CANopen Programmer's Manual - Maccon.de

More documents

Recommendations

Info

2: Network Management CANopen Programmer’s Manual 2.1: Network Management Overview Contents of this Section This section describes the objects, messages, and methods used to control the CANopen network. Topics include: General Device State Control ...................................................................................................................... 41 Device Monitoring ........................................................................................................................................ 42 SYNC and High-resolution Time Stamp Messages ..................................................................................... 42 Emergency Messages ................................................................................................................................. 42 40 Copley Controls
CANopen Programmer’s Manual 2: Network Management Overview Network Management Services and Objects Network management services on the CANopen network include device state control, device monitoring, synchronization, and emergency handling. Special communication objects, as summarized below, provide these services. Object Description Network Management (NMT) Synchronization (SYNC) This object provides services to control the state of the device, including the initialization, starting, monitoring, resetting, and stopping of nodes. It also provides device-monitoring services (nodeguarding and heartbeat). Broadcast periodically by a specified device or the CANopen master to allow synchronized activity among multiple devices. The CAN message ID of the SYNC message is 80. Time Stamp Broadcast periodically by a specified device or the CANopen master to allow devices to synchronize their clocks. Emergency Transmitted by a device when an internal error occurs. Network Manager Node Normally, a single node (such as a PC) is designated as the network manager. The network manager runs the software that issues all NMT messages. The network manager node can be the same node that runs the CANopen master application. General Device State Control State Machine Every CANopen device implements a simple state machine. The machine defines three states (described below). The network manager application uses NMT messages to interact with the state machine and control state changes. Device States The following states are defined for Copley Controls CANopen amplifiers: State Description Pre-operational Every node enters this state after power-up or reset. In this state, the device is not functional, but will communicate over the CANopen network. PDO transfers are not allowed in pre-operational state, but SDO transfers may be used. Operational This is the normal operating state for all devices. SDO and PDO transfers are both allowed. Stopped No communication is allowed in this state except for network management messages. Neither SDO nor PDO transfers may be used. State Control Messages One use of NMT messages is to control state changes on network devices. The following NMT messages are sent by the network manager to control these state changes. Each of these messages can be either sent to a single node (by node ID), or broadcast to all nodes. Message Effect Reset Causes each receiving node to perform a soft reset and come up in pre-operational state. Reset communications Causes each receiving node to reset its CANopen network interface to power-on state, and enter pre-operational state. This is not a full device reset, just a reset of the CANopen interface. Pre-operational Causes the receiving node(s) to enter pre-operational state. No reset is performed. Start Causes the node(s) to enter operational state. Stop Causes the node(s) to enter stopped state. Copley Controls 41
Page 1: CANopen Programmer’s Manual Part
Page 5 and 6: CANopen Programmer’s Manual Table
Page 7 and 8: About this Manual CANopen Programme
Page 9 and 10: About this Manual CANopen Programme
Page 11 and 12: CHAPTER 1: INTRODUCTION This chapte
Page 13 and 14: CANopen Programmer’s Manual 1: In
Page 39: CHAPTER 2: NETWORK MANAGEMENT This
Page 43 and 44: CANopen Programmer’s Manual 2: Ne
Page 51 and 52: CHAPTER 3: DEVICE CONTROL, CONFIGUR
Page 53 and 54: CANopen Programmer’s Manual 3: De
Page 91 and 92:
CANopen Programmer’s Manual 3: De
Page 93 and 94:
Page 95 and 96:
Page 97 and 98:
Page 99 and 100:
Page 101 and 102:
Page 103 and 104:
Page 105 and 106:
Page 107 and 108:
Page 109 and 110:
Page 111 and 112:
Page 113 and 114:
Page 115 and 116:
Page 117 and 118:
Page 119 and 120:
Page 121 and 122:
Page 123 and 124:
Page 125 and 126:
Page 127 and 128:
CHAPTER 4: CONTROL LOOP CONFIGURATI
Page 129 and 130:
CANopen Programmer’s Manual 4: Co
Page 131 and 132:
Page 133 and 134:
Page 135 and 136:
Page 137 and 138:
Page 139 and 140:
Page 141 and 142:
Page 143 and 144:
Page 145 and 146:
Page 147 and 148:
Page 149 and 150:
Page 151 and 152:
Page 153 and 154:
Page 155 and 156:
Page 157 and 158:
Page 159 and 160:
CANopen Programmer’s Manual 5: St
Page 161 and 162:
Page 163 and 164:
Page 165 and 166:
CANopen Programmer’s Manual 6: Ho
Page 167 and 168:
Page 169 and 170:
Page 171 and 172:
Page 173 and 174:
Page 175 and 176:
Page 177 and 178:
Page 179 and 180:
Page 181 and 182:
Page 183 and 184:
Page 185 and 186:
Page 187 and 188:
Page 189 and 190:
Page 191 and 192:
CANopen Programmer’s Manual 7: Pr
Page 193 and 194:
Page 195 and 196:
Page 197 and 198:
Page 199 and 200:
Page 201 and 202:
Page 203 and 204:
Page 205 and 206:
Page 207 and 208:
CANopen Programmer’s Manual 9: Cy
Page 209 and 210:
Page 211 and 212:
Page 213 and 214:
Page 215 and 216:
Page 217 and 218:
Page 219 and 220:
Page 221 and 222:
Page 223 and 224:
Page 225 and 226:
CANopen Programmer’s Manual A: Al
Page 227 and 228:
Page 229 and 230:
Page 231 and 232:
Page 233 and 234:
Page 235 and 236:
Page 237 and 238:
CANopen Programmer’s Manual B: Tr
Page 239 and 240:
Page 241 and 242:
Page 243 and 244:
Page 245 and 246:
CANopen Programmer’s Manual C: Ob
Page 247 and 248:
Page 249 and 250:
Page 251 and 252:
Page 253 and 254:
Page 255 and 256:
Page 257:
CANopen Programmer’s Manual P/N 9
show all

CANopen Programmer's Manual - Maccon.de

Create successful ePaper yourself

Delete template?

Save as template?