Systec Electronic CANopen ChipF40 System Manual

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CANopen ChipF40

System Manual

Edition June 2012

System House for Distributed Automation

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Page 1 CANopen ChipF40 System Manual Edition June 2012 System House for Distributed Automation...
Page 3 In this manual are descriptions for copyrighted products which are not explicitly indicated as such. The absence of the trademark (©) symbol does not infer that a product is not protected. Additionally, registered patents and trademarks are similarly not expressly indicated in this manual The information in this document has been carefully checked and is believed to be entirely reliable.
Page 5: Table Of Contents
Table of Content Table of Content Preface ....................1 Introduction to the CANopen ChipF40 ..........3 Features ..................4 Hardware Overview ................5 Pin Layout ..................5 Pin Description Of The Board ............6 ...
Page 6 Error LED ..............61 Operation in the Event of Errors ............ 63 State of the CANopen ChipF40 in the Event of Errors ..... 63 Output Handling in the Event of Errors ........63 ...
Page 9 Index of Figures Index of Figures Figure 1: Pin Layout .................. 5 Figure 2: DIP-switch Pinout and Functions ..........7 Figure 3: DIP-switch Pinout and Functions, version 3301002 only ..8 Figure 4: structure of /RESIN Line ............8 ...
Page 11 Index of Tables Index of Tables Table 1: Pinout of the DIPmodul-connector ..........6 Table 2: Configuration of Node-ID ............10 Table 3: Configuration of CAN Bit Rate ..........11 Table 4: Configuration of CAN Bit Rate over LSS ....... 11 ...
Page 12 Example for Error Handling PWM outputs ......64 Table 32: Object Dictionary of the CANopen ChipF40 ......68 Table 33: Object Dictionary of the CANopen ChipF40 V3 ....70 © SYS TEC electronic GmbH 2010 L-1062e_9...
Page 13: Preface
Preface 1 Preface This manual describes only the functions of the CANopen ChipF40. In this manual low active signals are denoted by a "/" in front of the signal name (i.e.: /RD). A "0" indicates a logic-zero or low-level signal, while a "1" represents a logic-one or high-level signal.
Page 14 The CANopen ChipF40 is one of a series of SYS TEC DIPmodules that can be fitted with different controllers and, hence, offers various functions and configurations. SYS TEC supports all common 8- and...
Page 15: Introduction To The Canopen Chipf40
The differences and peculiarities of the both versions are described later in this document. The CANopen ChipF40 is a tiny yet highly cost-effective Single Board I/O device. In the size of a 40-pin DIP device, the module is designed for use as core component in a customer application design.
Page 16: Features
(number and type of I/O's). The serial EEPROM device on the CANopen ChipF40 stores the configuration data of the CANopen Slave during runtime. This provides the advantage that, in the event of a temporary loss of the power supply, configuration data are still valid in the EEPROM.
Page 17: Hardware Overview
EMC conformance. As Figure 1 indicates, all controller signals extend to standard-width (2.54 mm / 0.10 in.) pin rows lining two sides the board (referred to as DIPmodul-connector). This allows the CANopen ChipF40 to be plugged into any target application like a "big chip". CANopen-Chip...
Page 18: Pin Description Of The Board
A more detailed description of pin signals and functions is available in Table 1. 3.2 Pin Description Of The Board Pin Number Function I/O Description 1, 2 P1.2, P1.3 Port Pin P1.2, P1.3 of the microcontroller 3, 4 P4.4, P4.5 Port Pin P4.4, P4.5 of the microcontroller /BOOT /BOOT = 0 &...
Page 19: Board Configuration
3.3.1 DIP-Switch An 8-position DIP-switch is located on the topside of the CANopen ChipF40. Four of these switches enable configuration of the Node-ID for CANopen, two set the CAN baud rate CAN bus, and the remaining two switches are used to enable I/O configuration.
Page 20: Can Transceiver
The firmware operates with 11-bit identifier (Full CAN 2.0B passive). The selection of the CAN transceiver is made by selection of the corresponding pins of the CANopen ChipF40. Pins 37 and 38 for use of the on-board or pins 36 and 39 for use of an external optically isolated CAN transceiver device.
