CANopen Design Tool User Manual
Contents
1. 9 2 1 Limitations 39 9 2 2 Usage 39 9 3 CANopen EDS Editor 40 9 3 1 Limitations 40 9 3 2 Usage 40 10 How to convert existing projects 41 10 1 Existing projects Version gt 2 2 41 10 2 Existing projects Version gt 2 0 41 10 3 Existing projects Version lt 2 0 41 10 3 1 The project converter 42 10 3 2 Limitations 43 10 3 2 1 Segmentation of the Object Dictionary 43 10 3 2 2 User defined data types 43 10 4 Conversion support 43 Version 2 2 54 CANopen Design Tool Page 5 of 45 pert Page 6 of 45 CANopen Design Tool Version 2 2 54 pert 1 Introduction 1 1 Product Overview The CANopen Design Tool of port is a software tool for the development of CANopen applications devices It manages device data bases from which an Object Dictionary configuration and initialization files in C code an Electronic Data Sheet a XML descrip tion and a HTML documentation are created automatically Furthermore the driver pack ages can be configured by the CANopen Design Tool and several hardware configurations can be managed within one project With the CANopen Design Tool an instrument is available which frees the developer of error prone activities repeating itself It ensures consistency of implemented functional ity Electronic Data Sheet EDS XDD and device documentation In the scope of deliv ery a data base with the CANopen communication profiles CiA 301 and CiA 302 are contained Additionall2. Variable default values and limits will need a lot more memory These settings have no effect on strings or domains Mask Structure Optimization Object 6000 Optimization CANopen storage class compiler specific Create Variable same Structure for all Subs Constant value description structure Constant default value Constant limits Reset Figure 5 optimization view of a object 2 5 Program control The operation of the entire program is done mostly with the mouse Changed values are taken over only at leaving of the mask E g continuous actions such as computation of new sizes during type variation Modifications at a mask can be reset before the mask has been left by pressing the button Reset If default values are available for a mask these values can be loaded by the but ton Default Page 18 of 45 CANopen Design Tool Version 2 2 54 pert 3 File structure 3 1 Project structure 3 1 1 Project file All data of an project are stored in the project file Nevertheless it is useful to have a directory for every project because the generated files will be stored in the project direc tory The directory projects under the program directory contains some example projects 3 1 2 Generated files The generated files are described in table 3 File Description objects h Object dictionary implementation C code objects c Object dictionary implementation C cod
3. Profiles ml x m 301 302 304 _ 401 _ 402 _ 406 Continue Cancel Figure 13 profile selection dialog During the conversion a log window is oppened where status information hints and warnings are displayed 3 The path to an old project is the directory that contains the line0 directory Page 42 of 45 CANopen Design Tool Version 2 2 54 pert 10 3 2 Limitations 10 3 2 1 Segmentation of the Object Dictionary Information about segmentation of the object dictionary are lost during conversion Nev ertheless the objects within segments are converted properly and the segment information can be added afterwards by the CANopen Design Tool 10 3 2 2 User defined data types Possibly user defined data types are not converted properly But each usage of an unknown data type is displayed in the log window and these indices objects can be reworked afterwards Please consider that the concept of the usage of user defined data types has been changed compared to former releases of the CANopen Design Tool Have a look into section Manufacturer Structures in chapter 5 Moreover it is highly recommended to check all converted settings properly 10 4 Conversion support Please contact us if there are any problems or irregularities at the conversion Version 2 2 54 CANopen Design Tool Page 43 of 45 pert Page 44 of 45 CANopen Design Tool Version 2 2 54 pert Appendix 1 Abbreviations CA
4. compound by general and channel dependent sub indices The following C structure for the channel dependent sub indices is generated typedef struct UNSIGNED8 status lt channel status REAL32 averageMetalLoss lt channel average metal loss REAL32 averageTemperature lt channel average temperature REAL32 sector_1 metallLoss lt channel sector 1 metal loss REAL32 sector_1 temperature lt channel sector 1 temperature REAL32 sector_2_ metalLoss lt channel sector 2 metal loss REAL32 sector_2_temperature lt channel sector 2 temperature REAL32 sector_3_metalLoss lt channel sector 3 metal loss REAL32 sector_3_temperature lt channel sector 3 temperature REAL32 sector_4 metalLoss lt channel sector 4 metal loss REAL32 sector_4 temperature lt channel sector 4 temperature REAL32 sector_5_metalLoss lt channel sector 5 metal loss REAL32 sector_5_ temperature lt channel sector 5 temperature Page 20 of 45 CANopen Design Tool Version 2 2 54 pert REAL32 REAI REAI REAI L32 L32 L32 REAL32 REAL32 P443_CHANNEL METAL _LOSS_T The C structure for data type 0082 with sector_6_metalLoss RRS sector_6_temperature EEX sector_7_metalLoss lt sector_7_temperature lt sector_8_metalLoss lt sector_8_temperat
5. desired document type Version 2 2 54 CANopen Design Tool Page 31 of 45 pert format description descriptor U upper limit e for numerical objects in hexadecimal format with prefix 0x example Ox FFFFFFFE e for string objects lt empty string gt Jou unit example 100 ms TON default value e for numerical objects in hexadecimal format with prefix 0x example OxFFFFFFFF e for string objects without quotation tags example Test string Pv default value e for numerical objects in decimal format example 1614872592 e for string objects without quotation tags example Test string oz enumeration counter of the object in decimal format counting starts with 0 example 12 i e it is the 12th object Table 6 format descriptors 6 2 Example for HTML documentation Each object in the object dictionary is listed with index sub index in bold text style and the object description The following example only refers to object 1000h and 1001h list conf lt p gt lt b gt object Ih S lt b gt T lt p gt userList txt lt p gt lt b gt object 1000h 0 lt b gt The device type specifies the kind of device The lower 16 bit contain the device profile number and the upper 16 bit an additional informa tion lt p gt lt p gt lt b gt object 1001h 0 lt b gt The error register is a field of 8 bits each for a cer tain error type If an error o
6. during generation of the object dictionary for minimum and maximum values These limit values are used of the CANopen library by port during SDO transfer for limit supervision The limit monitoring can be switched on off via object 1200h tab Mask checkbox Check Object Limits with SDO Transfer This set ting activates or deactivates the compiler define CONFIG_LIMITS_CHECK 5 2 Grouping of indices in sub segments A further characteristic is the organization of device variables within structures Such an organization is possible for the manufacturer data and for data of the standardized device profiles This is convenient if identical entries in the individual sub segments are stored If the data of two sub segments should be filled in a structure the sub segments should share the same variable name and the same length Useful steps for this are e Creation of the sub segment Add new Sub Segment e Filling with objects e Duplication of the sub segment Duplicate Result of this grouping is a structure and a C array of the type of this structure The array has as many elements as group members sub segments with same variable name are available The advantage of such an organization is that the indexed addressing of the C arrays can be used E g with multi axis drives for fast access with pointer switching in firmware between the individual axes The same principle is pursued for manufacturer data However it is possible to select a
