Ventura IPC - CAN-API / CANopen-API Instruction Manual - Kuhnke

Kuhnke Electronics
Instruction Booklet
Ventura CAN-API / CANopen-API
for Windows XP embedded
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KUHNKE Automation Ventura CAN API
This instruction booklet is primarily intended for use by design, project, and delvelopment engineers. It does not contain any delivery
information. Data is only given to describe a task solution and must not be regarded as guaranteed properties in the legal sense. Any
claims for damages - on whatever legal grounds - are excluded except for instances of deliberate intent or gross negligence on our part.
We reserve the rights for errors, omissions and modifications.
Reproduction even of extracts only with the editor's express and written prior consent.
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Table of Contents
1 Introduction......................................................................................................................................................5
2 General............................................................................................................................................................5
3 Example: Using CAN-API with Delphi .............................................................................................................6
3.1 Implementing CAN-API........................................................................................................................6
3.2 Example Program "CanApiSmall"........................................................................................................6
3.2.1 Open CANopen Interface...................................................................................................................7
3.2.2 Set up Slave .......................................................................................................................................7
3.2.3 Configure Slave..................................................................................................................................7
4 Ventura CANapi.DLL.......................................................................................................................................8
4.1.1 Open the CAN Interface.....................................................................................................................8
4.1.2 Close CAN Interface ..........................................................................................................................8
4.1.3 Attach Event Handle ..........................................................................................................................9
4.1.4 CANapi State....................................................................................................................................10
4.1.5 Reset Error .......................................................................................................................................10
4.1.6 Write CAN Frame.............................................................................................................................11
4.1.7 Read CAN Frame.............................................................................................................................12
4.1.8 Set Filter for CAN Controller ............................................................................................................13
4.2 VenturaCANopen.DLL .......................................................................................................................14
4.3 Set New Timeout (SDO) ....................................................................................................................14
4.3.1 Upload Value to Station (SDO) ........................................................................................................14
4.3.2 Get Value from Station's Object Dictionary (SDO) ..........................................................................15
4.3.3 Change Station State to Operational (NMT) ....................................................................................15
4.3.4 Change Station State to PreOperational (NMT) ..............................................................................16
4.3.5 Change Station State to Stop (NMT) ...............................................................................................16
4.3.6 Reset Station (NMT) ........................................................................................................................17
4.3.7 Reset Communication of Station (NMT) ..........................................................................................17
4.3.8 Sync Function (SYNC) .....................................................................................................................18
4.3.9 Heartbeat Function...........................................................................................................................19
4.3.10 Enable Heartbeat Monitor of CAN Station .....................................................................................19
4.3.11 Set up SLAVE ................................................................................................................................20
4.3.12 Delete Slave ...................................................................................................................................20
4.3.13 Event Handles for Changes in Slave .............................................................................................20
4.3.14 Check Events .................................................................................................................................21
4.3.15 Upload PDO Data to CANopen Station .........................................................................................22
4.3.16 Download PDO Data from CANopen Station.................................................................................22
4.3.17 Download Emergency Data from CANopen Station ......................................................................23
4.3.18 Have CAN Slave Send Heartbeat..................................................................................................23
4.3.19 Monitor State Machine ...................................................................................................................24
4.3.20 Get Number of Bootup Messages..................................................................................................24
4.4 List of CANopen Errors ......................................................................................................................25
5 Appendix........................................................................................................................................................26
5.1 References.........................................................................................................................................26
5.2 Sales & Service..................................................................................................................................27
5.2.1 Main Factory in Malente...................................................................................................................27
5.2.2 Sales Germany.................................................................................................................................27
5.2.3 Customer Service.............................................................................................................................27
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1 Introduction
2 General
Ventura's CAN-API is a programming interface for the Windows XP embedded
and Windows CE operating systems allowing programmers to deploy a
high-level language to gain direct access to Ventura's CAN port. Ventura's
CAN-API (application programming interface) consists of a set of DLLs that
the high-level language can run according to the current task.