Page 21: Configuration Of Communication Parameters
3.5 Configuration of Communication Parameters Node Address Configuration via DIP-switch : The CANopen ChipF40 is configured for a basic Node-ID of 40hex. An additional, device-specific offset can be added to this base address and configured with the DIP-switch S1 DIP1 to DIP4. The resulting...
Page 22: Table 2: Configuration Of Node-Id
Node- Address Configuration via CANopen Layer Setting Services (LSS) implemented in the CANopen protocol can be used to freely assign a Node-ID on the CANopen ChipF40. This address can be in the range from 1 to 127 decimal (01h...7Fh). After such LSS configuration the DIP-switch settings for the Node-ID are no longer valid.
Page 23: Table 3: Configuration Of Can Bit Rate
Hardware Overview Bit Rate Configuration via DIP-switch: Switches DIP5 and DIP6 of DIP-switch can be used to configure one of 4 pre-defined CAN bit rates available on the CANopen ChipF40. The following bit rates are available: DIP5 DIP6 Bit rates kBit/s...
Page 24: Table 5: I/O Configuration
2000H is necessary. I/O Configuration via CANopen The desired I/O configuration on the CANopen ChipF40 can also be selected via an entry in the Object Dictionary (OD). The manufacturer-specific OD entry 0x2000 is provided for this purpose.
Page 25: Default Configuration
Hardware Overview 3.6 Default Configuration At the time of delivery all DIP-switches on the CANopen ChipF40 are open. This results in the following factory default settings: • Node-ID = 40hex • bit rate = 125 kBit/s • configuration = I/O configuration 0 3.7 Pin Assignments for Selected I/O Configurations F40...
Page 26: Table 7: Input/Output Configuration And I/O Pin Assignment F40
Pin# Config 0 Config 1 Config 2 Config 3 Config 4 Config 5 Config 6 DO 4 DO 0 DO 0 DO 0 DI 12 DI 20 DI 0 DO 5 DO 1 DO 1 DO 1 DI 13 DI 21 DI 1 DO 6 DO 2...
Page 27: Pin Assignments For Selected I/O Configurations F40 V3
I/O pins meets the requirements of the specific I/O signal type. In appropriate signal connection could damage or destroy the CANopen ChipF40. We recommend to disconnect the I/O pins when changing the I/O configuration. 3.8 Pin Assignments for Selected I/O Configurations F40 V3...
Page 28: Table 9: Input/Output Configuration And I/O Pin Assignment F40 V3
Pin# Config. 0 Config. 1 Config. 2 Config. 3 Config. 4 Config. 5 Config. 6 DO 4 DO 0 DO 0 DO 0 DI 12 DI 20 DI 0 DO 5 DO 1 DO 1 DO 1 DI 13 DI 21 DI 1 DO 6 DO 2...
Page 29: Technical Data
I/O configuration user must ensure that the circuitry connected to the applicable I/O pins meets the requirements of the specific I/O signal type. In appropriate signal connection could damage or destroy the CANopen ChipF40. We recommend to disconnect the I/O pins when changing the I/O configuration. 3.9 Technical Data...
Page 30 Connector Type: 40-pin dual–inline IC socket (2.54 mm pitch), pin diameter 0.47 mm, contact length 3.2 mm These specifications describe the standard configuration of the CANopen ChipF40 as of the printing of this manual. © SYS TEC electronic GmbH 2010 L-1062e_9...
Page 31: Setting Up The Canopen Chipf40
4 Setting up the CANopen ChipF40 4.1 Power Supply The CANopen ChipF40 requires a power supply of +5V DC ±10%. Power can be supplied via pins 6 (GND) and pin 40 (+5V), according to the standard for TTL-level devices. Additional there are pins 20 and 35 for GND connection.
Page 33: Quickstart
CANopen networks. It also requires, that the CANopen ChipF40 is properly connected to the CAN bus and power is supplied to the CANopen ChipF40. Please refer to sections 1 and 1 for basic description of CAN and CANopen.
Page 34: Can Message And Identifier
The PDO mapping of the available I/O's depends on the selected I/O configuration (refer to Table 7). The CANopen ChipF40 also supports variable PDO mapping. This allows for free mapping of inputs to Tx PDOs and Rx PDOs to output lines.
Page 35: Default Mapping Canopen Chipf40
DI 8...DI 15 PWM 0 ... PWM 3 Table 11: PDO Mapping for I/O‘s F40 5.4.2 Default Mapping CANopen ChipF40 V3 In the default mapping, the 4 Tx PDO and the 2 Rx PDO are invalid. This results in the following arrangement of I/Os and PDOs:...