7. in C code the initialization and configuration files and furthermore an EDS resp ESI file for each CAN line lt ProjectName gt line lt lineNo gt eds and if activated a documentation lt project name gt html are generated These files are always consistent and contain the date and the time of generation Another file generate err contains warnings and errors It is recommended to have a look to this file by means of Show after each generation 4 6 Variables variables can be used in object names and variable names of indices and object names of sub indices In the file objects c in the EDS files and in the documentation and also in the object tree they are replaced by their current values Page 26 of 45 CANopen Design Tool Version 2 2 54 pert Name Description i number of the index s number of the sub index l number of the line of number of the service SSDO CSDO RPDO RPDO Mapping TPDO Mapping SRDO SRDO Mapping starting at 1 op index start of segment starting at 0 oq index start of segment 1 starting at 1 ou index start of sub segment starting at 0 TON index start of sub segment 1 starting at 1 Tot short name of data type Table 5 variables When using lower case letters for the variables a decimal value is returned Otherwise a hexadecimal value without leading Ox Variables that are undefined in the current con text e g s a
8. starting index for the segment and to declare the segment size freely That means that the data is stored normally up to the user defined index From this index on the tree becomes segmented in the manufacturer specific area 5 3 Manufacturer structures data types To use records with own structures data types in the manufacturer specific segment these data types have to be defined first in the Data Types section of the line Therefore a new index can be added by Add new Data Type According to the standard the index should be between 0040 and 005F and its object code has to be DefStruct It is rec ommended to use the same name for name and EDS name The name e g MYTYPE_T is used in the file objects h and there the new data type is declared too After that the needed structure elements can be added by Add new Sub Index Each of them needs further a data type and a name The names have to be valid C variable names Version 2 2 54 CANopen Design Tool Page 29 of 45 pert All other entries at this mask are deactivated and can be ignored If the data type is cre ated successfully it can be used for indices starting at 2000 with the object code Record 5 4 Predefined symbols Predefined preproccesor symbols like __DATE__ _ TIME__ _ FILE__ etc can be used within strings but you have to put quotes around 5 5 Special names of object descriptions structures If Options gt V
9. the CANopen Design Tool GSV Object Import Index Offset 0x2000 Line INS Import Description Specifier index sub edsname access defaultidatatype objectcode Path to CSYV File 122 local 0 0 640 software objects csv 4 OK Figure 11 CVS Import configuration mask Cancel The following table describes all tokens that can be used for the Input Description Speci fier and their value range for the corresponding column in the CSV file Commas semi colons or tab stops can be used as separator between the tokens but only one of them Element Value range index index in the range between 0x2000 and Ox9FFF sub sub index in the range between 0 and 254 edsname arbitrary string varname valid C variable name access RO RW WO CONST RWR RWW or as lower case letters unit arbitrary string min max default numbers using C notation datatype CANopen datatype as decimal number see object dictionary objectcode VARIABLE default ARRAY or SUB desc arbitrary string only for VARIABLE or ARRAY createvar flag if the c variable shall be created 0 or 1 Version 2 2 54 CANopen Design Tool Page 37 of 45 pert Element Value range pdomapping flag if it can be mapped into a PDO 0 or 1 8 2 Examples This examples shows a standard configuration of manufacturer specific objects Input Description Specifier index sub varn
10. 0x00000000 object 1 set objNum 1 set objTab objNum indexHex 0x1001 set objTab objNum subHex 0 set objTab objNum defValHex 0x00 The generated object list can be used after sourcing in a Tcl scripts especially in the frame for testing in the Console of the CANopen Device Monitor Version 2 2 54 CANopen Design Tool Page 33 of 45 pert Page 34 of 45 CANopen Design Tool Version 2 2 54 pert 7 CAN Merge PlugIn CAN Merge provides functions to visualize and modify differences between different CANopen Design Tool projects The CAN Merge extension module is an optional Plug In which is activated by the license file of the CANopen Design Tool If a valid license is present CAN Merge can be started by the CAN Merge menu in the menu bar of the CANopen Design Tool N Merge lax File Options Merge Ga ep o F QS A General Settings A General Settings A General EDS Settings A General EDS Settings A Hardware Configuration A Hardware Configuration A Special Settings A Special Settings E Line 0 o Line 0 A EDS Settings 2 EDS Settings A Standard Settings 2 Standard Settings A Additional Settings A Additional Settings 2 13 Object Dictionary B 2 Object Dictionary A Data Types A Data Types Communication Segment 2 3 Communication Segment 1000 Device Type 1000 Device Type A 1001 Error Register A 1001 Error Register B 4 1008 Manufacturer Device Name 2 4 1008 Manufacturer Device N
11. 49 345 777 55 20 E Mail service O port de Internet http www port de pert Table of Contents 1 Introduction 7 1 1 Product Overview 7 1 2 Product Delivery T 1 3 System requirements 7 1 4 Installation 8 1 5 Support by port 8 2 Usage of the CANopen Design Tool 9 2 1 Main menu 2g 2 2 2 amp amp amp amp eRe ee Se GG 9 2 2 Object tree amp e Gtk we eo 2 ee ee a we oe ee AO 2 2 1 Hardware configurations 10 2 2 2 Object dictionary 2 6 2 6 amp ww IO 2 3 Action menus bss 2 Oe amp amp 2 2k gg eee wa a amp LI 2 4 POMS dr soa amp s e so cc sos s s so a4 amp amp 12 2 4 1 General Settings amp a a we 1D 2 4 2 General EDS ESI XDD settings 2 2 B 2 4 3 Advanced configuration o o 13 2 4 4 Hardware configurations 44 2 4 5 Line specific EDS XDD settings 14 2 4 6 Line specific standard settings 44 2 4 7 Additional CANopen Settings 42414 24 8 Mask VIEW o e e amp amp amp Bh Ge e amp te ewe ew a ow we 1 2 4 9 Structure view e 2 2 4 Se eRe Bw A 2 4 10 Optimization view 17 25 Program control pu es BY ee amp we ee amp 18 3 File structure e y 4 2 2 y amp amp PS BR we we Re oe ee a DD 3 1 Project st
