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Moxa IA261-I-CE

1. The Moxa IA262 CE comes with dual CAN ports as well as the CANopen protocol library support This chapter will guide you on how to use the CANopen library to program CAN communication applications The following topics are covered in this appendix LI CANopen Introduction LI Using Dictionary Editor GUI Q Function Description 1A261 262 WinCE User s Manual CANopen Library CANopen Introduction CANopen is a field bus protocol based on the Controller Area Network CAN As the name implies it is a open network standard accepted throughout the world While created as a field bus protocol for industrial automation CANopen finds use in a wide range of other non industrial applications There are so many possibilities in fact that it is possible to write volumes on specialized uses of the protocol Rather than being specific to one narrow application or even one field we present here a more generalized approach a generic communication stack based on CANopen that can be tailored to the user s needs This article focuses only on what is covered in the CAN in Automation CiA standard DS 301 In fact most of the discussion is limited to the predefined areas of the specification with emphasis on understanding how the code provided with this application note functions and how users might develop an application on the CANopen Stack CANopen defines protocols for the following tasks e Configuring a CAN network e Transmitting data t
2. The computer reboots itself Cold Start Switch off and then switch on the power again The computer reboots itself right away Reset to Factory Defaults Configuration only If the computer is not working properly and you want to reset it back to factory default settings press and hold the Reset button for 5 seconds in the OS start up state The buzzer sounds while the factory default settings are loaded After the factory default has been loaded the computer reboots itself Do not confuse this with the Warm Start Reset to Factory Defaults Configuration and file system If the computer cannot be started up You must go to the Boot Loader and format the storage flash After the formatting procedure done you should restart it Boot Loader For the OS stability issue we provide an easy and useful function for you There are three important functions in it 1 Reset to default you can enforce the WinCE 6 0 to do the reset to factory default 2 Format storage flash Cause the CE 6 0 file system is the FAT and we know FAT could be damaged by unstable power or improper application execution If the FAT table is crashed you should not start the OS up But we can format the file system and reboot A26X CE At the IA26X CE startup it will check the file system and re partition it if the file system is empty 3 Firmware upgrade If you found a new firmware from Moxa web site you can upgrade the firmware by the fu
3. s Manual CANopen Library int _tmain int argc TCHAR argv set canbus port and baud rate s_BOARD MasterBoard 2 1000K create canopen if moxa_canOpen amp MasterBoard amp Slave_Data set slave state to pre operational moxa_setState amp Slave_Data Pre_operational modify Client SDO 1 Parameter mapping to dictionary the default node id is 0x05 UNS32 COB_ID_Client_to_Server_Transmit_SDO 0x605 UNS32 COB_ID_Server_to_Client_Receive SDO 0x585 UNS8 ExpectedSize sizeof UNS32 moxa_setODentry amp Slave_Data 0x1200 1 amp COB_ID_Client_to_Server_Transmit_SDO amp ExpectedSize RW moxa_setODentry amp Slave_Data 0x1200 2 amp COB_ID_Server_to_Client_Receive_SDO amp ExpectedSize RW while 1 wait for master s command return 0 B 39
4. 262 WinCE ready to run embedded computers are network centric head less computers that are designed to be programmable for embedded communication applications The following are the software features of A26X CE Applications Development Environment To make IA26X CE an easy to use programming environment its Windows CE environment provides the following common popular application development features that make programming convenient and easy as in a PC environment e C Libraries and Run times Compared to the C libraries and run times used on a desktop PC running Windows the C libraries and run times on a IA26X CE is a subset of the WIN32 APIs It supports full ANSI C run time standard input output library standard input output ASCII library and standard ASCII string functions In addition it supports compiler C exception handling equivalent and Run Time Type Information RTTI equivalent to the desktop C compilers e Component Services COM and DCOM The Common Object Model COM is an operating system independent object oriented system for creating binary software components that can interact with other COM based components in the same process space in other processes or on remote machines e Microsoft Foundation Classes MFC MFC is a comprehensive class library and complete object oriented application framework designed to help build applications COM components and controls e SOAP Toolkit SOAP is an XML based pr
5. Data Types 0080 009F Device Profile Complex Data Types QOAO OFFF Reserved 1000 1FFF Communication Profile Area 2000 5FFF Manufacturer Specific Profile Area 6000 9FFF Standardized Profile Area A000 FFFF Reserved The CANopen library comes with the following tool Object Dictionary Editor GUI This tool helps a lot in generating object dictionary source code for each node Developing a new node Creating a new CANOpen node implies defining the Object Dictionary of this node To do that the developer must provide a C file that contains the definitions of all dictionary entries and an index table that helps the stack access some entries directly 1 Using Dictionary Editor GUI The Object Dictionary Editor is a WxPython based GUI that is used to create the C files needed to create a new CANOpen node B 4 1A261 262 WinCE User s Manual CANopen Library 2 Main view The top list lets you choose a dictionary section The bottom left list is the index selected from that dictionary and the bottom right list contains edited sub indexes RW Objdictedit TestMaster File Edit Add Help TestMaster 0x1400 0x15FF Receive PDO Parameters 0x1600 0x17FF Receive PDO Mapping Ox1800 0x19FF Transmit PDO Parameters Ox1400 0x1BFF Transmit PDO Mapping Ox1COO Ox1FFF Other Communication Parameters 0x2000 0x5FFF Manufacturer Specific Ox6000 O0x9FFF Standardized Device Profile OxA
6. System Manager OK General Processes Services COM Ports Disslay Auto Launch User Group Ftpd teInetd administrators Remove General Processes Services COM Parts Display Auto Launch User Group Change Password User admin Current Password ee New Password Gen Confirm Password 3 7 1A261 262 WinCE User s Manual Management Tools Auto Launch Configuration You can specify programs to execute automatically after booting up Click Add button to add the program and restart A26X CE to execute these programs System Manager General Processes Services COM Ports Display Auto Launch User Group Name Parameter ce_neci exe d i S 3 8 1A261 262 WinCE User s Manual Management Tools Web Server Configuration You need a Windows 2000 or Windows XP for Web administration Try to open a IE and go to URL http 192 168 3 127 WebAdmin e g the A26X CE network IP address is 192 168 3 127 After the logon information you could see the standard Web server Administration page F Weh Server Configuration Micrnsnft Internet Explorer IZO MHO VAD MKD TAD NID G O HAG Hee kan O S P a lha REO Eu 2 Home lastuctions Logging SSL Coefiraateon Restart Web Server Web Server Configuration The Web Server Administration WebAdmin page for the Windows CE Web Server enables you to remotely
7. Use the function to process receiving NMT Node Guarding request from the master e Syntax void moxa_proceedNODE_GUARD CO_Data d Message m e Parameters d input Node handle pointer m input CAN message structure typedef struct SHORT_CAN cob_id PID du mesg UNS8 rtr remote transmission request 0 if not rtr 1 for a rtr message UNS8 len message length 0 to 8 UNS8 data 8 data zi Message e Return Values None 1A261 262 WinCE User s Manual 5 moxa_masterSendNMTstateChange The function is used to change the state of a slave e Syntax UNS8 moxa_masterSendNMTstateChange CO_Data d UNS8 Node_ID UNS8 cs e Parameters d input Node handle pointer ID input Slave device Node ID 1 127 Set this parameter to 0 to indicate all slave devices cs input NMT command specifier 0x01 Start 0x02 Stop 0x80 PRE OPERATIONAL 0x81 Reser Node 0x82 Reset_Communication e Return Values 1 success 0 Fail 6 moxa_masterSendNMTnodeguard Master sends the Guarding message to slave device e Syntax UNS8 moxa_masterSendNMTnodeguard CO_Data d UNS8 nodeld e Parameters d input Node handle pointer CANopen Library nodeld input Slave device Node ID 1 127 Set this parameter to 0 to indicate all slave devices e Return Values 1 success 0 Fail 7 moxa_masterRequestNodeState Use the function to indicate that the master is waiting for a Node_Guard frame fro
8. administer your Web server using your Web browser Use WebAdmin to manage the accessibility security and file sharing features of your Web server including the following tasks e Configure which files are shared and how they are accessed o Configure which users have access to which files Configure the authentication protocols the Web server will use View and configure the Web server log Caution Incorrectly configuring the Web server increases the likelihood a hacker could gain control of your Windows CE device and the likelihood that the system will be inaccessible The Web server configuration is intended for advanced users only For more information refer to the help topics included with the Web server of consult a System Administrator Choose a Web site A Web server can contain multiple Web sites You can configure a variety of options for each Web site created on your Web server including virtual directories authentication and directory browsing For more information see configuring Web sites If you do not have multiple Web sites all requests will be processed on the Default Web site Select an existing Web site os creale a new one Default Web site Mo gy Create a new Web site Windows CE Version 50 Bed Version 1400 Session 1400 2000 2002 Miceazoft Corporation AS nights reserved In this administration page you can create a new web site or create a virtual web path for your web application F V