VenturaCANapi.DLL is started by an application to directly process data
delivered by any of the field bus components. It provides access to CAN bus
layer 2 which controls CAN controller initialisation and the upload / download
of CAN frames.
VenturaCANopen.DLL starts where VenturaCANapi.DLL ends. To make
things easier, VenturaCANopen DLL contains all functions of Ventura-
CANapi.
The CANopen DLL opens users the gate towards the set of CANopen services.
The registers of the CAN controller are stored in Ventura's physical address
space. Any interrupts generated are output to IRQ channel 11 which, obviously,
needs to be reserved for access by this module.
The BUS LED located on Ventura's front panel is directly actuated by the
CAN controller to indicate the current state of the interface.
In systems platformed on Windows XP, interrupts may demand several milliseconds
of latency. It is therefore best practice to leave an average 10ms
between frames received.
Windows XP embedded is not real-time-ready. There is not warranted time
within which an interrupt routine would be started following the IRQ request.
Please take this fact into account when developing and running your application.
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3 Example: Using CAN-API with Delphi
3.1 Implementing CAN-API
3.2 Example Program "CanApiSmall"
Delphi applications are able to run CAN-API functions. This requires that developers
have the CAN-API functions available as a unit.
Delphi unit: 'VenturaCanOpenDLL.pas'
Be sure to add the unit to the project because failure to do so will disallow its
use in the program or its being linked to an application later.
• Run Delphi, pick 'Project', 'Add to project' from the menu, and select
unit 'VenturaCanOpenDLL.pas'.
• Then go to the "uses" clause and add the unit name, i.e. "Ventura-
CanOpenDLL".
Your user program will now have full access to the CAN functions.
The functions are described in chapter 4 "Ventura CANapi.DLL".
"CanApiSmall" showcases a program including all functions required to properly
interface a CANopen station with Ventura and the user program. This
section describes the function you need.
The hardware configuration is made up a Ventura on a Windows XP embedded
platform and a CANopen station, i.e. Ventura Remote I/O
16DI/16DO.
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3.2.1 Open CANopen Interface
Button 1, 'Open API', runs function 'VcoOpen'.
It opens the CANopen interface at the set baud rate (500 kbps in our example).
The value returned is shown as Label 1 immediately next to button 1,
'Open API'. It should be 0 if opening was successful.
3.2.2 Set up Slave
3.2.3 Configure Slave
The next step is to click on button 3 to run function 'SlaveCreate' which sets
sup Ventura for communication with the CANopen station. In our example,
the station has address 2 which is added to the function as a parameter.
If the function returns 0 the setup is ok.
Baud rate
Address
Now click on button 9, 'SDO Send', to transfer the configuration data to the
station. You only need to take this step if the station is actually configurable.
In our example, a Ventura Remote I/O will have address 2 under which it
networks with Ventura. To run as intended, Ventura I/O needs to know at least
the number of inputs and outputs provided by the basic module.
Enter the values (2 for 16 inputs/16 outputs) into the object dictionary, index
2000, sub-index 1 and 2.
For further information about the object dictionary of Ventura Remote I/O
refer to instruction manual E 698.
address index sub-index length of object
data array
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4 Ventura CANapi.DLL
This DLL gives you access to CAN bus layer 2 which initialises the CAN controller
and controls the upload / download of CAN frames.
4.1.1 Open the CAN Interface
int VcaOpen(WORD baud rate)
4.1.2 Close CAN Interface
DLL name: _VcaOpen@4
Opens the CAN interface at the set baud rate.
Input parameters:
Parameter Function
Baud rate
Communication data interchange baud rate
Value Transfer rate
0x2F67 10 kbps
0x2F53 20 kbps
0x2F47 50 kbps
0x2F43 100 kbps
0x1C03 125 kbps
0x1C01 250 kbps
0x1C00 500 kbps
0x1400 1000 kbps
Output parameters: -
Values returned:
Value Function
0 VCA_OK
Interface successfully opened.