Page 36: Board Reset
5.5 Board Reset Following each board reset, the CANopen ChipF40 transmits an Boot- up message without data content. Temporary suspension of CANopen ChipF40 activity and subsequent restart can be recognized without Nodeguarding (refer to section 5.6 Node Guarding). The transmitter of this message will be detected by the CAN identifier.
Page 37 QuickStart pre-configured Life Time. The Slave then assumes failure of the Master, sets its inputs into Error state, transmits an Emergency message and switches into Pre-Operational state (condition index [67FEH] or [1029H] = 0). The Life Time Factor is configured within the Object [100D] and is multiplied by the Guard Time [100C].
Page 39: Controller Area Network - Can
Controller Area Network – CAN 6 Controller Area Network – CAN 6.1 Communication with CANopen The Controller Area Network (the CAN bus) is a serial data communications bus for real-time applications. CAN was originally developed by the German company Robert Bosch for use in the automotive industry.
Page 40 exchange at the supervisory control level as well as accommodating the integration of very small sensors and actuators on the same physical network. This avoids the unnecessary expense of gateways linking sensor/actuator bus systems with higher communication networks and makes CANopen particularly attractive to original equipment manufacturers.
Page 41: Can Application Layer
Controller Area Network – CAN 6.2 CAN Application Layer The CAN Application Layer (CAL) supports various applications and the integration of CAN hardware from different vendors. A CAL implementation consists of four blocks, each of which can operate as network Master and Slave. CAN Message Specification (CMS) CMS defines the communication objects, such as multiplexed variables, Events and Domains.
Page 42: Canopen - Open Industrial Communication
6.3 CANopen – Open Industrial Communication The following Special Interest and Working Groups have developed the CAL-based CANopen communication profile: SIG Distributed I/O SIG Motion Control and the Working Group (WG) WG Higher Layer Protocols The CiA 301 CANopen standard derived from the results of the ASPIC ESPRIT project.
Page 43 Controller Area Network – CAN Each individual networked device provides several PDOs and SDOs. This enables configuration of multi-master networks, in addition to typical single Master / multiple Slave networks. In addition to data classes, CANopen defines the communication classes that describe: •...
Page 44 Servo drivers, Step motors and Frequency transformers • Measurement Devices and Closed Loop Controllers CiA 405 • IEC61131-3 Programmable Devices CiA 405 • Encoder CiA 406 • Inclinometer CiA 410 Please refer to the CAN in Automation homepage www.can-cia.org for up-to-date information of available device profiles. All device profiles correspond to the DRIVECOM Profile with CAN-specific modifications to enable multi-master capability.
Page 45: Canopen Communication
CANopen Communication 7 CANopen Communication 7.1 CANopen Fundamentals Open fieldbus systems enable design of distributed network systems by connecting components from multiple vendors while minimizing the effort required for interfacing. To achieve an open networking system, it is necessary to standardize the various layers of communication used.
Page 46: Canopen Device Profiles
7.2 CANopen Device Profiles CANopen profiles are defined for communication in CiA 301, for I/O Modules in CiA 401, for Drives and Motion Control in CiA 402 and for Encoder in CiA 406. Other profiles are in preparation. The profiles of a CANopen device are stored in the Object Dictionary (OD) in a defined manner.
Page 47: Communication Profile
CANopen Communication 7.3 Communication Profile The interface between application and CANopen device is clearly defined by a uniform communication profile based on CAL. The CANopen communication protocol defines several methods for transmission and receipt of messages over the CAN bus, including transfer of synchronous and asynchronous messages.
Page 48: Process Data Objects
A variety of access restrictions must be taken into account, such as; Read only, Write only and No PDO mapping. Error messages provide detailed information on any access conflicts. Service Data Objects (SDOs) are normally used for device configuration such as setting device parameters.
Page 49: Table 13: Cob-Identifier (Communication Target Object Identifier)
CANopen Communication The message identifier can be found in the Object Dictionary under the entry for communication parameter in subindex 1. Bit 30 indicates if remote request for this PDO is enabled (bit 30 = 0) or not. Bit 29 configures the CAN frame format, bit 29 = 0 indicates 11-bit identifier.