9. amp size printf device name s n device_name size sizeof hw_ver res ReadSDO node_id 0x1009 0 visible_string hw_ver amp size printf HW version s n hw_ver size sizeof sw_ver res ReadSDO node_id 0x100A 0 visible_string sw_ver amp size printf SW version s n sw_ver size sizeof vendor_id res ReadSDO node_id 0x1018 1 uint32 amp vendor_id amp size printf vendor id d n vendor_id size sizeof prod_code res ReadSDO node_id 0x1018 2 uint32 amp prod_code amp size printf product code d n prod_code size sizeof ser_num res ReadSDO node_id 0x1018 4 uint32 amp ser_num amp size printf serial number d n ser_num B 37 1A261 262 WinCE User s Manual CANopen Library else wprintf TEXT ERROR Object dictionary access failed n else wprintf TEXT ERROR node_id d is not responding n node_id moxa_masterSendNMTstateChange amp master_Data 0 NUT_Stop_Node moxa_setState amp master_Data Stopped moxa_canClose amp master_Data return 0 Configure Slave node include lt windows h gt include lt commctrl h gt pragma comment lib CANopen lib extern C include lt moxa canopen h gt include Slave h this file is generated by Dictionary Editor GUI include lt moxa devices h gt B 38 1A261 262 WinCE User
10. are listed as below e Simple Network Management Protocol SNMP Monitors remote connections to the network e Simple Network Time Protocol SNTP Client Provides support for synchronizing the device s system time with a SNTP server and supports Daylight Saving Time e Serial Communications In addition to the 16550 UART driver bound to a debug port and the console port it includes a special driver for 8 additional Moxa home made serial ports 1 6 1A261 262 WinCE User s Manual Introduction e Network Utilities IpConfig Ping Route Utilities for troubleshooting various network problems e TCP IP Includes IP Address Resolution ARP Internet Control Message ICMP Internet Group Membership IGMP Transmission Control TCP User Datagram UDP name resolution and registration and DHCP Supporting Servers and Daemons In addition to the development and communication capability A26X CE embeds the services and daemons as stated next These common and easy to use application servers help users to migrate the IA26X CE embedded computer to the industrial communication application very easily and conveniently e Telnet Server A sample server that allows remote administration through a standard telnet client e FTP Server A sample server used for transferring files to and from remote computer systems over a network using TCP IP e File Server The File Server functionality in Microsoft Windows CE enables
11. mask Oxffftffff IOCTL_CAN_WRITE_ACCEPTANCE_FILTER Done 3 Management Tools The IA26X CE series ready to run embedded computers are network centric platforms and are designed to serve as excellent front ends for data acquisition and industrial control Due to the distributed characteristics of the devices that these computers control they often reside in harsh areas as the devices themselves and are away from system administrators To manage these computers operations such as networking server configuration file management and process thread monitoring control become a critical area to consider To resolve these management issues and accordingly reduce the toil of system administration a management system is installed into the IA26X CE computer Before operating the system please make sure you have a CRT or LCD monitor connection to your IA26X CE embedded computer Then double click the desktop icon System Manager The following topics are covered in this chapter System Information Serial Port Configuration Process Thread Monitoring Control Services Monitoring Control Display User Group Management Auto Launch Configuration Web Server Configuration OOOOOOOD 1A261 262 WinCE User s Manual Management Tools System Information The first page displays the system information of the A26X CE computer including the firmware version of the computer Net CF version the system time and system resource
12. outside of the communication object and is directly connected to the SDO endpoint B 2 1A261 262 WinCE User s Manual CANopen Library Application Application Application object object Application Application Application object object object Penny Hearbeat Node guard Boot up CAN Driver Figure 1 CANopen framework The CANopen specification defines several possible endpoints The five endpoint objects listed below are implemented in this protocol others may be made available in the future e The Server SDO e Four Static PDOs e Synchronization Consumer e Network Management Slave e Node Guard or Heartbeat SERVER SDO COMMUNICATION The default server SDO Service Data Object is provided The SDO communications path is directly linked to the object dictionary SDO messages contain information that relates the SDO to a particular object Data in every message is decoded validated and if valid eventually executed There are essentially two basic operations read and write Thus each complete SDO transfer which may be multiple messages will either read or write a single object referenced in the dictionary PDO COMMUNICATION The PDO Process Data Object communications path is linked directly to the applicable application object or objects Thus the path is assumed by the device and no path information is contained within the communication Essentially the data is mapped internally to one or more objects D
13. signal support Dynamic video memory share system memory 1024 x 768 8 bit 800 x 600 16 bit 640 x 480 24 bit CRT interface for VGA output DB15 female connector Auto sensing 10 100Mbps x 2 RJ45 built in 1 5KV magnetic isolation protection TA261 RS 232 422 485 x 4 software selectable TA262 RS 232 422 485 x 2 software selectable RS 232 signals TxD RxD DTR DSR RTS CTS DCD GND RS 422 signals TxD TxD RxD RxD GND 4 wire RS 485 signals TxD TxD RxD RxD GND 2 wire RS 485 signals Data Data GND built in ISK V ESD protection for all signals 2K V optical isolation protection 5 6 7 8 1 1 5 2 None Even Odd Space Mark RTS CTS XON XOFF RS 485 ADDC 50 bps to 921 6 Kbps supporting non standard baudrates D Sub male 9 pin connector CAN Communication IA 262 only Interface CAN Controller Signal Protocol Protection Speed Connector Type Digital Input Input Channels Optically isolated CAN2 0A 2 0B Compliant ports x 2 Phillips SJA1000T CAN H CAN L Support CANopen library 2KV optical isolation protection 10Kbps to 1Mbps D Sub male 9 pin connector 8 source type 1 4 1A261 262 WinCE User s Manual Introduction Digital input levels Protection Connector Type Digital Output Output Channels On state Voltage Output Current Rating Protection Connector Type LEDs System LAN Serial Power Requirements Power Input Power Consumpti
14. to view a list of functions gt route To view current routing items in the tables gt route PRINT To add a routing item on network interface 1 gt route ADD 192 168 0 0 MASK 255 255 0 0 192 168 15 254 IF 2 2 7 1A261 262 WinCE User s Manual Getting Start To delete a routing item gt route DELETE 192 168 0 0 Simple Network Management Protocol SNMP SNMP is the Internet Standard protocol for network management and part of the TCP IP protocol suite SNMP was developed to monitor and manage networks It uses a distributed architecture that consists of agents and managers SNMP agent The SNMP agent is an SNMP application that monitors network traffic and responds to queries from SNMP manager applications The agent also notifies the manager by sending a trap when significant events occur SNMP Manager An SNMP manager is an SNMP application that generates queries to SNMP agent applications and receives traps from SNMP agent applications The IA26X CE computer installs an SNMP agent to serve as an SNMP device You should install the SNMP manager on the workstation computer for example a Linux system that monitors the network After installing the nodes you need to configure the SNMP manager and agent To check SNMP agent capabilities in a target IA26X CE e g network IP at 192 168 3 127 computer please logon the workstation computer that for example a Linux based computer the SNMP manager resides
15. 000 OxBFFF Standardized Interface Profile Ox1000 Device Type Have Callbacks Ox1001 Error Register Ox1005 SYNC COB ID subindex name type value ES 0x1006 Communication Cycle Period 0x1010 Store parameters 0x00 Number of Entries INTEGERS 4 Read Only 0x01 Restore All Default Parameters INTEGER32 Oxoo000000 Read Write 0x02 Restore Communication Default Parameters INTEGER32 Oxoo000000 Read Write 0x03 Restore Application Default Parameters INTEGER32 Oxoo000000 Read Write 0x04 Restore Manufacturer Default Parameters INTEGER32 Oxoo000000 Read Write D 6 er He Ox1018 Identity Add CIR Index Ox1011 Subindex 0x00 Restore Default Parameters Optional entry of struct ARRAY it Add Help HRA Add Help Help New CTRLN Refresh CTRL R sg SDO Server Open CTRL 0 SS Undo CTRL Z DO Client e ia PDO Transmit Import EDS file Node infos FOO Receive Export fi DS 301 Profile f Bald Dicti ree SEN d J Map Yariable Exit ther Profi User Type 3 Create new node Edit your node name ID and type Choose your specific inherited profile 1A261 262 WinCE User s Manual CANopen Library Create a new Node E L T Emergency support F Save Configuration 4 Node info Edit your node name ID and type Node Infos B 6 1A261 262 WinCE User s Manual CANopen Library 5 Profile editor Choose the profile to Edit DA Add H
16. 1A261 262 WinCE User s Manual Second Edition April 2009 www moxa com product MOXA 2009 Moxa Inc All rights reserved Reproduction without permission is prohibited 1A261 262 WinCE User s Manual The software described in this manual is furnished under a license agreement and may be used only in accordance with the terms of that agreement Copyright Notice Copyright 2009 Moxa Inc All rights reserved Reproduction without permission is prohibited Trademarks MOXA is a registered trademark of The Moxa Inc All other trademarks or registered marks in this manual belong to their respective manufacturers Disclaimer Information in this document is subject to change without notice and does not represent a commitment on the part of Moxa Moxa provides this document as is without warranty of any kind either expressed or implied including but not limited to its particular purpose Moxa reserves the right to make improvements and or changes to this manual or to the products and or the programs described in this manual at any time Information provided in this manual is intended to be accurate and reliable However Moxa assumes no responsibility for its use or for any infringements on the rights of third parties that may result from its use This product might include unintentional technical or typographical errors Changes are periodically made to the information herein to correct such errors and these