1 VCA_HW32 DRIVER_OPEN_ERROR
Failure connecting with the hardware driver.
2 VCA_BUSY_ERROR
VcaOpen run previously.
100 SJA1000_OPEN_ERROR
CAN controller used by another application.
int VcaClose(void)
DLL name: _VcaClose@0
Closes the CAN interface
Input parameters: -
Output parameters: -
Values returned:
Value Function
0 VCA_OK
Interface successfully closed.
3 VCA_NOT_OPEN_ERROR
Nothing to close because interface was not open.
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4.1.3 Attach Event Handle
int VcaRegisterEvent(HANDLE CanEvent)
DLL name: _VcaRegisterEvent@4
Attaches an event handle to the DLL to be notified of receive events.
Input parameters:
Parameter Function
CanEvent Handle of an object opened by CreateEvent.
Output parameters: -
Values returned:
Value Function
0 VCA_OK
Event registered successfully.
3 VCA_NOT_OPEN_ERROR
Nothing to close because interface was not open.
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4.1.4 CANapi State
4.1.5 Reset Error
int VcaGetState(void)
DLL name: _VcaGetState@0
Returns the state of CANapi.
Input parameters: -
Output parameters: -
Values returned:
CANapi state The state is bit-coded.
Bit Function
0 0: CAN not active
1: CAN active
1 0: Data-out memory OK
1: Data-out memory overflow, older outgoing data is lost. The
application was too quick with uploading data to the DLL.
2 0: Data-in memory OK
1: Data-in memory overflow, older data is lost. The application
failed to get data often enough.
3 0: Data-in buffer of CAN controller OK
1: Overflow of data-in buffer of CAN controller. Data is lost. Incoming
CAN frames should leave an average 10ms delay between
two frames (set filter or assign Inhibit timer to other stations).
4 0: CAN controller alive on the bus
1: CAN controller turned "Bus off". There were too many errors
forcing the CAN controller to turn off. Close and reopen the interface.
5 0: CAN controller OK
1: CAN controller output a "warning". There were many bus errors,
or the controller fails to find an addressee for its frame.
The controller will quit that state when enough frames are correctly
sent or received.
6..15 not used
Int VcaResetOverflow(void)
DLL name: _VcaResetOverflow@0
Resets errors "data-out memory overflow", "data-in memory overflow" and
"CAN controller data-in buffer overflow".
Input parameters: -
Output parameters: -
Values returned:
Value Function
0 VCA_OK
All errors correctly reset.
3 VCA_NOT_OPEN_ERROR
Nothing to close because interface was not open.
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4.1.6 Write CAN Frame
int VcaWrite(CAN_MSG *pMsg)
DLL name: _VcaWrite@4
Writes a CAN frame and puts it on data-out memory. The frame will be uploaded
as quickly as possible.
Input parameters:
Parameter Function
*pMsg
Address of buffer for the frame to be uploaded.
The buffer to contain the frame must comply with
the following structure:
Type Content
double word ID
(4 byte)
byte mode (extended frame bit 7 = 1,
remote frame bit 6 = 1)
byte number of data bytes used
byte data byte 1
byte data byte 2
byte data byte 3
byte data byte 4
byte data byte 5
byte data byte 6
byte data byte 7
byte data byte 8
Output parameters: -
Values returned:
Value Function
0 VCA_OK
Frame uploaded.
3 VCA_NOT_OPEN_ERROR
Nothing to close because interface was not open.
5 VCA_WRITE_QUEUE_OVERFLOW
Upload memory overflow.
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4.1.7 Read CAN Frame
int VcaRead(CAN_MSG *pMsg)
DLL name: _VcaRead@4
Gets a CAN frame from the data-in memory.
Input parameters: -
Output parameters:
Parameter Function
*pMsg
Address of buffer for the frame to be read.