12. ANopen Object Code Kind of object according to CANopen specification allowed values Variable Array Record Domain Object name name of the object in XDD EDS ESI file Description description of the object for the documentation and for the parameter description in XDD files Table 1 Elements of the structure view for indices The data type and the object code are fixed for communication objects in the object range 1000 to 1F FF to be compliant to the specification Version 2 2 54 CANopen Design Tool Page 15 of 45 pert files Name Description Lib EDS XDD Doc Index Number of index hexadecimal Sub Index number of sub index decimal X X X X PDO Mapping if selected the object can be mapped to a PDO EDS Name EDS name for sub index only relevant to x x x arrays and records Unit measurement unit of the object Access access permissions seen from CAN x Data Type type of object x x x x Size size of object in Bytes x Value default value of the variable x x x Lower Limit lower limit for numerical values x x x Upper Limit upper limit for numerical values X X x x DefaultValue in EDS Write default value to EDSfile x x Limits in EDS Write limit to EDS file x x Refuse read on scan Correspoding ObjFlags setting in x x EDS XDD files Refuse write on down Correspoding ObjFlags setting in x x load EDS XDD files Valid af
13. ANopen files and should be included in every CANopen related project file So compiler directives changed here will affect the whole project Please enter valid C code like e g define CONFIG_BIG_RAM_VERSION 1 Version 2 2 54 CANopen Design Tool Page 13 of 45 pert undefine printf define PRINTF Be carefully with these settings 2 4 4 Hardware configurations A hardware configuration can be renamed duplicated deleted imported and exported by its action menu The active configuration is marked with a pair of asterisks in the project tree The sub sections Debug Settings CPU Settings and Compiler Settings are valid for the whole configuration but the CAN Settings are specific for each CAN line The parameters of the sub sections are explained in the context help for each mask 2 4 5 Line specific EDS XDD settings With the line EDS XDD form characteristics of the device can be described but some of them can only be stored in the XDD file A comment which is saved in the EDS file can be input additionally 2 4 6 Line specific standard settings The choice whether this line works as a Slave or a Master has to be set here Further more global defaults for the optimization of each object gt 2000 are set here The most usual case that each variable should be created and that the description structure of each variable is constant is set by default Detailed information on each parameter can be found at
14. D Settings i Hardware Configuration General Settings Lineo Kind of CANopen Library Source code library Kind of device Slave y RCS ident string in code Node is slave with NMT master capabilities Node has NMT Startup Ma ger capabilities Cycle time for boot NMT slave proces 1 10 ms SDO timeout for MMT Startup Manager 1 10 ms Node uses CAN line redundancy support Node uses CANopen maritime functionality Use fast sort algorithm Enable CAN communication error handling Use large timer values Enable wait function Apply user timer functionality Object dictionary without global variables Dynamic memory allocation for CANopen services Access keyword for initialized Library variables Access keyword for initialized Design Tool variables Access keyword for un initialized Library variables Application specific header al Default Values Reset Figure 3 General Settings mask The default values are adequate for a CANopen Slave device Each settings is explained in the context help which can be oppend by pressing F1 or at the menu Help gt Context Help 2 4 2 General EDS ESI XDD settings The global EDS ESI XDD form is used for processing all device global entities that are device manufacturer and ordering data 2 4 3 Advanced configuration This mask provides access to special user defines in the configuration file cal_conf h This file is included in all C
15. Data Type Default in EDS EDS Name Limit in EDS List of allowed Access Ty Mandatory Flag PDO Mapping Refuse Read on Scan Obj Refuse Write on Download OxFFFFFFFF 0x0 UNSIGNED32 0 Revision number 0 RO 0 1 0 0 RO 4 OxFFFFFFFF 0x10001 UNSIGNED32 0 Revision number 0 RO 0 1 0 0 Figure 10 CAN Merge diff window displaying differences of 2 sub indices The detail view displays differences of global settings indices and sub indices Attributes of indices and sub indices can be modified directly within this view Modifica tions have to be confirmed by the button SAVE in the tool bar A plausibility check is per formed when saving these settings Page 36 of 45 CANopen Design Tool Version 2 2 54 pert 8 CSV Import PlugIn 8 1 Usage With the CVS Import PlugIn objects of the object dictionary can be imported from CSV files Thus it is possible to export object definitions from other sources e g data bases as a CSV file and import it into the CANopen Design Tool The format of the CSV file can be specified using an Input Description Specifier It allows to select only some columns of a csv file Additionally an object offset can be speficied for the import The CSV Import extension module is an optional PlugIn which is activated by the license file of the CANopen Design Tool If a valid license is present CSV Import can be started by the CSV Import menu in the menu bar of
16. If the limit is exceeded the Light version is only able to generate the library configuration file cal_conf h 9 2 2 Usage If no future use of the project files in the standard version of the CANopen Design Tool is intended only the following masks and input fields have to be completed e General Settings e Hardware Configuration To configure the CANopen Library according to the used CANopen services the follow ing procedure is recommended e Create the desired lines e In every line the communication segment has to be filled completely When the configuration is complete the file cal_conf h can be created by Generate all Files The project file of CANopen Design Tool light has to be saved too because it is not possible to import the Library configuration from a cal_conf h The project file can be reused in the standard version of the CANopen Design Tool Version 2 2 54 CANopen Design Tool Page 39 of 45 pert 9 3 CANopen EDS Editor 9 3 1 Limitations The generation of the output files is limited to the XDD EDS files and the documentation 9 3 2 Usage The CANopen EDS Editor is a reduced version of the CANopen Design Tool Thus it is possible to use project files of the CANopen Design Tool to handle the data of the EDS files Using the EDS XDD files directly via File gt Import EDS XDD file and Gener ate gt Generate all files is also possible If no future use of the project files in the stand
17. N Controller Area Network CAL CAN Application Layer CANopen base CiA CAN in Automation international users and manufacturers group e V COB Communication Object CAN Message COB ID Communication Object Identifier DDE Device Description Entry EMCY Emergency Object EPL Ethernet POWERLINK EPSG Ethernet POWERLINK Standardization Group KSI EtherCAT Slave Information XML device description for EtherCAT slaves ETG EtherCAT Technology Group NMT Network Management PDO Process Data Objects they are messages in a unconfirmed service They are used for the transfer of real time data to and from the device RPDO Receive PDO SDO Service Data Objects they are messages in a confirmed service They are used for the access to entries of the object dictionary CSDO Client SDO SSDO Server SDO SYNC Sychronization Object TIME Time Stamp Object TPDO Transmit PDO XDD XML Device Description device description files for POWERLINK or CANopen XML eXtensible Markup Language Version 2 2 54 CANopen Design Tool Page 45 of 45