17. ET AE E 3 8 Web Server Confisuration rim eein viene AE Ee DEE eer 3 9 Firmware Upgrade Procedure ssssesssseeeeseeeenssenenneceeeseensesseeeeeeeonenees A 1 CANopen E MR Ee B 1 CANopen Totrodnetep geed NEE degkeet ane B 2 Using Dictionary Editor GIL tt enee siege eener aeea aeae Seed aenea eap Suter BA Function Descriptions ee ernea pei eea TRKE SEE REE AO e e A EAE E ES B 9 1 Introduction Microsoft Windows CE 6 0 is an open scalable 32 bit operating system OS that allows you to build a wide range of innovative small footprint devices A typical Windows CE based device is designed for a specific use and often runs disconnected from other computers or distributed as a front end to a centralized host Examples include enterprise tools such as industrial controllers communications hubs point of sale terminals and display devices such as HMI advertisement appliances and interactive panels Moxa pays attention to the requirements of Windows developers to provide the Windows CE solution for the Moxa IA261 262 series ready to run embedded computer including A261 CE and IA262 CE The Moxa professional kernel development experience on embedded small footprint communication devices provides the intense technological skills required while porting the Windows CE 6 0 kernel The following topics are covered in this chapter Overview Model Descriptions and Package Checklist Product Features Product Hard
18. The directory created for the second plugged in USB device is USBDisk2 1 8 1A261 262 WinCE User s Manual Introduction RS 232 422 485 Serial Ports The I A261 CE computer comes with 4 high performance serial ports named COM1 COM2 COM3 and COM4 And the IA262 CE computers has 2 high performance serial ports only named COM1 and COM2 all of them are designed to provide reliability high speed and 3 in 1 i e RS 232 RS 422 and RS 485 operation mode switch for your diverse applications Each of these ports supports baud rate settings up to 921600 bps CAN Ports IA262 Only The IA262 CE computer embedded two CAN ports The CAN Controller Area Network is a serial communication protocol which efficiently supports distributed real time control with a very high level of security It is especially suited for networking intelligent devices as well as sensors and actuators within a system or sub system In CAN networks there is no addressing of subscribers or stations in the conventional sense but instead prioritized messages are transmitted As a stand alone CAN controller A262 CE represents an economic solution within two independent CAN bus communication ports with a 9 pin D sub connector It can be used as master slave function to cover a wide range of CAN applications 1 9 2 Getting Start In this chapter we explain how to operate an I A26X CE computer via a PC
19. UNS32 abortCode 0 B 33 1A261 262 WinCE User s Manual CANopen Library UNS8 res SDO_UPLOAD_IN_PROGRESS Read SDO UNS8 err moxa_readNetworkDict amp win32test_Data nodeld index subIndex dataType if err return OxFF for res moxa_getReadResultNetworkDict amp win32test_Data nodeld data size amp abortCode if res SDO_UPLOAD_IN_PROGRESS break Sleep 1 continue moxa_closeSDOtransfer amp win32test_Data nodeld SDO_CLIENT if res SDO_FINISHED return 0 return OxFF int _tmain int argc TCHAR argv UNS8 node_id 0 loop 0 indicate canbus port and baudrate s_BOARD MasterBoard 1 1000K int i 0 B 34 1A261 262 WinCE User s Manual CANopen Library process command line arguments if argc lt 3 wprintf TEXT USAGE master lt slave s node_id gt n return 1 node_id _wtoi argv 1 if node_id lt 2 Il node_id gt 127 wprintf TEXT ERROR node_id shoule be gt 2 and lt 127 n return 1 if moxa_canOpen amp MasterBoard amp master_Data Defining the master node Id moxa_setNodeld amp master_Data 0x01 set the master in operational mode moxa_setState amp master_Data Operational Ask all slave node to go in operational mode moxa_masterSendNMTstateChange amp master_Data 0 NMT_Start_Node B 35 1A261 262 WinCE User s Manual CANopen Lib
20. _readNetworkDictCallback Used to send a SDO request frame to read a object from dictionary e Syntax UNS8 moxa_readNetworkDictCallback CO_Data d UNS8 nodelId UNS16 index UNS8 amp subIndex UNS8 dataType SDOCallback_t Callback e Parameters d input Node handle pointer nodeld input nodeld specified node id index input The index in the object dictionary where you want to handle subIndex input The subindex of the Index dataType input Defined in objdictdef h Callback input The function Callback which must be defined in the user code e Return Values OxFF if error else return 0 38 moxa_getReadResultNetworkDict Use this function after a moxa_readNetworkDict to get the result of the read e Syntax UNS8 moxa_getReadResultNetworkDict CO_Data d UNS8 nodeld void data UNS8 size UNS32 abortCode B 25 1A261 262 WinCE User s Manual CANopen Library e Parameters d input Node handle pointer nodeld input specified node id data output specified data pointer size output size of data abortCode output 0 not available Else SDO abort code e Return Values SDO_FINISHED data is available SDO_ABORTED_RCV Transfert failed abort SDO received SDO_ABORTED_INTERNAL Transfert failed Internal abort SDO_UPLOAD_IN_PROGRESS Data not yet available SDO_DOWNLOAD_IN_PROGRESS Should not arrive 39 moxa_getWriteResultNetworkDict Use this function after a moxa_writeNet
21. al IP XXX XXX X X X XXX 192 168 27 135 Please key in Server IP XXX XXX XXX XXX 192 168 27 1 StateOPEN 2 BS 7 SR Ready PComm Terminal Emulator COM2 115200 Hone 8 1 ANSI Profile Edit PortManager Window Help a GIA ellas 22 Ei COM2 115200 Hone 8 1 ANSI Module Name IAZ261 CE Serial No MACO 00 90 88 00 bD0 0D 00 90 88 00 D0 0E Set to Default Show Configure Moxa Technologies Co Ltd Version 1 3 0 0 Make date Aug 1 2007 14 55 12 Module Name IA261 CE Serial No 7 MACO 00 90 588 00 bD0 0D 00 90 588 00 D0 0E Set to Default Show Configure Command gt gt Ia es lets OSR After confirming the IP configuration press ESC to return to the main menu A 2 ThinkCore IA261 262 WinCE User s Manual Firmware Upgrade Procedure 3 Select option 1 Firmware Update E PComm Terminal Emulator COM2 115200 None 8 1 AN SI Cie Profie Edi PortMavager Window Help ai BR m le x 20 E KS COM2 115200 Hone 8 1 ANSI Ip Jee COmmand gt gt Moxa Technologies Co Itd Version 1 3 0 0 Make date Aug 1 2007 14 55 12 Module Name IA261 CE Serial No 7 MACO 00 90 88 00 D0 0D 00 90 88 00 D0 0E Firmware Update Z TFTP Contig Reset to Factory Default Format Flash Disk and Reset OS Moxa Technologies Co Ltd version 1 3 0 0 Make date Aug 1 2007 14 55 12 Module Name IA261 CE erial No 00 90 88 00 b0 00 Select option OU Load from LAN2
22. alled Windows CE 6 0 which supports general Windows and NET 2 0 environment It means the program developed by the standard programming tool like Embedded Visual C or Visual Studio 2005 in the Windows PC environment can be operated without too much porting effort 1 2 1A261 262 WinCE User s Manual Introduction Model Descriptions and Package Checklist The IA261 262 Series includes the following models 1A261 I CE RISC based Embedded Computer with VGA 4 Serial Ports Dual LANs DIO CompactFlash USB WinCE 6 0 isolation protection for all IO 1A261 I T CE RISC based Embedded Computer with VGA 4 Serial Ports Dual LANs DIO CompactFlash USB WinCE 6 0 Wide Temperature isolation protection for all IO 1A262 I CE RISC based Embedded Computer with VGA 2 Serial Ports Dual LANs CAN DIO CompactFlash USB WinCE 6 0 isolation protection for all IO 1A262 I T CE RISC based Embedded Computer with VGA 2 Serial Ports Dual LANs CAN DIO CompactFlash USB WinCE 6 0 Wide Temperature isolation protection for all IO All models of the IA261 262 series are shipped with the following items e 11A261 262 Embedded Computer e Wall Mounting Kit e DIN Rail Mounting Kit attach to the product s casing e Quick Installation Guide e Document amp Software CD e Ethernet Cable RJ45 to RJ45 cross over cable 100 cm e CBL 4PINDB9F 100 4 pin header to DB9 female console port cable 100 cm e Universal Power Adapter e Pr
23. ameters Handle input timer handle e Return Values 1 48 moxa_StartTimerLoop Use this to start timer loop e Syntax void moxa_StartTimerLoop TimerCallback_t init_callback e Parameters init_callback input the callback function e Return Values None 49 moxa_StopTimerLoop Use this to stop timer loop e Syntax void moxa_StopTimerLoop void e Parameters None e Return Values None 50 moxa_canSend Send CAN message e Syntax UNS8 moxa_canSend CAN_PORT port Message m B 30 1A261 262 WinCE User s Manual CANopen Library e Parameters port input specified can port 1 or 2 m input CAN message structure e Return Values 1 Success 0 fail 51 moxa_canReceive Receive can message e Syntax UNSS moxa_canReceive CAN_PORT fd0 Message m e Parameters Fdo input driver data typedef struct CO_Data d HANDLE receive_thread void inst volatile BOOL continue_receive_thread driver_data m output CAN message structure e Return Values 0 success else error 52 moxa_canOpen The function can initiate the CAN controller and return a handle value for this CAN channel e Syntax CAN_PORT moxa_canOpen s_BOARD board CO_Data d e Parameters board input handle for CAN port B 31 1A261 262 WinCE User s Manual CANopen Library struct struct_s BOARD busname port number baudrate baud rate 1 d input Node handle pointer e Return Va
24. and input the firmware file name eg 1A262CE_V1 0_0704210 hfm and press Enter y PComm Ierminal Emulator COMZ 115200 None 8 1 A NSI Log Edit PortManeger Window Help ei HR alles 328 Bi COM9 115200 None 8 1 ANSI Command gt gt Moxa Technologies Co Ltd Version 1 3 0 0 Make date Aug 1 2007 14 55 12 Module Name IA261 CE Serial No 7 MACO 00 90 588 00 D0 0D MAC1 O00 90 E8 00 D0 05 Ticmwace Update 2 TFTP Config Reset to Factory Default Format Flash Disk and Reset OS Moxa Technologies Co rd Version 1 3 0 0 Make date Aug 1 2007 14 55 12 Module Name IA261 CE Serial No 7 MACO 00 90 89 00 b0 0D 00 90 E8 00 D0 08E Conmand gt gt 1 Pile Name NN h m s TAgc2cm v1 0 07042410 him sae OPEN e e Sech A 3 ThinkCore IA261 262 WinCE User s Manual Firmware Upgrade Procedure TFIPD32 by Ph Jounin Base Directory CAWINCE600 0SDesigns IA261 f Browse Server interfaces 192 1 68 27 1 X Show Di Connection received from 192 168 27 235 on port 7700 A Read request for file lt NK bin gt Mode OCTET K lt NK bin gt sent 32730 blks 16757023 bytes in 21 s 0 blk rese Connection received from 192 168 27 235 on port 7700 Read request for file lt NK bin gt Mode OCTET Ls lt NK bin gt sent 32730 blks 16757023 bytes in 19 s 0 blk rese v lt il gt Current Action KNK bin gt sent 32730 blks 16757023 bytes ir About Settings A 4 B CANopen Library
25. and type gt snmpwalk v 2c c public 192 168 3 127 system SNMPv2 MIB sysDescr 0 Microsoft Windows CE Version 6 0 Build 1400 SNMPv2 MIB sysObjectID 0 SNMPv2 SMI enterprises 8691 13 7420 SNMPv2 MIB sysUpTime 0 1282929 SNMPv2 MIB sysContact 0 Your System Contact Here SNMPv2 MIB sysName 0 WindowsCE You will see a series of messages from the SNMP agent in the A26X CE computer From there you can monitor and manage the computer CANbus Service In IA262 CE we provide some applications to configure CAN Port baud rate and using simple API to send receive message thought CANbus service Set Baud rate canapp lt port gt lt b gt lt baud rate gt gt canapp 1 b 1000K Set baudrate Set BAUDRATE Done Get Baud rate canapp lt port gt lt gb gt gt canapp 1 gb get baudrate 2 8 1A261 262 WinCE User s Manual Getting Start current baud rate 1000K Send message canapp lt port gt lt tx gt lt RTR gt lt ID gt lt Message gt gt canapp 1 tx 0 123456 88888888 Write msg from port 1 len 8 identifier 123456 Data 38 38 38 38 38 38 38 38 Send Msg Success Receive message canapp lt port gt lt rx gt gt canapp 2 rx Read msg from port 2 ReceiveData 38 38 38 38 38 38 38 38 Set acceptance code canapp lt port gt lt ac gt lt acceptance code decimal gt lt acceptance mask decimal gt gt canapp 2 ac 0 4294967295 Set acceptance code code 0x0