Page 50: Pdo-Mapping
• the second transmit and receipt PDO is used for exchange of analog data. If a CANopen device does not support digital inputs or outputs, it is recommended that the first transmit and receipt PDO remains unused. If a CANopen device does not support analog signals, it is recommended that the second transmit and receipt PDO remains unused.
Page 51: Error Handling
CANopen Communication CANopen device might evaluate only the fifth byte of a PDO. In this case, 2 unsigned16 dummy objects are inserted in the mapping identity, if supported by the CANopen device. A mapping table can be used to appropriately configure communication parameters to encode a PDO for transmission or to decode a received PDO.
Page 52: Life-Guarding
7.8.1 Life-Guarding Optional node monitoring is achieved by “Life-Guarding”. The NMT- Master periodically transmits a Lifeguard message to the Slave. The Slave responds to the Lifeguard message with a return message indicating its present status and a bit that toggles between two messages.
Page 53: Heartbeat Consumer
CANopen Communication The Heartbeat Producer is deactivated when the producer Heartbeat time is set to 0. 7.8.4 Heartbeat Consumer The Heartbeat Consumer analyzes Heartbeat messages sent from the producer. In order to monitor the Producer, the Consumer requires every producers’ node address, as well as the consumer Heartbeat time.
Page 54: Network Boot-Up
7.9 Network Boot-Up The NMT-Master is responsible for booting of the network. The boot procedure takes place over several steps. According to the type of networked CANopen device, the identifier defaults to pre-defined values (for minimum CANopen devices) or is configured via DBT services.
Page 55: Figure 5: State Diagram Of A Canopen Device
CANopen Communication initialization. The Reset_Node service completely resets target nodes. Reset_Communication resets communication parameters. Power On or Hardware Reset Initialization (14) (11) (13) (10) Pre-Operational (12) Stopped Operational Figure 5: State Diagram of a CANopen Device State transition Action required following "Power On", automatically switches into "Initialization"...
Page 56: Object Dictionary Entries
For networked devices operating in a network with or without DBT capabilities, it is necessary to reserve the identifier for “minimum devices“ in the database of the DBT-Master. Extended Boot-up is based on CAL specifications. The device states Pre-Operational and Initializing have been implemented in addition. 7.10 Object Dictionary Entries Beside the parameters for the PDOs, a number of additional entries in the Object Dictionary belong to the data that specify a CANopen...
Page 57: Pdo Mapping Example
CANopen Communication 7.11 PDO Mapping Example All network variables can be transferred by PDOs, which can transmit a maximum of 8 bytes of information. The allocation of variables to PDOs is defined by mapping tables. These variables are addressable via the Object Dictionary. Reading and writing of entries to the Object Dictionary occurs by means of Service Data Objects (SDO), which are used to configure the network by means of a special configuration tool.
Page 58: Table 20: Pdo Mapping Example
Transmit PDO Communication Parameter: 1800H,0 # of Entries 1800H,1 COB-ID 1800H,2 Transm. Type ..Resulting PDO: COB-ID DATA Output 1 Output 3 Table 20: PDO Mapping Example Transmit and receive PDOs utilize the same CAN identifier 501. Thus device B automatically receives the PDO transmitted by device A. The recipient, device B, interprets the data in accordance with its mapping scheme;...
Page 59: Input/Output Assignment To Object Dictionary Entries
CANopen Communication 7.12 Input/Output Assignment to Object Dictionary Entries The CANopen ChipF40 allows an easy configuration for a specific CANopen application. The fixed number of inputs and outputs on the CANopen ChipF40 makes easy configuration of Process Data Objects (PDOs) possible. Both digital and analog inputs, as well as the digital outputs, are configured in accordance with CiA standards.
Page 60: Table 22: Object Dictionary Input/Output Entries F40 V3
Object Dictionary Input/Output Entries F40 V3 Note: After boot-up of the CANopen ChipF40, objects can be accessed via SDOs. If the node is in state Operational, objects can be accessed via PDOs. The default mapping parameters applies for Object Dictionary Input/Output entries.
Page 61: Canopen Chipf40 Operation
CANopen ChipF40 Operation 8 CANopen ChipF40 Operation 8.1 CANopen State Transitions The structure of messages that changes the state of a CANopen node is as follows: 11-bit CAN Identifier 2 Byte Data NODE_ID Node_ID Node address; Node_ID = 0 to address all devices...