18. The installation is controlled by menus For this purpose unpack the zip file and start setup exe on Windows resp setup sh on Linux After this installation you will find the following directory structure Design Tool Figure 1 Directory structure of the CANopen Design Tool The directory projects contains delivered example projects For each project a separate directory is recommended The data bases are in the directory profiles for the communi cation profiles DS 301 DS 302 and the CANopen device profiles In this directory own profiles can also be generated The directory help serves internal purposes After an installation on a Windows system the CANopen Design Tool can be started by the icon on the desktop or via the start menu 1 5 Support by port The senior engineers at port support the user by a telephone hot line and by training cour ses Additionally the user can have consultations in the whole field of CAN e g network planning network configuration message distribution selection of devices and CANopen Profile implementations Please ask at our email address E mail service port de phone 49 345 777 55 0 Fax 49 345 777 55 20 The engineers at port react as soon as possible to your message Page 8 of 45 CANopen Design Tool Version 2 2 54 pert 2 Usage of the CANopen Design Tool The CANopen Design Tool is controlled via menus toolbars treeviews and masks 2 1 Main menu The Mai
19. ame 000 Manufacturer Device Name 000 Manufacturer Device Name 1017 Producer Heartbeat Time 1017 Producer Heartbeat Time 2 3 1018 Identity Object 8 2 1018 Identity Object A 000 number of entries 000 number of entries A 001 Vendor ld 001 Vendor ld 3 002 Product Code O02 Product Code 003 Revision number a Revision number A 004 Serial number 004 Serial number 22 0 0260 software source x s1x Both projects are different Figure 9 CAN Merge main window displaying 2 projects 7 1 Project View The project view shows different settings sub segments objects and sub indices with dif ferent colors By using the Merge function in the tool bar these elements can be copied from one project into the other one Via the menu File the modified projects can be saved to disk or imported into the CANopen Design Tool The menu entries like Save resp Open refer to the active project tree Via Generate Diff Report an overview about the differences between the projects can be generated This diff report is an XML file containing all differences Via Options several settings can be configured These include the attributes to be com pared or merged and further options Version 2 2 54 CANopen Design Tool Page 35 of 45 pert 7 2 Detail View Merge 003 Revision number Diff Merge Ga ep o F P A g save Option AccessType LowerLimit Size Unit UpperLimit Value
20. ame edsname unit access min max default datatype objectcode createvar pdomapping CSV File 0x3000 0 man_eins EDSName_1 ro 0 0xff OxF0 5 VARIABLE 1 0 0x3001 0 man_zwei Variable_2 ro 0 0xff OxF0 5 VARIABLE 1 0 0x3002 0 man_drei Ohne_Create_Var ro 0 0xff 0xF0 5 VARIABLE 0 1 0x4000 min_array Lufthupen rw 6 ARRAY 0 0 0x4000 1 Lufthupe_1 wo 0 0xf1 0x01 6 SUB 1 1 0x4000 2 Lufthupe_2 ro 0 0xf2 0x02 6 SUB 1 1 0x4000 3 Lufthupe_3 rwr 0 0xf3 0x03 6 SUB 1 1 The next example shows how to ignore some columns from the CSV file Input Description Specifier 7 index varname access default datatype objectcode edsname CSV File whatever ign 0x2001 0 0 test_1 ro 0 6 VARIABLE Number of Inputs whatever ign 0x2002 0 0 test_2 ro 0 6 VARIABLE Number of Outputs whatever ign 0x2003 0 0 test_3 ro 0 6 VARIABLE Number of Variables Page 38 of 45 CANopen Design Tool Version 2 2 54 pert 9 Different versions 9 1 Standard version The standard version provides the functions as described herein 9 2 Light version In the light version the number of objects is limited to 15 per line Using the light version it is not possible to generate output files if a line consists of more than 15 objects 9 2 1 Limitations If the number of objects is below 15 all output files of the CANopen Design Tool are generated
21. ard version of the CANopen Design Tool is intended only the following masks and input fields have to be completed e General EDS XDD Settings e CharacteristicsList EDS XDD Settings line specific at the structure view of the indices EDS Name e Data Type e Object Code e Description only for XDD parameter description and the documentation e atthe structure view of the sub indices EDS Name for arrays and records e Data Type e Access e PDO Mapping e Value Unit only for the documentation Page 40 of 45 CANopen Design Tool Version 2 2 54 pert 10 How to convert existing projects 10 1 Existing projects Version gt 2 2 Existing projects can be opened straigh forward by opening the existing can file If there are new settings for the hardware configuration or other important changes that require your action you will be informed about that when opening an existing project 10 2 Existing projects Version gt 2 0 To import existing projects of the versions 2 0 or 2 1 just open the can file Please regard the following issues e The Object Dictionary Optimizations are not imported e If necessary the SYNC objects 1005 etc should be deleted and inserted again e Please check all hardware settings The number of options has increased for several hardware platforms and these new options must be configured e Once the project file has been saved with this version of the CANope
22. ccurs the bit has to be set Bit O generic error Bit 1 current Bit 2 voltage Bit 3 temperature Bit 4 communication error overrun error state Bit 5 device profile specific Bit 6 reserved Bit 7 manufacturer spe cific lt p gt Page 32 of 45 CANopen Design Tool Version 2 2 54 pert indication in the web browser object 1000h 0 The device type specifies the kind of device The lower 16 bit con tain the device profile number and the upper 16 bit an additional information object 1001h 0 The error register is a field of 8 bits each for a certain error type If an error occurs the bit has to be set Bit O generic error Bit 1 current Bit 2 volt age Bit 3 temperature Bit 4 communication error overrun error state Bit 5 device profile specific Bit 6 reserved Bit 7 manufacturer specific 6 3 Example for Tcl scripts A list of all objects is created The entry for each object starts with a comment including the enumeration counter The enumeration counter is also used as list index for the list objTab The index sub index and the default value are listed for each object The fol lowing example only refers to object 1000h and 1001h list conf object z set objNum z set objTab objNum indexHex Ox lI set objTab objNum subHex S set objTab objNum defValHex V userList txt object 0 set objNum 0 set objTab objNum indexHex 0x 1000 set obj Tab objNum subHex 0 set objTab objNum defValHex
23. configuration of global parameter e configuration of global ESI resp EDS parameter e configuration of the hardware settings e configuration of CAN line specific EDS parameter configuration of standard and additional settings definition of application variables parameterization of application variables definition of communication variables parameterization of communication variables optimization of each object if needed generation of outputs 4 1 Beginning a project A project is created by the menu File New Project Existing projects are opened by the button Open Project or the menu File Each CAN line can be preset with data from a profile or an EDS file 4 2 Hardware configuration At first the target hardware has to be configured The most important decision is to choose a CPU resp an operating system Default configurations for the supported platforms can be found at the sl example of the CANopen library These configuration files conf_xxxx h can be imported via Import Configuration 83 Configuration 0 3 Debug Settings 3 CPU Settings 3 Compiler Settings 3 CAN Settings 0 3 Controller Family 3 Controller Type Figure 6 hardware configuration part of the project tree Version 2 2 54 CANopen Design Tool Page 23 of 45 pert If the CPU is set the other CPU settings are set to CPU specific default values These default values are suitable in the majority of cases At Compiler Setting