26. arlier section to have at least one of the two network ports situated in the same LAN as your development workstation Use a cross over Ethernet cable to directly connect your development workstation to the target computer or a straight through Ethernet cable to connect the computer to a LAN hub or switch Next use a telnet client in your development workstation to connect to the telnet console utility of the target computer Upon a successful connection type the login name and password as requested to logon to the computer After logging in via the console port or a telnet client you have a list of busybox commands available to operate the computer Use HELP to display all the commands or type HELP command name to display extended help for the selected command Some of these commands such as DATE and TIME are very useful to you to easily manage the system time of the computer Others commands such as DIR and MKDIR are good utilities for file management For example to inspect the file structure of the root directory type DIR gt dir b NORFlash My Documents Program Files Temp Windows 1A261 262 WinCE User s Manual Getting Start User Group Management User Group You should assign specific services such as ftp and telnet to defined user groups such that these services are accessible only by the users within the permissible user group Three user groups namely ftpd telnetd and httpd are already crea
27. ata is either statically mapped compiled or dynamically mapped set at runtime One message can contain data from more than one object The protocol provided with this application note supports the four PDOs B 3 1A261 262 WinCE User s Manual CANopen Library NETWORK MANAGEMENT CONSUMER A Network Management NMT slave is provided as required by the specification The NMT Object receives commands to change the state of the device or reset the device s application and or communications NODE GUARD HEARTBEAT There is a single Node Guard or Heartbeat endpoint as required by the CANopen specifications They both exist in our protocol SYNCHRONIZATION CONSUMER One synchronization consumer SYNC is provided The SYNC message is simply an event to the application to generate any synchronized PDO messages Using Dictionary Editor GUI The object dictionary functions as a central information database for the device Every object within the device is represented within the dictionary by an index subindex and some access information An object can be as simple as a single byte of data or a more complex data structure Table 1 shows the basic areas of the dictionary that are defined by index in the CANopen specification Table 1 Location Ranges Within The Object Dictionary Index Object 0001 001F Static Data Type 0020 003F Complex Data Types 0040 005F Manufacturer Specific Data Types 0060 007F Device Profile Static
28. changes are incorporated into new editions of the publication Technical Support Contact Information Wwww moxa com support Moxa Americas Toll free 1 888 669 2872 Tel 1 714 528 6777 Fax 1 714 528 6778 Moxa Europe Tel 49 89 3 70 03 99 0 Fax 49 89 3 70 03 99 99 Moxa China Shanghai office Toll free 800 820 5036 Tel 86 21 5258 9955 Fax 86 10 6872 3958 Moxa Asia Pacific Tel 886 2 8919 1230 Fax 886 2 8919 1231 Chapter 1 Chapter 2 Chapter 3 Appendix A Appendix B Table of Contents tee DE Le LN 1 1 ENEE e deer See shina dete EE Rie baa eee eA 1 2 Model Descriptions and Package Checkltet 1 3 Product F atures ss eebe SEENEN EE SEN Eeer AE 1 3 Product Hardware Specficatons neat a E A a E 1 4 Product Software Specifications ensa ae an e aia a E E a oa aa 1 6 Applications Development Environment 1 6 Networking and Communications Capabilities seseeeeeeeeeeeseseeeseereereresesrsrerreresser 1 6 Supporting Servers and Daemons cesessssscseeseceseeeceseceeesecaeesecneeseesaeeeeeaeseeeseeners 1 7 Learning Firmware Build Versions c cceccessceesceesceeeceeceseceaeceaecaeecaeeeneeeneeeeeeeeeeeseeereneeeesees 1 7 Memory and VE EC 1 7 Hive Based Registry Contrast to RAM Based Regtetrg 1 8 Inserting a CompactFlash Cards geess aea ee eree Zeene EE 1 8 Inserting a USB Mass Storage narine a na ea h a a G A a aa aa 1 8 RS 232 422 485 Serial Ports seieccssisetcdiecsess
29. clients to access files and other resources over the network e Web Server HTTPD Includes ASP ISAPI Secure Socket Layer support SSL 2 SSL 3 and Transport Layer Security TLS SSL 3 1 public key based protocols and Web Administration ISAPI Extensions e Dial up Networking Consists of RAS client API and the Point to Point Protocol PPP RAS and PPP support Extensible Authentication Protocol EAP and RAS scripting e Watchdog Service It s a CPU Hardware function for reset CPU in a user specified time interval You must call the Moxa library function to trigger it Learning Firmware Build Versions There are two ways to obtain the firmware version of the IA26X CE computer This information is particularly important for the purpose of feature identification e Examine the welcome message after you logon the computer e Logon the Web based management system described in a later chapter to view the system information Memory and File Systems From the 128M bytes of SDRAM space the main memory has a capacity of about 112M bytes in which the operating system and user applications run The kernel image occupies the rest of the space The internal file system in the IA26X CE computer controls access to ROM and also provides file storage in the object store which is in the RAM The ROM file system provides persistent storage for applications and their related data even when the main power supply is lost It integrates the read o
30. d into the slot the computer automatically formats it to the FAT system This process takes a few minutes to complete The IA26X CE when a mass storage card is inserted creates a directory named HardDisk under the root directory and the newly created directory serves a link to the storage The IA26X CE does not support PNP plug and play and hot swap for CompactFlash storage User must to switch off the power and then insert Compact Flash storage to slot And then switch on the power again the A26X CE will detect the CompactFlash storage If user wants to pull out the Compact Flash storage please remove the power source first There are some CompactFlash storage disks are not compatible with IA26X CE You could try the other CompactFlash storage or disable ultra DMA using the System Manager to change this setting The following table describes the compatible CompactFlash storages list that we had tested successfully Vendor Device Name Size ScanDisk Ultra I 1GB Transcend Compact Flash 80X 512MB Apacer Photo CIENO 2GB Unigen Compact Flash card 128MB Inserting a USB Mass Storage When an empty USB storage device is plugged into the USB slot at the back of the A26X CE the computer automatically formats it to the FAT system When the first USB mass storage device is plugged in a directory named USBDisk under the root directory is created as a link to the storage on the internal file system
31. e to adjunct your current Time Zone It also supports Daylight Date and Daylight Time Adjusting System Time Setting the System Time Manually Use the date and time commands to query the current system date time or to set a new system date time gt date The current date is Tuesday November 22 2005 Enter the new date mm dd yylyy 12 23 05 gt date T Wednesday November 23 2005 gt time The current time is 5 27 17 PM Enter the new time hh mm ss 16 02 00 gt time T 4 02 04 PM The Date Time setting would be saved into IA26X CE RTC So even the system reboots the date and time will be still the right time Starting and Stopping Services After booting up the A26X CE computer runs several services continuously to serve requests from users or other programs Notable services include telnet TELO console CONO world wide web HTTP HTPO file transfer FTP FTPO etc You seldom need to care about these services However you still can start up or stop a service with its associated name by using the command services For example Start the FTP service by gt services start FTPO Stop the FTP service by gt services stop FTPO The default services in IA26X CE are listed as below TELO Telnet Service FTPO FTP Service CONO Console Service 2 6 1A261 262 WinCE User s Manual Getting Start Troubleshooting Network Connectivity The ipconfig tool prints t
32. e Return Values OxFF if error Else return 0 28 moxa_closeSDOtransfer Close a transmission e Syntax UNS8 moxa_closeSDOtransfer CO_Data d UNS8 nodeId UNS8 whoami e Parameters d input Node handle pointer nodeld input Node id of the server if both server or client whoami input Line opened as SDO_CLIENT or SDO_SERVER e Return Values OxFF if error Else return 0 29 moxa_getSDOlineRestBytes Bytes in the line structure which must be transmitted or received e Syntax UNS8 moxa_getSDOlineRestBytes CO Daat d UNS8 line UNS8 nbBytes e Parameters d input Node handle pointer line input SDO channel nbBytes output Number of data received or to be sent B 21 1A261 262 WinCE User s Manual CANopen Library e Return Values 0 30 moxa_setSDOlineRestBytes Store in the line structure the nb of bytes which must be transmitted or received e Syntax UNS8 moxa_setSDOlineRestBytes CO_Data d UNS8 line UNS8 nbBytes e Parameters d input Node handle pointer line input SDO channel nbBytes input Number of data received or to be sent e Return Values Return 0 if success OxFF if error 31 moxa_sendSDO Transmit a SDO frame e Syntax UNS8 moxa_sendSDO CO_Data d UNS8 whoami s_SDO sdo e Parameters d input Node handle pointer whoami input SDO_CLIENT or SDO_SERVER sdo input sdo is a structure which contains the sdo data to transmit e Return Values OxFF if
33. elp Refresh CTRL R TRL yy 8 sth Red TRL Y Node infos DS 301 Profile I 02 Prof Pick up optional chosen profile entries Edit DS 301 Profile Possible Profle Indexes 0x1002 0x1003 0x1007 0x1008 0x1009 Ox1004 0x100C O0x100D 0x1012 0x1013 0x1014 0x1015 0x1017 0x1020 0x1023 0x1024 0x1025 0x1026 0x1027 0x1028 0x1029 Manufacturer Status Register Pre defined Error Field Synchronous Window Length Manufacturer Device Name Manufacturer Hardware Version Manufacturer Software Version Guard Time Life Time Factor TIME COB ID High Resolution Timestamp Emergency COB ID Inhibit Time Emergency Producer Heartbeat Time Verify Configuration OS Command OS Command Mode OS Debugger Interface OS Prompt Module List Emergency Consumer Error Behavior Current Profile Indexes 0x1000 0x1001 EA 0x1006 0x1010 Ox1011 0x1016 0x1018 Device Type Error Register SYNC COB ID Communication Cycle Period Store parameters Restore Default Parameters Consumer Heartbeat Time Identity 1A261 262 WinCE User s Manual CANopen Library 6 User types Use User Types to implement value boundaries and string length Add User Type INTEGERS 7 Mapped variable Add your own specific dictionary entries and associated mapped variables Add Map ariable Ox2004 O Sumber B 8 1A261 262 WinCE User s Manual CANopen Library 8 Ge