The buffer to contain the frame must comply with
the following structure:
Type Content
double word ID
(4 byte)
byte mode (extended frame bit 7 = 1,
remote frame bit 6 = 1)
byte number of data bytes used
byte data byte 1
byte data byte 2
byte data byte 3
byte data byte 4
byte data byte 5
byte data byte 6
byte data byte 7
byte data byte 8
Values returned:
Value Function
0 VCA_OK
Frame read.
3 VCA_NOT_OPEN_ERROR
Nothing to close because interface was not open.
5 VCA_NO_MSG
No frame received yet.
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4.1.8 Set Filter for CAN Controller
int VcaSetFilter(WORD DontCareMask1, WORD Code1,WORD
DontCareMask2, WORD Code2)
DLL name: _VcaSetFilter@16
Prepares or sets filters for the CAN controller. Try running this function before
using VcaOpen because it will prepare the filters that VcaOpen will actually
set.
In case the interface is open already, it will be briefly closed to set the filters.
An OR operation links the two filters.
Filtered frames will be ignored by the controller, i.e. they will not provoke an
interrupt.
Input parameters:
Parameter Function
DontCareMask1 Bits set =1 will not be used for filtering.
Code1 Specify the bit masks to be referenced for matching.
The function will only match bits set =0 in the mask.
DontCareMask2 same as mask 1
Code2 same as code1
Output parameters: -
Values returned:
Value Function
0 VCA_OK
Filter set.
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4.2 VenturaCANopen.DLL
This DLL starts where VenturaCANapi.DLL ends. To make things easier,
VenturaCANopen DLL contains all functions of VenturaCANapi. To distinguish
between the two, CANopen functions begin with Vco instead of Vca.
The CANopen DLL opens users the gate towards the set of CANopen services.
4.3 Set New Timeout (SDO)
4.3.1 Upload Value to Station (SDO)
Int SdoSetTimeout(WORD Timeout)
DLL name: _SdoSetTimeout@4
Sets a new maximum time out for the WriteObject and ReadObject services.
Default is 100 ms (SDO function).
Input parameters:
Parameter Function
Timeout Maximum timeout in milliseconds
Output parameters: -
Values returned:
Value Function
0 No error
> 0 � Error code, see list of errors
int SdoWriteObject(BYTE Address, WORD Index, BYTE SubIndex,
BYTE Length, BYTE *pData)
DLL name: _SdoWriteObject@20
Adds a value to the object dictionary of a CANopen station alive on the CAN
bus (SDO function).
Input parameters:
Parameter Function
Address CANopen station address (1..127)
Index Index labelling the object in the object dictionary
SubIndex Sub-index labelling the object in the object dictionary
Length Length of object in byte (1..4)
pData Pointer to the buffer containing the data (length buffer
size).
Output parameters: -
Values returned:
Value Function
0 No error
> 0 � Error code, see list of errors
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4.3.2 Get Value from Station's Object Dictionary (SDO)
int SdoReadObject(BYTE Address, WORD Index, BYTE SubIndex,
BYTE *pLength, BYTE *pData)
DLL name: _SdoReadObject@20
Reads a value contained in the object dictionary of a CANopen station alive
on the CAN bus (SDO function).
Input parameters:
Parameter Function
Address CANopen station address (1..127)
Index Index labelling the object in the object dictionary
SubIndex Sub-index labelling the object in the object dictionary
Output parameters:
Parameter Function
Length Length of object in byte (1..4)
pData Pointer to data buffer (size=4 byte)
Values returned:
Value Function
0 No error
> 0 � Error code, see list of errors
4.3.3 Change Station State to Operational (NMT)
int NmtOperational(BYTE Address)
DLL name: _NmtOperational@4
Changes the state of one or all alive CAN bus stations to Operational (NMT
function).
In this state, the station affected is fully operational and can take the initiative
to transfer frames (PDOs, emergency).