24. des a fast access to the following functions new project open save cut copy paste generate add new service objects and query new releases Version 2 2 54 CANopen Design Tool Page 9 of 45 pert 2 2 Object tree The object tree is central administrative element for all CANopen entities as well as all further device parameters and for the hardware configurations It consists of branches for the global device parameters branches for the hardware configurations advanced set tings and branches for the supported lines The global ESI EDS resp XDD parameters are parameters such as manufacturer name and product designation which are identical for every CAN line The general settings and the general optimization settings are meant to set defines in the file cal_conf h to configure the CANopen library See the manual of the library for further information The individual line entries are split into EDS XDD settings e Standard settings Kind of node and optimization e Additional CANopen Settings e Object dictionary 2 2 1 Hardware configurations The CANopen Design Tool can manage several hardware configurations A hardware configuration consists of e Debug Settings Configuration of debug messages CPU Settings Choice and configuration of the CPU or the operating system Compiler Settings Choice and configuration of the used compiler CAN Settings Choice and configuration of the used CAN controller or CAN inter
25. e optional cal_conf h configuration file for the library C code co_init c initialization file for the library C code generated EDS file for a CAN line lt edsFileName gt eds lt edsFileName gt txt description file for the CANopen Device Monitor lt edsFileName gt xdd generated XDD file for a CAN line in XML format lt projectName gt _docu txt documentation as text for implemented objects lt projectName gt html documentation in html for implemented objects userList txt user specific object description optional generate err information file that contains error and warning mes sages Table 3 Generated files The CANopen EDS Editor generates the XDD file the EDS file and as well the docu mentation of the object dictionary C source code is not generated by the CANopen EDS Editor After generation the files the object dictionary for the CANopen source library and a documentation are available If errors occurred the files have not been generated and the errors are listed in generate err 3 2 Profile files Profile files contain parts of an object dictionary with the objects and their attributes The CANopen Design Tool is delivered with a profile that contains all communication Version 2 2 54 CANopen Design Tool Page 19 of 45 pert objects according to the communication profiles If communication objects are set up with the CANopen Design Tool
26. face card one CAN configuration per CAN line By setting the hardware configuration defines in the file cal_conf h are set that configure the Driver Package 2 2 2 Object dictionary The object dictionary is divided into different branches for the separate segments e data types Indices 0001 025F e communication data Indices 1000 1 FFF e manufacturer specific data Indices 2000 5FFF e standardized device profile segment data Indices 6000 9FFF in blocks of 800 e range for DS 405 devices Indices A000 AFFF 1 A standard CANopen device only supports one CAN line The multi line option is a special feature of the company port for implementation of gateway nodes 2 XDD XML Device Description modern EDS replacement Page 10 of 45 CANopen Design Tool Version 2 2 54 pert e reserved area B000 FFFF The division of the area for standardized device profiles into blocks of 800 was carried out under special regard to the multi device profile Operations as doubling identical segments can be implemented simply by the representation of every device profile as a separate segment Further the arrangement of identical segments is possible within the Object Dictionary by means of a C structure by allocation of a common variable name That has special advantages for variable access within the device For example in multi axis devices by switching to another axis with an array index Th
27. iew Options Use special description structures is activated the name for the description structure is derived from the index of the object but not from the name of the object 5 6 Non standard extensions Normally the CANopen Stack sets the COB IDs of PDOs and SDOs after the start of the CANopen application according to the Predefined Connection Set If Options gt Gen erate Options gt Enable non standard extensions is activated an additional function is created in the file co_init c This function overwrites the Predefined Connection Set Additionally the COB IDs defined in the CANopen Design Tool are written to the EDS file This is not compliant to the CANopen specification 5 7 Limitations The optimization configured at the optimization tab of an index can only be used outside of sub segments The reason for this is that sub segments are stored in C structures and it is not possible to assign a storage class to a single member of a structure Page 30 of 45 CANopen Design Tool Version 2 2 54 pert 6 Generation of user specific object descriptions The Design Tool provides format descriptors for the generation of user specific object descriptions in ASCII format for different document types The description template is a text in ASCII Format including format descriptors for object specific information and has to be stored in file list conf in the working directory During the generation of all files
28. ion 2 2 54 CANopen Design Tool Page 11 of 45 pert e data export to profile files e creating of new objects indices e creating of new communication service objects The vendor specific segment has action buttons for e data import from files profile or EDS XDD e data export to profile files e creating new objects indices e creating of a new sub segment For the device profile segment the following actions are possible e data import from files profile or EDS XDD e data export to profile files e creating new objects indices e creating of a sub segment For sub segments the following actions are available e data import from files profile or EDS XDD e data export to profile files e creating new objects indices e configuration of the sub segment 2 4 Forms Forms and input masks simplify the data input Additionally to the following documenta tion there is a online help for each mask available about lt F1 gt 2 4 1 General Settings The general settings are meant to define global device settings With these settings the CANopen library is configured with the help of the file cal_conf h Page 12 of 45 CANopen Design Tool Version 2 2 54 pert F CANopen Design Tool light 2 2 52 0 for Library 4 4 newProject can iy ol xj File Edit Generate Show Options Object Import CAN Merge Help Ose s B Bl Sm 18 r General Settings Mask Structure 1 Optimization General EDS XD