34. error else 0 32 moxa_sendSDOabort Transmit a SDO error to the client e Syntax UNS8 moxa_sendSDOabort CO_Data d UNS8 whoami UNS16 index UNS8 subIndex UNS32 abortCode B 22 1A261 262 WinCE User s Manual CANopen Library e Parameters d input Node handle pointer Whoami input SDO_CLIENT or SDO_SERVER index input The index in the object dictionary where you want to handle subIndex input The subindex of the Index abortCode input SDO abort code e Return Values Return 1 if success OxFF and 0 if error 33 moxa_proceedSDO Handle a receiving SDO frame e Syntax UNS8 moxa_proceedSDO CO_Data d Message m e Parameters d input Node handle pointer m input CAN message structure e Return Values Return OxFF if error 0x80 if transfer aborted by the server 0x0 is success 34 moxa_writeNetworkDict Used by the application to send a SDO request frame and write the data at the index and subIndex indicated e Syntax UNS8 moxa_writeNetworkDict CO_Data d UNS8 nodeId UNS16 index UNS8 subIndex UNS8 count UNS8 dataType void data e Parameters d input Node handle pointer nodeld input nodeld specified node id index input The index in the object dictionary where you want to handle subIndex input The subindex of the Index B 23 1A261 262 WinCE User s Manual CANopen Library count input nb of bytes to write in the dictionary dataType input defined
35. getNodelId CO_Data d UNS8 nodeld e Parameters d input Node handle pointer e Return Values Return the node Id 43 moxa_setNodeld Define the node ID Initialize the object dictionary e Syntax void moxa_setNodeId CO_Data d e Parameters d input Node handle pointer e Return Values None 44 moxa_sendSYNC Transmit a SYNC message e Syntax UNS8 moxa_sendS YNC CO_Data d UNS32 cob_id e Parameters d input Node handle pointer B 28 1A261 262 WinCE User s Manual CANopen Library cob_id input COB ID e Return Values 1 success 0 fail 45 moxa_proceedSYNC This function is called when the node is receiving a SYNC message cob id 0x80 e Syntax UNS8 moxa_proceedS YNC CO_Data d Message m e Parameters d input Node handle pointer m input CAN message structure e Return Values 0 if OK OxFF if error 46 moxa_SetAlarm Use this to declare a new alarm e Syntax TIMER_HANDLE moxa_SetAlarm CO_Data d UNS32 id TimerCallback_t callback TIMEVAL value TIMEVAL period e Parameters d input Node handle pointer id input index of Heartbeat entries callback input The callback function value input time value period input Periodicity e Return Values 1 if error else success 47 moxa_DelAlarm Use this to remove an alarm B 29 1A261 262 WinCE User s Manual CANopen Library e Syntax TIMER_HANDLE moxa_DelAlarm TIMER_HANDLE handle e Par
36. he TCP IP related configuration data of a host including the IP addresses gateway and DNS servers gt ipconfig all Windows IP configuration Ethernet adapter Local Area Connection IP Address 192 168 4 127 Subnet Mask 255 255 255 0 Adapter Name IXP425ETHNPE2 Description IXP425ETHNPE2 Adapter Index 2 Address 80 86 33 33 34 12 DHCP Enabled NO Ethernet adapter Local Area Connection IP Address 192 168 14 202 Subnet Mask 255 255 248 0 Default Gateway 192 168 15 254 Adapter Name IXP425ETHNPE1 Description IXP425ETHNPE1 Adapter Index 3 Address 78 56 34 91 cc dd DHCP Enabled NO Host name IA261 Domain Name DNS Servers 192 168 1 6 NODETYPE 8 Routing Enabled NO Proxy Enabled NO To troubleshoot network connectivity reachability and name resolution use the ping command This command verifies IP level connectivity to another TCP IP computer by sending Internet Control Message Protocol ICMP Echo Request messages The corresponding return Echo Reply messages are displayed along with round trip times For more information type ping without parameters gt ping www moxa com Pinging Host www moxa com 192 168 1 16 Reply from 192 168 1 16 Echo size 32 time lt lms TTL 126 Reply from 192 168 1 16 Echo size 32 time lt lms TTL 126 Reply from 192 168 1 16 Echo size 32 time lt lms TTL 126 The route utility allows you to view or modify network routing tables Type this command without parameters
37. in objdictdef h data input specified data e Return Values OxFF if error else return 0 35 writeNetworkDictCallBack Used by the application to send a SDO request frame with callback functions and write the data at the index and subIndex indicated e Syntax UNS8 moxa_writeNetworkDictCallBack CO_Data d UNS8 nodelId UNS16 index UNS8 amp subIndex UNS8 count UNS8 dataType void data SDOCallback_t Callback e Parameters d input Node handle pointer nodeld input nodeld specified node id index input The index in the object dictionary where you want to handle subIndex input The subindex of the Index count input nb of bytes to write in the dictionary dataType input defined in objdictdef h data input specified data Callback input callback function e Return Values OxFF if error else return 0 36 moxa_readNetworkDict Used by the application to send a SDO request frame to read object from the dictionary of a server node e Syntax UNS8 moxa_readNetworkDict CO Daat d UNS8 nodeId UNS16 index UNS8 subIndex UNS8 dataType B 24 1A261 262 WinCE User s Manual CANopen Library e Parameters d input Node handle pointer nodeld input nodeld specified node id index input The index in the object dictionary where you want to handle subIndex input The subindex of the Index dataType input defined in objdictdef h e Return Values OxFF if error else return 0 37 moxa
38. irtos Directory List Microsoft Internet Explorer ZD WEO HAY Sau IAM NAW G 4 O HAG Hee gm 2 So a ALC E ks i92 160 27 10d Ada Home lustrections Logging SSL Configwation Restart Web Serve Virtual Directory Configuration Virtual directories provide a mapping from the URL a client browser requests and the page returned by the Web server For more information click here Return to the Default Web site configuration page Virtual Path Physical Path i windows w w w w w wpub i WebAdmin windows hitpdadm dil MsmqAdmin windows msmqadmextdll Msmq windows srmplsapi dll SysAdmin windows sysizapi_dll remoteadmin windows REMOTEADMIN AIl OCH Acmolteadminimages windows ww wuemoleadmin images upnp windowslupnp fupnpisapi windows upnpsvc dil S L EEE Windows CE Waetion 5 0 fluild Versa 1400 SayeVerion 1400 7000 2002 Miceosolt Comeration All rights reserved 1A261 262 WinCE User s Manual You can also change the authentication for each web virtual directory 4 Yixtual Directory Configuration Microsoft Internet Explorer ERO RAH RAD RREA IAM HAD O1 O HAG mg kaolan WE FEO htp 92 168 27 18 WebAdmin Management Tools Virtual paths provide a mapping from the URL a client browser requests and the page returned by the Web server For more information click here Return to the Default Web site configuration page Return to the virtual director
39. lues None 25 moxa_initSDOline Initialize some fields of the structure e Syntax UNS8 moxa_initSDOline CO_Data d UNS8 line UNS8 nodeId UNS16 index UNS8 subIndex UNSS8 state 1A261 262 WinCE User s Manual CANopen Library e Parameters d input Node handle pointer line input SDO channel nodeld input specified node id index input The index in the object dictionary where you want to handle subIndex input The subindex of the Index State input SDO_RESET Transmission not started Init state SDO_FINISHED data are available SDO_ABORTED_RCV Received an abort message Data not available SDO_ABORTED_INTERNAL Aborted message SDO_DOWNLOAD_IN_PROGRESS downloading SDO_UPLOAD_IN_PROGRESS uploading e Return Values 0 26 moxa_getSDOfreeLine Search for an unused line e Syntax UNS8 moxa_getSDOfreeLine CO_Data d UNS8 whoami UNS8 line e Parameters d input Node handle pointer whoami input SDO_SERVER or SDO_CLIENT line output SDO free channel e Return Values OxFF if all the lines are on use Else return 0 27 moxa_getSDOlineOnUse Search for the line which be used B 20 1A261 262 WinCE User s Manual CANopen Library e Syntax UNS8 moxa_getSDOlineOnUse CO_Data d UNS8 nodeId UNS8 whoami UNS8 line e Parameters d input Node handle pointer whoami input SDO_SERVER or SDO_CLIENT line output on use SDO channel
40. lues Return handle value for this CAN port 53 moxa_canClose The function can close the CAN controller e Syntax int moxa_canClose CO_Data d e Parameters d input Node handle pointer e Return Values 0 Example Code The following example codes can let user to understand how to configure master and slave node Both communicate together performances NMT object and slave s node provided information to master through SDO Configure Master node include lt windows h gt include lt commctrl h gt include lt moxa devices h gt pragma comment lib CANopen lib pragma comment lib mxdev lib extern C include lt moxa canopen h gt B 32 1A261 262 WinCE User s Manual CANopen Library include master h this file is generated by Dictionary Editor GUI UNS8 GetChangeStateResults UNS8 node_id UNS8 expected_state unsigned long timeout_ms unsigned long start_time 0 reset nodes state win32test_Data NMTable node_id Unknown_state request slave s node state send identified 700 nodId rtr 1 to slave moxa_masterRequestNodeState amp master_Data node_id start_time GetTickCount while GetTickCount start_time lt timeout_ms if moxa_getNodeState amp master_Data node_id expected_state break return 0 return OxFF UNS8 ReadSDO UNSS8 nodeld UNS16 index UNS8 subIndex UNS8 dataType void data UNS8 size
41. m the slave 1A261 262 WinCE User s Manual CANopen Library e Syntax void moxa_masterRequestNodeState CO_Data d UNS8 nodeld e Parameters d input Node handle pointer nodeld input Slave device Node ID 1 127 Set this parameter to 0 to indicate all slave devices e Return Values None 8 moxa_proceedNMTstateChange The function is used to change the state of a slave e Syntax void moxa_proceedNMTstateChange CO_Data d Message m e Parameters d input Node handle pointer m input CAN message structure e Return Values None 9 moxa_slaveSendBootUp Use the function to send boot up message to master e Syntax UNS8 moxa_slaveSendBootUp CO_Data d e Parameters d input Node handle pointer e Return Values 1 success 0 Fail 10 moxa_getODentry Read an entry from the object dictionary 1A261 262 WinCE User s Manual CANopen Library e Syntax UNS32 moxa_getODentry CO_Data d UNS16 wIndex UNSS8 bSubindex void pDestData UNS8 pExpectedSize UNS8 pDataType UNSS8 checkAccess e Parameters d input Node handle pointer wIndex input The index in the object dictionary where you want to read an entry bSubindex input The subindex of the Index pDestData input Pointer to the variable where the value of this object dictionary entry should be copied pExpectedSize input This function writes the size of the copied value in Byte into this variable pDa