Input parameters:
Parameter Function
Address CANopen station address (1..127, 0 for all stations)
Output parameters: -
Values returned:
Value Function
0 No error
> 0 � Error code, see list of errors
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4.3.4 Change Station State to PreOperational (NMT)
int NmtPreOperational(BYTE Address)
DLL name: _NmtPreOperational@4
Changes the state of one or all alive CAN bus stations to PreOperational
(NMT function).
Stations in that state can be communicated with using SDOs. The node will
not sustain PDO communication and neither will it transmit any emergency
messages.
Input parameters:
Parameter Function
Address CANopen station address (1..127, 0 for all stations)
Output parameters: -
Values returned:
Value Function
0 No error
> 0 � Error code, see list of errors
4.3.5 Change Station State to Stop (NMT)
int NmtStop(BYTE Address)
Changes the state of one or all alive CAN bus stations to Stop (NMT function).
Input parameters:
Parameter Function
Address CANopen station address (1..127, 0 for all stations)
Output parameters: -
Values returned:
Value Function
0 No error
> 0 � Error code, see list of errors
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4.3.6 Reset Station (NMT)
int NmtResetNode(BYTE Address)
DLL name: _NmtResetNode@4
Resets one or all alive CAN bus stations (NMT function).
Input parameters:
Parameter Function
Address CANopen station address (1..127, 0 for all stations)
Output parameters: -
Values returned:
Value Function
0 No error
> 0 � Error code, see list of errors
4.3.7 Reset Communication of Station (NMT)
int NmtResetCommunication(BYTE Address)
DLL name: _NmtResetCommunication@4
Resets the communication of one or all alive CAN bus stations (NMT function).
Input parameters:
Parameter Function
Address CANopen station address (1..127, 0 for all stations)
Output parameters: -
Values returned:
Value Function
0 No error
> 0 � Error code, see list of errors
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4.3.8 Sync Function (SYNC)
int SyncEnable (WORD Time, DWORD Id)
DLL name: _SyncEnable@8
Enables cyclic transfer of the Sync frame (Sync function).
Input parameters:
Parameter Function
Time Cycle time in milliseconds (min 10ms, 0 off)
Id Frame identifier (entering 0 will default the system to
Sync identifier 0x80)
Output parameters: -
Values returned:
Value Function
0 No error
> 0 � Error code, see list of errors
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4.3.9 Heartbeat Function
int HeartbeatEnableOwn (WORD Time, BYTE Address)
DLL name: _HeartbeatEnableOwn@8
Enables cyclic transfer of the station's own heartbeat frame (Heartbeat function).
Input parameters:
Parameter Function
Time Cycle time in milliseconds (min 10ms, 0 off)
Address Own address, must be unique among all bus stations
Output parameters: -
Values returned:
Value Function
0 No error
> 0 � Error code, see list of errors
4.3.10 Enable Heartbeat Monitor of CAN Station
int HeartbeatSetSlaveConsumerHeartbeat(BYTE Address,
BYTE Factor)
DLL name: _HeartbeatSetSlaveConsumerHeartbeat@8
Enables the heartbeat monitor of a CANopen unit to control its own heartbeat.
Requires the own heartbeat to be active (Heartbeat function).
Input parameters:
Parameter Function
Address Address of the CANopen unit whose heartbeat monitor
is to be enabled, e.g. controller/PC.
Factor After Factor * Heartbeat Time (set by HeartbeatEnableOwn),
the unit is to change its state to
Error if it has not received a heartbeat signal. To
properly enable the function, the minimum factor is 2.
Output parameters: -
Values returned:
Value Function
0 No error
> 0 � Error code, see list of errors
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4.3.11 Set up SLAVE
4.3.12 Delete Slave
int SlaveCreate (BYTE Address)
DLL name: _SlaveCreate@4
The slave is the destination of messages sent by a "real" CANopen unit attached
to the bus.
Mind that the slave needs to be configured according to the rules of the
"Predefined Connection Set".