29. is segmentation is also possible for the vendor specific data With these the start of the Ist block as well as the size of the blocks can be parameterized freely A separation of vendor specific and device profile specific blocks is possible if these ones have identical structure The individual branches of the object dictionary contain the CANopen objects These entities are in turn divided into their sub index elements On activation of the individual components in the tree action menus are displayed in the right frame e g for the data import or the accordant object forms 2 3 Action menus The action menus differ for every branch of the object tree Menus are available for e operations for the hardware settings e operations referring to one CAN line e operations referring to the object dictionary e operations referring to communication parameters e operations referring to manufacturer specific parameters e operations referring to device profile parameters Hardware configuration can be e added e copied e deleted e imported and exported One can execute for the individual CAN lines e adding a new line e deleting the whole CAN line For the object dictionary the following actions are available e data import from profile files e data import from an EDS or XDD file e data export to profile files One can execute for the segment with communication parameters e data import from files profile or EDS XDD Vers
30. ll parameter entries are preset For CANopen conform devices one has to define at least the objects e Device Type 1000 e Identity Object 1018 and more The CANopen standard requires these objects There are special menus for the creation of communication parameter These can be reached via the button Add new Communication Service in the action menu of the Com munication Segment Version 2 2 54 CANopen Design Tool Page 25 of 45 pert New Communication Service Select Service PDO Objects v Service Settings PDO Objects Kind of PDO m MPDO Object 4 Receice PDO SDO Objects SYNC Object Transmit PDO _ EMCY Object TIME Object Node Guarding Object PDO start number 1 512 Heartbeat Object Save Restore Object SRDO Object Number of PDOs 1 512 T m max Mapping Entries 1 64 Figure 8 dialog to create new communication services For each CANopen service e g PDOs these menus are prepared On this menus the user has only to make design decisions No knowledge about the encoding and the contexts between communication objects is necessary 4 4 1 Parameterization For parameterization of communication variables the mask view can be used With these forms the parameterization of more complex data like PDO parameter and PDO mapping is very easy 4 5 Generation of source code When the button Generate is pressed the object dictionary implementation
31. more the variable can be commented This comment will be a part of the documentation for this object The parameters for sub indices contain an object name for record or array members size and type and access permissions For each a unit can be assigned If application specific data types for records are used they have to be defined in the data type section of the object directory in advance of their usage Page 24 of 45 CANopen Design Tool Version 2 2 54 pert Import File EI Select objects 1 3 6000 Read State 8 Input Lines aA 6002 Polarity amp Input Lines J ao 6003 Filter Constant 6 Input Lines ei J 6005 Enable Digital Input Interrupts 6 9 6006 Input Interrupt Mask 8 any change ao 6007 Input Interrupt Mask 8 low to high ao 6006 Input Interrupt Mask 6 high to low ao 6020 Read State 1 Input Line 1 126 ao 6030 Polarity 1 Input Line 1 126 m a RNA Cikar Canetant 1 Innit linen 1 1092 f Index Offset Ox080q Import Cancel Figure 7 import mask for profiles 4 3 1 Parameterization of application variables The parameterization of application variables is done in the structure view for the sub index elements 4 4 Communication variables For definition of communication variables the same mechanism is possible as described for the application variables Additionally the necessary data are loaded from the com munication object database That means the structure of the created variables is already defined and a
32. n Design Tool it cannot be opened again with an older version 10 3 Existing projects Version lt 2 0 Existing projects that can be converted consist of a CANopen Design Tool project from release 1 5 to 1 7 2 and of a cal_conf h file of the CANopen Library release 4 3 The object dictionary and the EDS settings are extracted from the old CANopen Design Tool project and the hardware and library configuration is taken from the file cal_conf h Version 2 2 54 CANopen Design Tool Page 41 of 45 pert 10 3 1 The project converter CANopen DesignTool Project Converter 0 9 Old project directory projects diglO design al Old cal_conf h file Iprojects diglO cal_confh al New project file projects digiO design digiO can al Path to CANopen Design Tool opt software porl CANopenDesignTool4 al Convert Exit Figure 12 the project converter The project converter dtConv exe resp dtConv on Linux can be used without installa tion After the start the mask shown above appears When having entered the paths correctly into their entries the conversion can be started by pressing the Convert button If the path to the current CANopen Design Tool is not correct or if it is not installed the project cannot be converted Before the conversion the profiles of the new CANopen Design Tool are imported and it must be specified which profiles had been used in the existing project Select
33. n menu consists of the following entries File Via the menu option File the projects are created loaded and closed Fur ther in this menu the program can be terminated Edit The menu options below Edit are meant to copy cut or paste objects in the object dictionary Generate By selecting the menu option Generate all Files within the menu Generate the Object Dictionary electronic device description the initialization file co_init c and the configuration file cal_conf h is generated If Generate Documentation is selected the documentation in HTML and as plain text will be generated Show Via the menu option Show all the generated files can be viewed The HTML Documentation is displayed with the standard browser Options The Options menu organizes the options for the following e Generation of electronic device descriptions e View of the Object Dictionary tree with EDS names or variable names e Choice of standard or special names for object description structures e Default selection of mask or structure view for objects e Object description structures e object c generation e Font configuration View options are saved user specific in the registry or in a rc file under Linux and generation options are saved project specific in the project file Help In the Help menu the help for the current mask or the manual can be viewed It is shown in the standard browser JO ae Els Balm 8 Figure 2 Toolbar The toolbar below the menu provi
34. optimization view provides access to the optimization parameter of the objects These optimizations only affect the generated C and H files Storage Class defines the storage class of the object Valid values depend on the compiler Create Variable If this is set the variable will be created Otherwise it is declared as extern in the file objects h if create extern declaration is set Same Structure for all Subs By setting this option the Short Description Parameter will be set in the variable s description structure only relevant for arrays Constant Value Description Structure This declares the description structure as constant If it changes during run time the structure may not be constant Virtual Object If an object is marked as virtual object it will not appear in objects h but in the documentation and in the EDS This attribute is only available for objects within the Version 2 2 54 CANopen Design Tool Page 17 of 45 pert manufacturer specific segment or the device profile segment Create Type Definition This attribute is only available at user defined data types and enables the type defini tion for this data type in the file objects h Constant default value By setting this attribute the default value of this object will be stored in a constant array Constant limits By setting this attribute the limits of this object will be stored in a constant array Limits and default values are mostly constant