42. monitor and proper HMI software The diversified peripherals including RS 232 422 485 CANbus digital input and digital output are all designed for industrial environment purpose To embed the 2K V isolation protection in these interfaced will make A261 262 the most reliable solution in industrial harsh environment As the dual LAN ports are built the A261 262 is an ideal communication platform for Network Redundant applications In addition to the standard model the IA261 1A262 also comes in wide temperature models The IA261 T and IA262 T have an operating temperature range of 40 to 75 C and are appropriate for harsh industrial automation environments The industrial mechanism of the IA261 IA262 design provides robust reliable computing Due to the RISC based architecture the IA261 IA262 will not generate too much heat while being used The high communication performance and fanless design make the A261 I1A262 ideal for industrial automation environments The A261 262 embedded computers use a Cirrus Logic EP9315 ARM9 32 bit 200 MHz RISC CPU Unlike the X86 CPU which uses a CISC design the RISC design architecture and modern semiconductor technology provide the IA261 262 with a powerful computing engine and communication functions but without generating a lot of heat The built in 32 MB NOR Flash ROM and 128 MB SDRAM give you enough memory to run your application software directly on the IA261 262 1A261 262 comes with the pre inst
43. nction Details in the appendix A Go to the boot loader menu from serial console Step1 Power off IA26X CE device Step2 Make sure the serial console wire is connect to your PC correctly Step3 Create a new terminal communication from Start gt Programs gt Accessories gt Communication gt Terminal with the setting Baudrate 115200 no hardware flow control 8 N 1 character set VT100 Step4 Active this terminal window on your PC Step5 Hold DEL key continuously Step6 Power on the IA26X CE device 2 2 1A261 262 WinCE User s Manual Getting Start Operating A26X CE Computer Via Serial Console The serial console port gives users a convenient way of connecting the development workstation to the console utility of the target computer This method is particularly useful when using the computer for the first time After you have wired a serial cable go back to the development workstation and start a terminal program e g HyperTerminal by using the settings shown below for the serial console port Baud rate 115200bps Parity None Data bits 8 Stop bits 1 Flow Control None Terminal VT100 After a successful connection type the login name and password as requested to logon the computer The default values are both admin Login admin Password admin Changing the Network Settings The IA26X CE computer comes with two network interfaces The default IP addres
44. near you For clarity this PC is called a development workstation and the A26X CE computer is called a target computer In addition manual steps are described to facilitate operations such as system time adjustment troubleshooting network connectivity etc Some of these operations can be done via system commands after gaining access to the computer and others can be done by a Web based management system which is described in a later chapter The following topics are covered in this chapter OOcoo OOOOUOCD LI Powering on IA261 262 Resetting Your IA26X CE Computer Boot Loader Operating IA26X CE Computer Via Serial Console Changing the Network Settings gt Use Windows CE Network Control Panel utility Operating Your IA26X CE Computer via Telnet Client User Group Management Adjusting Time Zone Adjusting System Time Starting and Stopping Services Troubleshooting Network Connectivity Simple Network Management Protocol SNMP gt SNMP Manager CANbus Service 1A261 262 WinCE User s Manual Getting Start Powering on 1A261 262 Connect the power source located at the top side of the unit to boot up the system It takes about 5 seconds for the system to boot up and you can hear a clear BEEP voice Once the system is ready the Ready LED will light up and stay on till you shutdown the computer Resetting Your A26X CE Computer Warm Start In power on state push the Reser and release it in 1 second
45. nel nbBytes input size of data data input specified data which want to copy to sdo e Return Values OxFF if error Else returns 0 21 moxa_SDOtoLine Add data to an existent line e Syntax UNS8 moxa_SDOtoLine CO_Data d UNS8 line UNS8 nbBytes UNS8 data e Parameters d input Node handle pointer line input SDO channel nbBytes input size of data data input specified data which want to save to existent line e Return Values OxFF if error Else returns 0 22 moxa_failedSDO The function will be called when an internal SDO abort occurs e Syntax UNS8 moxa_failedSDO CO_Data d UNS8 nodeId UNS8 whoami UNS16 index UNS8 subIndex UNS32 abortCode e Parameters d input Node handle pointer nodeld input specified node id whoami input SDO_SERVER SDO_CLIENT SDO_UNKNOWN 1A261 262 WinCE User s Manual CANopen Library index input The index in the object dictionary where you want to handle subIndex input The subindex of the Index abortCode input SDO abort code e Return Values OxFF if unable to send the SDO abort else return 0 23 moxa_resetSDO Reset all SDO buffers e Syntax void moxa_resetSDO CO_Data d e Parameters d input Node handle pointer e Return Values None 24 moxa_resetSDOline Reset an unused line e Syntax void moxa_resetSDOline CO_Data d UNS8 line e Parameters d input Node handle pointer line input SDO channel e Return Va
46. nerating the object Dictionary Once the object dictionary has been edited and saved you need to generate the object dictionary C code for your CANopen node Select the Menu entry File Build Dictionary Edit Add Help New CTRL N Open CTRL 0 Save CTRLAS Save As ALT S Close CTRL W Import EDS file Export to EDS file Build Dictionary CTRL B Exit Choose a C file to create or overwrite The header file will also be created with the same prefix as the C file Function Description All the functions provided by CANopen library are listed in the following The detail information for each function is presented in this section 1 moxa_getNodeState Call this function to get node state of slave e Syntax e_nodeState moxa_getNodeState CO_Data d UNS8 nodeld e Parameters d input Node handle pointer This structure contains all necessary information for a CANopen node nodeld input Specified slave s node ID e Return Values Return specified state of node 2 moxa_heartbeatInit Initial Producer Consumer Heartbeat time e Syntax void moxa_heartbeatInit CO_Data d B 9 1A261 262 WinCE User s Manual CANopen Library e Parameters d input Node handle pointer e Return Values None 3 moxa_heartbeatStop Stop Producer Consumer Heartbeat time e Syntax void moxa_heartbeatStop CO_Data d e Parameters d input Node handle pointer e Return Values None 4 moxa_proceedNODE_GUARD
47. nly files that are stored in Flash ROM with the read write files of both an application and a user In the A26X CE computer a child directory named NORFlash under the root indicates the ROM storage of the flash memory of size 12M bytes The root directory is a RAM file system of size 12M bytes It can be used for storing temporary files for your applications However do not place persistent files or applications in the root directory because they will be wiped out when the system is shutdown Instead place them under the directory NORFlash 1 7 1A261 262 WinCE User s Manual Introduction The additional file systems on USB and CompactFlash storage devices are placed at the root of the internal file system If you intend to use these devices to port data between your PC and the 1A26X CE computer please format them as the FAT file system on your PC Hive Based Registry Contrast to RAM Based Registry The registry for the IA26X CE is a hive based registry in contrast to a RAM based registry The hive based registry stores registry data inside files or hives which can be kept on any file system This removes the need for performing backup and restore on power off Inserting a CompactFlash Card The A26X CE is equipped with a CompactFlash slot of type II which supports cards of both types I and II A mass storage card is considered to be a standard attachment to the computer Thus when an empty mass storage card is inserte
48. nput Node handle pointer wIndex input The index in the object dictionary where you want to write an entry bSubindex input The subindex of the Index Callback input assigned callback function e Return Values NULL if index not found else return the table part of the object dictionary 13 moxa_sendPDO This function is used to send PDO e Syntax UNS8 moxa_sendPDO CO_Data d s_PDO pdo UNS8 request e Parameters d input Node handle pointer pdo input pdo is a structure which contains the data to transmit typedef struct struct_s_PDO UNS32 cobld COB ID UNS8 len Number of data transmitted in data UNS8 data 8 Contain the data s_PDO Request input Request can take the value REQUEST or NOT_A_REQUEST e Return Values OxFF Can t send PDO because the state of node is not in operational mode 1 Success 0 Fail 14 moxa_PDOmGR Prepare a PDO frame transmission e Syntax UNS8 moxa_PDOmGR CO_Data d UNS32 cobldi B 15 1A261 262 WinCE User s Manual CANopen Library e Parameters d input Node handle pointer Cobid input COB ID e Return Values The result of the function moxa_sendPDO or OxFF if error 15 moxa_buildPDO Prepare the PDO defined at index to be sent by moxa_PDOmGR e Syntax UNS8 moxa_buildPDO CO_Data d UNS16 index e Parameters d input Node handle pointer Index input The index in the object dictionary e Return Values 0 if
49. o a specific node or in broadcast e Administrate the network For example control the state of the slave node The documentation can be found on the CAN automation website http www can cia de canopen The most important document about CANopen is the normative CiA Draft Standard 301 version 4 02 You can now download at no cost from the CAN automation website Our CANopen Stack provides the lower layers of the protocol Some of the features of this design include e Conform to DS301 V 4 02 e Master and Slave functionality e Programmable transfer rate 10K 20K 50K 125K 250K 500K 800K 1000K e Sending SYNC e 1 SDO server per node e Unlimited SDO clients e SDO transmission modes normal expedited download and upload e Unlimited PDO receives e Unlimited PDO transmits e Object Data type 8 16 32 bits values and fixed length strings e Slave state full implemented e NMT to change slave s state e PDO transmission mode on request every reception of 0 to n SYNC on event e NMT Heartbeat A node can be either heartbeat producer or receiver e NMT NodeGuard Not fully implemented The protocol is designed in three levels as shown in Figure 1 The lowest level is the CANbus driver providing hardware abstracted CAN support The communications management level is the primary interface between the driver and the individual endpoint handling Besides the application there is also the dictionary In essence it resides