Input parameters:
Parameter Function
Address Address of CANopen unit
Output parameters: -
Values returned:
Value Function
0 No error
> 0 � Error code, see list of errors
int SlaveDelete(BYTE Address)
DLL name: _SlaveDelete@4
Deletes a previously set-up slave from the list of slaves.
Input parameters:
Parameter Function
Address Address of CANopen unit
Output parameters: -
Values returned:
Value Function
0 No error
> 0 � Error code, see list of errors
4.3.13 Event Handles for Changes in Slave
int SlaveRegisterEvent(BYTE Address , HANDLE
*pSlaveEvent)
DLL name: _SlaveRegisterEvent@8
Attaches an event handle to the DLL to be notified of changes occurring in
the slave. The following events count as triggers:
PDO received
Emergency message received
Bootup message received
Heartbeat timeout
Change of heartbeat state
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4.3.14 Check Events
Input parameters:
Parameter Function
Address Address of CANopen unit (set up by SlaveCreate)
pSlaveEvent Pointer to the handle of an object previously opened
using CreateEvent
Output parameters: -
Values returned:
Value Function
0 No error
> 0 � Error code, see list of errors
int SlaveGetState(BYTE Address)
DLL name: _SlaveGetState@4
Function allows the program to check which events have occurred since the
previous check.
Every check clears the list of previous events.
Possible events are listed below as "values returned".
Input parameters:
Parameter Function
Address Address of CANopen unit (set up by SlaveCreate)
pSlaveEvent Pointer to the handle of an object previously opened
using CreateEvent
Output parameters: -
Values returned:
Status of event is bit-coded
Bit Function
0 PDO 1 received
1 PDO 2 received
2 PDO 3 received
3 PDO 4 received
4 Emergency message received
5 Bootup message received
6 Heartbeat timeout
7 Change of heartbeat state
8 PDO read queue overflow
9 Emergency receive buffer overflow
10 Station set up
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4.3.15 Upload PDO Data to CANopen Station
int SlaveWritePdoData(BYTE Address, BYTE PdoNo, BYTE
Length, BYTE *pData)
DLL name: _SlaveWritePdoData@16
Uploads PDO data to a CANopen station configured compliant to the "Predifined
Connection Set".
Input parameters:
Parameter Function
Address Address of CANopen unit (set up by SlaveCreate)
PdoNo Number of Receive PDO (0..3)
Length Number of data in byte (1..8)
pData Pointer to the buffer containing the data
Output parameters: -
Values returned:
Value Function
0 No error
> 0 � Error code, see list of errors
4.3.16 Download PDO Data from CANopen Station
int SlaveReadPdoData(BYTE Address, BYTE PdoNo, BYTE
*pLength, BYTE *pData)
DLL name: _SlaveReadPdoData@16
Downloads the PDO data contained in the buffer of a CANopen station set
up using SlaveCreate. Configuration of station to conform to the "Predifined
Connection Set".
Input parameters:
Parameter Function
Address Address of CANopen unit (set up by SlaveCreate)
PdoNo Number of Receive PDO (0..3)
Output parameters:
Parameter Function
pLength Pointer to number of data in byte (1..8)
pData Pointer to the buffer containing the uploaded data (8
byte).
Values returned:
Value Function
0 No error
> 0 � Error code, see list of errors
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4.3.17 Download Emergency Data from CANopen Station
int SlaveReadEmergency(BYTE Address, BYTE *pEmyData)
DLL name: _SlaveReadEmergency@8
Downloads the Emergency data contained in the buffer of a CANopen station
set up using SlaveCreate.
Input parameters:
Parameter Function
Address Address of CANopen unit (set up by SlaveCreate)
Output parameters:
Parameter Function
pEmyData Pointer to the buffer containing the uploaded emergency
data (8 byte).
