values for PDO Name You have to define the PDO table either in the local scope of your source module or in the local scope of code that is implementing DECLARE PDO END PDO TABLE Ends the definition of a PDO table PDO ENTRY COBid TransMode InhibitTime TxTout RxTout Reserved Mapping Defines a new PDO entry with a default mapping Please refer to the documentation of canOpenDefinePDO for the data types and possible values of COBid TransMode InhibitTime TxTout and RxTout Use the parameter MappingName ofthe macro BEGIN MAPPING TABLE of the intended default mapping as argument for this macro parameter Mapping PDO ENTRY UNMAPPED COBid TransMode Inh
67. with the CAN ID by a logical OR operation To define the node s n th default PDO you can use DEFAULT PDO_N with N 1 4 for the CAN ID instead using a numerical value In this case the CAN ID is derived from the Node ID according to the pre defined connection set xxx The CAN ID part of the COB ID might be changed by a CANopen manager The valid control bit can be setto PDO_VALID or PDO_ INVALID to determine which PDOs are used in the NMT node state Operational The 4 default PDOs can always be set to valid All additional PDOs should be set to invalid in order to prevent conflicts with other CANopen slave nodes If a non default PDO is initially set to valid the application is responsible for the CANopen network integrity This COB ID control bit might be changed by a CANopen manager The RTR control bit RTR_ALLOW or RTR_DISALLOW define whether a transmit PDO might by RTR requestable or not The configured value of this COB ID control bit can not be changed by a CANopen manager The parameter TransMode defines the transmission type of the PDO In addition to 1 this parameter consists also of several proprietary control bits which describe the type and the behavior of the PDO To apply these control bits you have to combine them with the PDO transmission type by a logical OR operation The PDO type control bit can be either set to TRANSMIT PDO or RECEIVE PDO with SYNCHRON PDO ASYNCHRON PDO and a numerical value between 0 and 255 which is given in

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