50. oduct Warranty Statement NOTE Notify your sales representative if any of the above items are missing or damaged Product Features e Cirrus Logic EP9315 ARM9 CPU 200 MHz e 128 MB RAM on board 32 MB Flash Disk e VGA interface for field site monitoring e 2KV optically isolated RS 232 422 485 serial ports e Dual 10 100 Mbps Ethernet for network redundancy e Dual 2KV optically isolated CAN ports with CANopen protocol support e 8 8 DI DO with 3KV optical isolation protection e 12 to48VDC redundant power input design e Support CF socket and USB 2 0 Host e Ready to Run WinCE 6 0 platform e 40 75 C wide temperature model is available 1 3 1A261 262 WinCE User s Manual Introduction Product Hardware Specifications System CPU DRAM Flash Storage Expansion USB Console Debugging Port Others OS Display Graphics Controller Display memory Graphics Resolution Display Interface Network Communication LAN Protection Serial Communication Serial Port Protection Data bits Stop bits Parity Flow Control Speed Connector Type Cirrus Logic EP9315 ARM9 CPU 200 MHz 128 MB onboard 32 MB Flash onboard CompactFlash socket x 1 for storage expansion USB Host x 2 compliant to USB 2 0 OHCD Type A connector RS 232 x 1 TxD RxD GND 4 pin header output RTC buzzer Watchdog Timer Reset button built in WinCE 6 0 EP9315 internal graphics accelerator engine with TTL graphical
51. on Mechanical Outlook Shape Dimensions WxDxH Gross Weight Construction Material Mounting Environmental Operating Temperature Storage Temperature Regulatory Approvals EMC Safety Others Warranty Dry contact Logic level 0 Close to GND Logic level 1 Open Wet contact Logic level 0 3V max Logic level 1 10V 30V COM to DI 3KV optical isolation protection 10 Pin Screw Terminal Block 8 points COM GND 8 sink type 24 VDC nominal open collector to 30 V Max 200 mA per channel 3KV optical isolation protection 9 Pin Screw Terminal Block Power x 1 Ready x 1 Storage x 1 10M Link x 2 on connector 100M Link x 2 on connector TxD x 4 RxD x 4 1A261 P1 P4 for serial ports 1A262 P1 P2 for serial ports P3 P4 for CAN ports Dual power input design PWRI 12 to 48 VDC power jack with thread PWR2 12 to 48 VDC 3 pin terminal block 783 mA 12 VDC without loading USB ports 1 2A 12 VDC with loading 2 USB ports Industrial vertical form factor 60 x 115 x 152 mm without din rail kit or wall mount kit 965 g Aluminum DIN rail wall mounting 10 to 60 C 14 to 140 F 40 to 75 C 40 to 167 F is optional for T models 20 to 80 C 4 to 176 F 5 to 95 RH 40 to 85 C 40 to 185 F is optional for T models FCC CE Class A UL cUL LVD RoHS WEEE 5 years 1 5 1A261 262 WinCE User s Manual Introduction Product Software Specifications 1A261
52. otocol for object exchange and remote procedure calls Microsoft Windows CE 6 0 provides functionality similar to the SOAP Toolkit version 2 on the desktop It provides a layer that allows COM objects to use SOAP as the transport protocol for remote procedure calls and to interact with Web services e Microsoft NET Compact Framework 2 0 with service pack 2 It offers a choice of languages initially Microsoft Visual Basic and Microsoft Visual C and eliminates the common problems faced with language interoperability e XML Provides the Document Object Model DOM for base XML functionality support for XML Query Language XQL and XPATH Extensible Style Sheet Language Transformations XSLT that enables you to transform one class of XML document to another SAX2 support for event based parsing of XML documents and includes MSXML Writer and parsing based on Simple API for XML SAX for resource constrained target devices e Winsock 2 2 Provides enhanced capabilities over Winsock 1 1 including installable service providers for additional third party protocols as well as Media sense Networking and Communications Capabilities For network centric embedded application usage A26X CE not only provides powerful communication hardware interfaces including dual Ethernet and 3 in I serial ports but also supports the networking and communications capabilities that are built in to Windows CE 6 0 OS The features that are well supported
53. rary wait until slave s mode will switch to operational state if return 0 mean this node entry operational state if GetChangeStateResults node_id Operational 20000 OxFF modify Client SDO Parameter mapping to dictionary index 1280 client 0x600 server 0x580 UNS32 COB_ID_Client_to_Server_Transmit_SDO 0x600 node_id UNS32 COB_ID_Server_to_Client_Receive SDO 0x580 node_id UNS32 Node ID of he SDO_Server node_id UNS8 ExpectedSize sizeof UNS32 if OD_SUCCESSFUL moxa_setODentry amp master_Data 0x1280 1 amp COB_ID_Client_to_Server_Transmit_SDO amp ExpectedSize RW amp amp OD_SUCCESSFUL moxa_setODentry amp maste Data 0x1280 2 amp COB_ID_Server_to_Client_Receive_SDO amp ExpectedSize RW amp amp OD_SUCCESSFUL moxa_setODentry amp master_Data 0x1280 3 amp Node_ID_of_the_SDO_Server amp ExpectedSize RW UNS32 dev_type 0 char device_name 64 char hw_ver 64 char sw_ver 64 UNS32 vendor_id 0 UNS32 prod_code 0 UNS32 ser_num 0 UNSS8 size UNSS res get information from slave node size sizeof dev_type B 36 1A261 262 WinCE User s Manual CANopen Library res ReadSDO node_id 0x1000 0 uint32 amp dev_type amp size printf device type d n dev_type amp OxFFFF size sizeof device_name res ReadSDO node_id 0x1008 0 visible_string device_name
54. s Display Auto Launch User Group Settings Index COM Port Operation Mode Pl COM 35232 p2 com2 R5232 v 1A261 262 WinCE User s Manual Management Tools Process Thread Monitoring Control At runtime the A26X CE computer manages up to 32 000 applications You can use the management system to monitor and control them To view current processes please click the Processes item on the tab bar The running processes are then displayed You can kill a process by clicking the ku button next to the process name System Manager General NK EXE udevice exe udevice exe udevice exe udevice exe udevice exe explorer exe servicesd exe CMD EXE conmanclient2 EXE cczcli exe SystemManager exe 3 4 Ox400002 Ox1e50002 0x1140006 0x117000a 0x39f0002 0x3b40006 Ox3b90006 0x391000a Ox4d90008 Ox4ee0008 O0x548000e Ox4d30016 1A261 262 WinCE User s Manual Management Tools Services Monitoring Control Some services run on the background to provide services such as FTP Telnet and HTTP for user requests You can click on a check box to toggle a start stop operation for a service System Manager General Processes Services com Ports Display Auto Launch User Group Services FTP Service Telnet Service Enable HTTP Service Enable Enable F NTP Server List time nuri net ntp shim org ntp cyber Fleet netjntp landau Refresh Time ea ho
55. s including main memory and file system usage In this page user can click on the Enable Ultra DMA check box to enable or disable Ultra DMA for CF card If system can not detect some CF cards please disable this setting If user changes this setting please reboot system again to make sure the setting take effect System Manager General Processes Services COM Ports Display Auto Launch User Group Module Name Computer Name Firmware Version MET CF version CPU Architecture CPU System Time Free Total Memory Free Total File System Enable Ultra DMA 14262 CE 14262 CE 1 0 2 0 SP2 Cirrus Logic EP9315 ARM9 CPU 200 MHz 2007 09 04 22 07 18 39172 49080 K Bytes 48932 48988 K Bytes 3 2 1A261 262 WinCE User s Manual Management Tools Serial Port Configuration The IA261 CE contains 4 and IA262 CE contains 2 high performance serial ports When the system starts up you can specify the default operation mode RS 232 422 or 485 The factory default mode would be RS 232 Following figure indicates condition of A261 CE System Manager General Processes Services COM Ports Display Auto Launch User Group Settings Index COM Port Operation Mode p om S P2 comz R5232 v P3 COM3 R5232 v P4 COM4 R5232 v Following figure indicates condition of A262 CE System Manager General Processes Services COM Port
56. ses and netmasks of the network interfaces are as follows Default IP Address 192 168 3 127 192 168 4 127 Netmask 255 255 255 0 255 255 255 0 LAN 1 LAN 2 Refer to the following to change your network setting Use Windows CE Network Control Panel utility 1 Move you mouse go to the Start gt Settings gt Network and Dial Up Connections File Edit View Advanced agong R x J SI Zi EI A4x887961 CS89501 start SC Network Connections Ak 1 56 PM e 2 3 1A261 262 WinCE User s Manual Getting Start 2 Right Click the LAN icon and click the property File Edit View Advanced fe K x EL a Make New AX887961 CSB9501 Connection EP9312 Ethernet Driver Settings IP Address Name Servers An IP address can be CH Obtain an IP address via DHCP automatically assigned to this ae wees g computer If your network Specify an IP address does not automatically assign R IP addresses ask your network Ze E administrator for an address Subnet Mask 255 255 255 0 and then type it in the space ic provided Default Gateway Ze Start SC Network Connections dag 1 57 PM el 3 Click OK button after configuration is done Operating Your IA26X CE Computer via Telnet Client Before operating your A26X CE computer using the Telnet client we suggest that you change the network settings of the computer see the e
57. ssscpsaete sesh Ea EE EEN 1 9 CAN P rtsi TA262 Only stite a E el dao tah 1 9 E Une BT EE 2 1 Powering EE 2 2 Resetting Your IA2Z6X CE Computer 2 2 Boot Loaders c5 testes eh EEN ee AE 2 2 Operating IA26X CE Computer Via Serial Console 0 ce ececeeseeecssecseesecneeeeceeeeeceaeeaeeseeneeaee 2 3 Changing the Network Settings ccecsescseescsseeeeesecseesecsececssseecsaecaessecnesseceasenceaecateseeneeaes 2 3 Use Windows CE Network Control Panel utility 00 eeeeeeseeeeeeeeeeeecneeeeeeeeeeees 2 3 Operating Your A26X CE Computer via Telnet Client 0 0 ce cieeeseseceeeeceseceeeecesereeseeeens 2 4 User Group Management oenina Erde EES de 2 5 Adjtisting Time Zone irienna poi E e aa r Sis teen eeE 2 6 Adyustin oS ystems TIME seepe oaea a e a a ee e R e a ape 2 6 Starting and Stopping Services 0 cece eecesescssecseesecserseceesecssecseesecaeesecneeeecsaseeesaecaeeseenerereeaeeess 2 6 Troubleshooting Network Conpnecttvitg 2 7 Simple Network Management Protocol SNMP cee eeceseeeeeeeceeeceeeeesecesecesecaecsaecsaeeneeeas 2 8 SNMP Mata get aces csec reyes cates EE 2 8 CAND Bervard 2 8 Management KEE 3 1 Systemi ege E 3 2 Serial Port Configuration NEE EENS EES EEN ead 3 3 Process Thread MontonngiControl 3 4 Services Monitoring Control si aeaieie h aeia ie e en ai osae 3 5 IDI EE 3 6 User Group Management 0 0s icccssccssesssveste eE E E EE E E EE EEE EEEE TEE EEE EE EE 3 7 Auto Launch Confie tation e ia E EEE