35. pert CANopen Design Tool CANopen EDS Editor User Manual File Edit Generate Show Options OC E Bs Wl Ef Hardware Configuration B Configuration TMS320F 2612 A Debug Settings CANopen CPU Settings Compiler Settings dee foun CAN Settings 0 F f Sub Index 00 PDO Mapping E E Line o EDS Name digital Inputs 1 8 EDS Settings pla Data Type REGNEDE gt Access ReadOnly Additional Settings i gt A E Object Dictionary Size PO Lower Limit joao Data Types Unit f Value wa foo B A Communication Segment Upper Limit OXFF E 1000 Device Type E 1001 Error Register E 1017 Producer Heartbeat Time 0iLimitsiiniEDS file El 1018 Identity Object Default Values Reset ra 1800 Transmit PDO Communicat E 1400 TPDO Mapping Parameter A Manufacturer Segment G Device Profile Segment E fm 6000 Read State 8 Input Lines 5 000 Number of Elements 8 001 digital Inputs 1 8 W DefaultValue in EDS file hex port GmbH Halle 2014 01 13 CANopen Design Tool Version 2 2 54 pert Disclaimer All rights reserved The programs boards and documentations supplied by port GmbH are created with due diligence checked carefully and tested on several applications Nevertheless port GmbH can not take over no guarantee and no assume del credere lia bility that the program the hardware board and the documentation are error free respec tive are suitable
36. ructure 4 amp 02 avs amp we 2 oa 19 Sills Pr jectfil wc rc e ss amp ee eS ee TY 3 1 2 Generated files 2 lt a ee eee pe I Version 2 2 54 CANopen Design Tool Page 3 of 45 pert 3 2 Profile files 3 2 1 Profile CiA 443 SUS level 2 devices 4 Project editing 4 1 Beginning a project 4 2 Hardware configuration 4 3 Application variables 4 3 1 Parameterization of application variables 4 4 Communication variables 4 4 1 Parameterization 4 5 Generation of source code 4 6 Variables 4 7 Expressions 4 8 Post Generation command 5 Special cases 5 1 Range checking for variables 5 2 Grouping of indices in sub segments 5 3 Manufacturer structures data types 5 4 Predefined symbols 5 5 Special names of object descriptions structures 5 6 Non standard extensions 5 7 Limitations 6 Generation of user specific object descriptions 6 1 Format descriptors 6 2 Example for HTML documentation 6 3 Example for Tcl scripts 7 CAN Merge PlugIn 7 1 Project View 7 2 Detail View 8 CSV Import PlugIn 19 20 23 23 23 24 25 25 26 26 26 27 27 29 29 29 29 30 30 30 30 31 31 32 33 35 35 36 37 Page 4 of 45 CANopen Design Tool Version 2 2 54 pert 8 1 Usage a7 8 2 Examples 38 9 Different versions 39 9 1 Standard version 39 9 2 Light version 39
37. s the used com piler can be selected For each line the CAN controller or the PC CAN Interface must be configured This can be done at CAN Settings There the CAN controller family must be chosen at first and then the particular CAN controller type can be set Detailed informa tion about each attribute at these form can be found at the context help If the application shall be used on different hardware plattforms more than one hardware configuration can be created If no configuration is marked as active the define CON FIG_USE_TARGET_x must be set to 1 in the makefile or in the compiler 4 3 Application variables Definition of application variables is the creation of objects with indices in the range of 2000 5F FF for manufacturer specific profiles or in the range of 6000 9FFF for standardized device profile objects There are two ways for the definition e loading from a profile e creation by hand The first way is easier Certain objects can be selected by means of their index from an profile Databases for the standardized CANopen device profiles are available from port If a database doesn t exist yet all entries can be created by hand It is distinguished in parameter for the index and for parameter describing the sub index The index parameter defines the structure of the variable That means their type kind Variable Array Record Domain the number of sub indices the C variable name and an object name Further
38. t an index return an empty string Examples fiir the usage of these variables can be found at the SDO or PDO objects in the communication profile 4 7 Expressions The expressions allow the usage of variables and mathematical operators Inside of the braces variables constants decimal hexadecimal and the operators and can be used Examples for valid object names with expressions e output i 0x100 e state p 100 at device l 4 8 Post Generation command At Generation Post Generation Settings the post generation command can be config ured The post generation command is executed after the generation of the output files The command may be a shell script or a batch file or you may run e g make all or start an arbitrary executable file e g the EDS checker or your compiler The output of the command is written into the file generate err Version 2 2 54 CANopen Design Tool Page 27 of 45 pert Page 28 of 45 CANopen Design Tool Version 2 2 54 pert 5 Special cases This chapter describes some special cases for object dictionary generation The CANopen Design Tool supports the generation of object dictionary implementations for the single line release and the multiple line release of the CANopen library of port The following special cases are used for the optimization of the implementation 5 1 Range checking for variables Entries are set up as a default
39. ter reset Correspoding ObjFlags setting in XDD x Table 2 Elements of the structure view for Sub indices All items marked with an asterik are rarely used and can be hidden via Options gt View Options gt Hide EDS XDD flags Within the Object Name and Name entries internal variables can be used They will be replaced with the their current value at generation E g s stores the value of the current sub index and an XDD name like Output s will be replaced with Output 0 Output Is or Output 254 With these substitutions it becomes much more easier to copy or duplicate objects All variables are described in section variables in chapter 4 7 Page 16 of 45 CANopen Design Tool Version 2 2 54 pert Mask Optimization Main Index CANopen Add new Sub Index Index Name p301_n f_tpdo_para Data Type Object Code EDS Name Transmit PDO Communication Parameter f Description It contains the communication parameters of the current PDO the device is able to transmit Sub index 0 contains the number of PDO parameters implemented Sub index 1 describes the COB ID If bit 31 is set the PDO is disabled The transmission mode is defined by sub index 2 An inhibit time can be defined on sub index 3 in 100 us At the Sth sub index an event time for asynchron pdos can be defined Reset Figure 4 structure view of an object 2 4 10 Optimization view The