Values returned:
Value Function
0 No error
> 0 � Error code, see list of errors
4.3.18 Have CAN Slave Send Heartbeat
int SlaveEnableHeartbeat(BYTE Address, WORD Time, BYTE
Factor)
DLL name: _SlaveEnableHeartbeat@12
Makes a CANopen station send its heartbeat. The station must have been
set up using SlaveCreate. The heartbeat sent is monitored afterwards. Use
GetHeartbeatState to know the state of monitoring.
Input parameters:
Parameter Function
Address Address of CANopen unit (set up by SlaveCreate)
Time CANopen station's producer heartbeat time in milliseconds
(min 10ms, 0 off)
Factor Monitoring time: Factor * Time (min 2)
Output parameters: -
Values returned:
Value Function
0 No error
> 0 � Error code, see list of errors
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4.3.19 Monitor State Machine
int SlaveGetHeartbeatState(BYTE Address)
DLL name: _SlaveGetHeartbeatState@4
Use this function to check the state of stations monitored by SlaveEnable-
Heartbeat. The state refers to the CANopen state machine.
Input parameters:
Parameter Function
Address Address of CANopen unit (set up by SlaveCreate)
Output parameters: -
Values returned:
Value Function
0 Heartbeat not enabled
127 Preoperational
4 Stop (prepared and ready)
5 Operational
4.3.20 Get Number of Bootup Messages
int SlaveGetBootupCount(BYTE Address)
DLL name: _SlaveGetBootupCount@4
Counts the number of Bootup messages received since the last check from
a CANopen station set up using SlaveCreate.
Input parameters:
Parameter Function
Address Address of CANopen unit (set up by SlaveCreate)
Output parameters: -
Values returned:
Value Function
0 …n Count of Bootup frames received since the last check.
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4.4 List of CANopen Errors
Value Error
0 VCO_ERROR_OK
100 VCO_ERROR_PARAMETER_RANGE
101 VCO_ERROR_SDO_TIMEOUT
102 VCO_ERROR_SDO
103 VCO_ERROR_SLAVE_IS_CREATED
104 VCO_ERROR_NO_SLAVE_CREATED
105 VCO_ERROR_PDO_WRITE_BUFFER_OVERFLOW
106 VCO_ERROR_BUFFER_EMPTY
107 VCO_ERROR_HEARTBEAT_TIMEOUT
108 VCO_ERROR_HEARTBEAT_STATE_CHANGE
109 VCO_ERROR_NOT_ACTIVE
110 VCO_ERROR_HEARTBEAT_NOT_ACTIVE
111 VCO_ERROR_OUT_OF_MEMORY
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5 Appendix
5.1 References
Title / Subject Number Source
CANopen
Basics and Configuration
Ventura IPC 300 / 700
PC-based Controller
Ventura Remote I/O
Remote I/Os for CANopen and
PROFIBUS-DP
E 615 GB Kuhnke GmbH
E 674 GB Kuhnke GmbH
E 698 GB Kuhnke GmbH
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5.2 Sales & Service
5.2.1 Main Factory in Malente
5.2.2 Sales Germany
5.2.3 Customer Service
Please visit our Internet site to find a comprehensive overview of our sales
and service network including all the relevant addresses. You are, of course,
always welcome to contact our staff at the main factory in Malente or at
sales headquarters in Neuhausen:
Kuhnke Automation GmbH & Co. KG
Lütjenburger Straße 101
D-23714 Malente
Phone +49 (0)4523 402-0
Fax +49 (0)4523 402-247
Email sales@kuhnke.de
Internet www.kuhnke.de
Kuhnke Automation GmbH & Co. KG
Stuttgart Branch Office
Strohgäustraße 3
D-73765 Neuhausen
Phone +49 (0)7158 9074-0
Fax +49 (0)7158 9074-80
Email sales@kuhnke.de
Internet www.kuhnke.de
Kuhnke Automation GmbH & Co. KG
Lütjenburger Str. 101
D-23714 Malente
Phone +49 (0)4523 402-200
Fax +49 (0)4523 402-201
Email service@kuhnke.de
Internet www.kuhnke.com
E 674-2 GB 27
3 Jan 2006