58. success or OxFF if error 16 moxa_sendPDOrequest Transmit a PDO request frame to the slave e Syntax UNS8 moxa_sendPDOrequest CO_Data d UNS32 coblId e Parameters d input Node handle pointer cobld input COB ID e Return Values OxFF if error other in success 17 moxa_proceedPDO Handle a receiving PDO frame e Syntax UNS8 moxa_proceedPDO CO_Data d Message m B 16 1A261 262 WinCE User s Manual CANopen Library e Parameters d input Node handle pointer m input CAN message structure e Return Values OxFF if error else return 0 18 moxa_SDOlineToObjdict Copy the data received from the SDO line transfert to the object dictionary e Syntax UNS32 moxa_SDOlineToObjdict CO_Data d UNS8 line e Parameters d input Node handle pointer line input SDO channel e Return Values SDO error code if error Else returns 0 19 moxa_objdictToSDOline Copy the data from the object dictionary to the SDO line for a network transfer e Syntax UNS32 moxa_objdictToSDOline CO_Data d UNS8 line e Parameters d input Node handle pointer line input SDO channel e Return Values SDO error code if error Else returns 0 20 moxa_lineToSDO Copy the data from an existent line e Syntax UNS8 moxa_lineToSDO CO_Data d UNS8 line UNS8 nbBytes UNS8 data B 17 1A261 262 WinCE User s Manual CANopen Library e Parameters d input Node handle pointer line input SDO chan
59. taType input The type of the data CheckAccess input if other than 0 do not read if the data is Write Only always 0 e Return Values OD_SUCCESSFUL SDOABT_TOGGLE_NOT_ALTERNED SDOABT_TIMED_OUT SDOABT_OUT_OF_MEMORY SDOABT_GENERAL_ERROR SDOABT_LOCAL_CTRL_ERROR 11 moxa_setODentry Use the function to write an entry into the object dictionary 1A261 262 WinCE User s Manual CANopen Library e Syntax UNS32 moxa_setODentry CO_Data d UNS 16 wIndex UNSS8 bSubindex void pSourceData UNSS8 pExpectedSize UNSS8 checkAccess e Parameters d input Node handle pointer wIndex input The index in the object dictionary where you want to write an entry bSubindex input The subindex of the Index pSourceData input Pointer to the variable that holds the value that should be copied into the object dictionary pExpectedSize input The size of the value in Byte checkAccess input if other than 0 do not read if the data is Read Only or Constant e Return Values OD_SUCCESSFUL SDOABT_TOGGLE_NOT_ALTERNED SDOABT_TIMED_OUT SDOABT_OUT_OF_MEMORY SDOABT_GENERAL_ERROR SDOABT_LOCAL_CTRL_ERROR 12 moxa_RegisterSetODentryCallBack Use the function to register callback function for object dictionary e Syntax UNS32 moxa_RegisterSetODentryCallBack CO_Data d UNS16 wIndex UNS8 bSubindex ODCallback_t Callback 1A261 262 WinCE User s Manual CANopen Library e Parameters d i
60. ted by default for your convenience Adding a Group Use the command useradd g lt groupName gt to create a user group gt useradd g yyyy group yyyy has been added Deleting a Group To remove a group use the command userdel g lt groupName gt gt userdel g yyyy group yyyy has been removed Adding a User Use the command useradd lt newUserID gt to add a user for accessing the system The user s password by default is the same as the user name gt useradd xxxx user xxxx has been added In addition you can permit this user to access a particular service by typing g followed by the user group name of the service i e useradd g lt groupName gt lt newUserID gt For example gt useradd g telnetd xxxx user xxxx is existent group telnetd is existent user xxxx has been added to group yyyy Deleting a User Use the command userdel lt userID gt to delete a user from the system User admin CANNOT be deleted gt userdel xxxx user xxxx has been deleted You can also just remove a user from a user group by using the command userdel g lt groupName gt lt newUserID gt For example gt userdel g yyyy xxxx user xxxx has been removed from group yyyy Changing the Password Please use System Manager to change the Password 2 5 1A261 262 WinCE User s Manual Getting Start Adjusting Time Zone Windows CE 6 0 supports Time Zone You can use Control Panel gt Date Tim
61. u first Follow the chapter 2 section 4 Select option 2 TFTP Config e PComm Terminal Emulator COM2 115200 None 8 1 ANSI Profile it Porth r in Help ei HR alale 828 E COM2 115200 Hone 8 1 ANSI Te Init Debug Serial OK Ee Init Timer OK Jars Hait Platform jInit Flash TotalSector 0x80 SectorSize 0x20000 TotalSector 0x80 SectorSize 0x20000 Init MOXA UART Init RTC Moxa Technologies Co Ltd Version 1 3 0 0 Make date Aug 1 2007 14 55 12 Module Name IAZ61 CE Serial No 7 MACO 00 90 88 00 D0 0D 00 90 88 00 D0 08 Firmware Update TFTP Config Reset to Factory Default Format Flash Disk and Reset OS Ve Ve ZS SS E Ready ThinkCore IA261 262 WinCE User s Manual Firmware Upgrade Procedure Next select option 2 User Configure Input the local IP address A26X CE and server IP address TFTP host IP Address Sex PComm Terminal Emulator COM2 115200 None 8 1 ANSI Profile Edit PortManager Window Help ei HR alles Ain E COM2 115200 Hone 8 1 ANSI Make date Aug 1 2007 14 55 12 Module Name IA261 CE Serial No MACO 00 90 58 00 D0 0D 00 90 88 00 D0 0E Firmware Update TFTP Config Reset to Factory Default Format Flash Disk and Reset OS Moxa Technologies Co Ltd Version 1 3 0 0 Make date Aug 1 2007 14 55 12 Module Name IA261 CE Serial No 7 MACO 00 90 E8 00 D0 0D 00 90 88 00 D0 0E Set to Default Show Configure Command gt gt 2Z Please key in Loc
62. urs Save Settings You can also adjust the time automatically by using SNTP Click on the check box to enable the service and click the button to activate Some listed services cannot be stopped in order to maintain normal operation of the computer Such services do not have a check box next to them 3 5 1A261 262 WinCE User s Manual Management Tools Display The IA26X CE VGA output works through DB15 Female CRT connector to display the Windows CE desktop into a LCD monitor or a CRT monitor The default setting is 800x600 16 bit and 60Hz For general purpose you should tune the setting to match your LCD or CRT in specification In the Display setting window you can adjust the setting and press Apply to save the setting System Manager General Processes Services COM Ports Display Auto Launch User Group Supported Resolutions 640x480 68 16 24 Bpp 800x600 8 16 Bpp 1024x768 8 Bpp Settings Width Height Frequency Hz Depth bit 70 75 Apply Note You must restart reboot your IA26X CE to make the setting take effect 1A261 262 WinCE User s Manual Management Tools User Group Management You can add users by click the Add button to assign specific services such as ftp and telnet to define user groups such that these services are accessible and remove users by click the Remove button User can change login Password by click expectative name twice
63. ware Specifications Product Software Specifications gt Applications Development Environment OOoOcoOo gt Networking and Communications Capabilities gt Supporting Servers and Daemons Learning Firmware Build Versions Memory and File Systems Hive Based Registry Contrast to RAM Based Registry Inserting a CompactFlash Card Inserting a USB Mass Storage RS 232 422 485 Serial Ports CAN Ports A262 Only UUUUUUU 1A261 262 WinCE User s Manual Introduction Overview The IA261 IA262 embedded computers which are ideal for industrial automation applications feature 4 RS 232 422 485 serial ports 2 for A262 dual CAN ports A262 only dual Ethernet ports 8 digital input channels 8 digital output channels VGA output 2 USB hosts and a CompactFlash socket in a compact industrial strength aluminum rugged casing The DIN Rail vertical form factor makes the IA261 262 a cost effective solution for installation in small cabinets This space saving solution also facilitates easy wiring and is the best choice of front end embedded controller for industrial applications Due to its VGA output capability A261 262 is not only play the role of protocol conversion or data acquisition for the field site devices it is also suitable for SCADA system in industrial applications such as manufacturing automation production line process monitoring mining automation etc to be the operator interface terminal at the field site with VGA
64. workDict to get the result of the write e Syntax UNS8 getWriteResultNetworkDict CO_Data d UNS8 nodeId UNS32 abortCode e Parameters d input Node handle pointer nodeld input specified node id abortCode output 0 not available Else SDO abort code e Return Values SDO_FINISHED data is available SDO_ABORTED_RCV Transfert failed abort SDO received SDO_ABORTED_INTERNAL Transfert failed Internal abort SDO_DOWNLOAD_IN_PROGRESS Data not yet available SDO_UPLOAD_IN_PROGRESS Should not arrive B 26 1A261 262 WinCE User s Manual CANopen Library 40 moxa_getState Return the state of the node e Syntax e_nodeState moxa_getState CO_Data d e Parameters d input Node handle pointer e Return Values Initialisation 0x00 Disconnected 0x01 Connecting 0x02 Preparing 0x02 Stopped 0x04 Operational 0x05 Pre_operational Ox7F Unknown_state 0x0F 41 moxa_setState Change the state of the node e Syntax UNS8 moxa_setState CO_Data d e_nodeState newState e Parameters d input Node handle pointer newState input Initialisation 0x00 Disconnected 0x01 Connecting 0x02 Preparing 0x02 Stopped 0x04 B 27 1A261 262 WinCE User s Manual CANopen Library Operational 0x05 Pre_operational Ox7F Unknown_state 0x0F e Return Values OxFF if error else return 0 42 moxa_getNodeld Return the node Id e Syntax void moxa_
65. y listing page Virtual path mapping When connecting to this resource content should come from Virtual Directory Physical Directory or Redirection URL emoteadmin windows REMOTEADMIN dIl User settings Who is allowed to access this resource The Level Required must be User or Administrator for the Allowed Users setting to take effect Level Required Help Allowed Users Help User e Configure the allowed users Authentication and directory browsing Ifa value is set to default the virtual directory will use the default value for the Web site Enabled Disabled Default Directory Browsing Help OO OO Basic Authentication Help CO NTLM Authentication Help OO OO Permissions granted Onca user has access what actions are they allowed to take on it Help If checked clients may download files from this resource Abel de neg THAT leen shin e 3 10 Firmware Upgrade Procedure To upgrade the IA26X CE firmware you must download the firmware upgrade installation file This firmware installation file is on the software CD You can also download the newest version from the Moxa Download Center The URL is shown below http web4 moxa com support download_center asp Use the following steps to upgrade the firmware Before you start make sure your PC has the TFTP server software installed correctly Locate the firmware file e g A261CE_V1 0_07091112 hfm 2 Go to the Boot Loader men

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