40. the context help of the optimization tab at an index Please regard that the set tings for the object will only be updated if the settings in this mask are changed E g Create Variable is set for all objects but for one object it is deactivated manually If you want to set Create Variable for all objects again you have to deselect it and leave this form and re enter and reset it again Now at all objects Create Variable is set again 2 4 7 Additional CANopen Settings The additional CANopen settings are meant to configure additional CANopen services that are beyond the normal library services Please have a look into the library s manual and into the context help for further information 2 4 8 Mask view These forms are a wizard for the communication parameters In this way the input of the parameters is facilitated since the bit values coded are converted into text outputs Con tiguous entities are also parameterized transparently for the operator Please regard that the mask view is only available for some objects 2 4 9 Structure view The structure view is the universal editor with that all entity parameters can be changed It is distinguished into a view for the index parameters and one for the sub index parame ters Page 14 of 45 CANopen Design Tool Version 2 2 54 pert Name Description Index Number of index hexadecimal Name Name of global C variable Data Type data type according to C
41. the description template is applied to each object The Design Tool stores the object list in the file userList txt in the working directory 6 1 Format descriptors The Design Tool supports the following format descriptors format description descriptor a access type RO WO RW RWW RWR CONST D refuses write on download 0 not valid 1 valid od data type according to CiA 309 3 example u32 he EDS name of the object index WF default value in EDS valid O not valid 1 valid og size in bytes in decimal format example 12 Jol object index in hexadecimal format without prefix example 1A00 i object index in decimal format example 4096 PL line number in hexadecimal format without prefix example A l line number in decimal format example 12 M limits in EDS valid O not valid 1 valid m lower minimum limit e for numerical objects in hexadecimal format with prefix Ox example OxFFFFFFFF e for string objects lt empty string gt Jon name of the object index in C code op PDO mapping allowed 0 not valid 1 valid O refuses Read on scan 0 not valid 1 valid PR valid after reset O not valid 1 valid PS sub index in hexadecimal format without prefix example A os sub index in decimal format example 12 T description of the object Take note that the Design Tool can not convert special characters because it does not know the
42. the entries will be loaded automatically from this profile Additionally to the communication object data base profile files for other CANopen device profiles are available from port By means of these profiles standard applications can be implemented in shortest time For demonstration purpose some device profile data bases are delivered with the CANopen Design Tool Objects from such a device profile data base can be imported but without a valid license for this data base the output cannot be created To order a license for a device profile please contact service port de service port de If parts of a project are to be used in later projects the data can be exported into a sepa rate file 3 2 1 Profile CiA 443 SIIS level 2 devices profile database file profile443_v2_1_0 pro availability licence necessary reference to CiA standard CiA 443 V2 1 0 The profile database for the CiA 443 provides the profile specific data types and objects with except for object 6010h p443_cpu_clock_time_and_date The profile specific data types are dependent on the number of channels or valves which can be different for various objects The Design Tool generates special C structures for the sub indices which are depending on channels or valves to provide an effective access on the objects in C code All structure definitions are stored in the generated file objects h Example data type 0082h 12 CHANNEL METAL LOSS The data type is
43. to serve the special purpose In particular performance characteristics and technical data given in this document may not be constituted to be guaranteed product features in any legal sense For consequential damages which are emerged on the strength of use the program and the hardware boards therefore every legal responsibility or liability is excluded port has the right to modify the products described or their documentation at any time without prior warning as long as these changes are made for reasons of reliability or technical improvement All rights of this documentation lie with port The transfer of rights to third parties or duplication of this document in any form whole or in part is subject to written approval by port Copies of this document may however be made exclusively for the use of the user and his engineers The user is thereby responsible that third parties do not obtain access to these copies The soft and hardware designations used are mostly registered and are subject to copy right CANopen is registered trademark licensed by CiA CAN in Automation e V Germany EtherCAT is registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany We are thankful for hints of possible errors and may ask around for an information We will go all the way to verify such hints fastest Copyright 2014 port GmbH Regensburger Stra e 7 D 06132 Halle Tel 49 345 777 550 Fax
44. ure lt typedef struct UNSIGNED8 UNSIGNED32 UNSIGNED32 numOfEntries lt siUnitMetalLoss lt siUnitTemperature lt P443_ CHANNEL METAL _LOSS_T chan 2 lt P443_12_ CHANNEL METAL _LOSS_2_T channel sector channel sector channel sector channel sector channel sector channel sector 2 channels is oo TY VD OD metal loss temperature metal loss temperature metal loss temperature number of entries SI unit for metal loss SI unit for temperature channels The condition for the generation of channel dependent data types is the setting of the pro file number in object 1000h p301_device_type or in object 67FFh single_device_type for multiple logical devices The names of the C structure elements are fixed The C names of the P443 objects on Tab Structure for the Main Index have to be modi fied by a repeated import without usage of segmentation Version 2 2 54 CANopen Design Tool Page 21 of 45 pert Page 22 of 45 CANopen Design Tool Version 2 2 54 pert 4 Project editing This chapter describes the working flow for creating and editing projects The order of the flow is not mandatory but very useful Basic parameter like the number of CAN lines and the kind of the device Slave or Master should be clear at the beginning of the devel opment The necessary steps are the following e
45. y the communication profile for safety relevant communication CiA 304 is available Profile databases are optionally available for various device pro files for example digital I O devices according to CiA 401 or drives according to CiA 402 The created Object Dictionary supports numerous options of the CANopen library from port Such as several CAN lines multiple lines and segment structuring A tree repre sentation of all implemented parameters and data eases the maintenance of device soft ware With the CANopen Design Tool the beginning with the CANopen protocol is less difficult and the development of a device is accelerated 1 2 Product Delivery The scope of delivery of the CANopen Design Tool e User Manual e software for CANopen Design Tool e data bases for device profiles optional All components are available for download H This manual also covers the CANopen EDS Editor For users of the CANopen EDS Editor some masks and generated files are not available Itis stated in each section of the manual if the information is applicable only for the CANopen Design Tool or also for the CANopen EDS Editor 1 3 System requirements The CANopen Design Tool runs on PC s with Microsoft Windows or Linux Operating System Windows 2000 Windows XP Vista Windows 7 Linux Processor Pentium IV or later RAM 512 MByte Version 2 2 54 CANopen Design Tool Page 7 of 45 pert Hard disk Space 45 MByte 1 4 Installation
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