Page 62: Power On
NOT functioning. Leaving this state is only possible with a NMT message. 8.6 Restart Following Reset / Power-On Each Reset of the CANopen ChipF40 transmits an Emergency message without data contents. Temporary operational failure of the CANopen ChipF40 and subsequent power-up of the device are detected without Node Guarding (refer to Section 5.6), as the sending...
Page 63 CANopen ChipF40 Operation The CANopen ChipF40 distinguishes between “Load”_Start and “Save”_ Start. “Load”_Start is necessary: • for initial operation of the CANopen ChipF40 after its delivery • if the device parameters (Object Dictionary entries in RAM) should be overwritten by default values With “Load”_Start, all default CANopen ChipF40 Object Dictionary...
Page 64: Nmt-Boot-Configuration
In order to set the default values, a Reset/Power-On must be subsequently executed. 8.7 NMT-Boot-Configuration The CANopen ChipF40 can be configured, that it works as a NMT- Boot-Master for all CANopen-Nodes in the network. The configurations is made in the Object Dictionary at Index [2001H].
Page 65: Analog Input Operation
The CANopen Standard CiA 401 defines that all analog values till 15 bit have to be stored as 16-bit value aligned left with a sign bit. On the CANopen ChipF40 all A/D-conversion values are stored with 10-bit data. Consequently, for each analog channel, two data bytes must be transmitted.
Page 66: Selecting The Interrupt Trigger
For the lowest quantization of the A/D-value the real resolution of the ADC has to be used. A/D-value = 01H voltage range = 5V (standard supply on pins VAREF and VAGND) real resolution ADC = 10 Bit lowest resolution = 4,88 mV/Digit 8.8.3 Selecting the Interrupt Trigger This object entry determines which event can release an interrupt.
Page 67: Interrupt Source
CANopen ChipF40 Operation 8.8.4 Interrupt Source This object entry stores which analog input caused the interrupt. The object [6422] "Analog_Input_Interrupt_Source" is available for this purpose. Every single bit refers to the corresponding analog input channel. These bits will be reset automatically if the entry has been read by a SDO or the object entry was transmitted with a PDO.
Page 68: Delta Function
Note: The default value in both entries for all analog inputs is "0". Example: 6423 = 1h, 6421,1 = 05h and 6424,1 = 2000h: The analog input #1 releases an interrupt if the value exceeds the limit of 2000h, and then the value fluctuates by more than specified in the Delta function (see following section).
Page 69: Example For Trigger Conditions
[6426H] - Delta. The shown voltage trace is located at an analogue input. At the moments, what are marked with λ , a corresponding PDO will be transmitted from CANopen ChipF40. Is the analogue input vale between U1 and U2 (the hatched area), no PDO will be transmitted.
Page 70: Functionality Of Pwm Outputs
8.9 Functionality of PWM Outputs (not available for CANopen ChipF40 V3) The CANopen ChipF40 can generate PWM-signals. For every Output it exists one OD-entry for period (index [6510H]) and one for duty cycle (Index [6500H]). Both parameter have the format unsigned 16.
Page 71: Error Code
CANopen ChipF40 Operation BYTE 0 BYTE 1 BYTE 2 BYTE 3 BYTE 4 BYTE 5 BYTE 6 BYTE 7 Error- Error Code Manufacturer-specific Error Code Register [1001] Table 27: Emergency Message 8.10.1 Error Code The Error Code (byte field 0+1, LSB, MSB) indicates whether an error is present or whether the error has already been eliminated (no error).
Page 72: Display State At Run And Error Led
8.11 Display State at Run and Error LED The current state of the CANopen ChipF40 is displayed at the both state-LEDs D1 und D2. The functionality of both LED's is defined in standard CiA 303-3 V1.0 . 8.11.1 Run LED The green Run LED (D2) displays the NMT State of the device.
Page 73: Error Led
CANopen ChipF40 Operation 8.11.2 Error LED The red Error LED (D1) displays the current error state of the CANopen ChipF40. The Table 29 shows the different states and their meaning. ERROR LED State Description no error no error on device detected...
Page 75: Operation In The Event Of Errors
9.1 State of the CANopen ChipF40 in the Event of Errors The object dictionary entry "Error Behavior" at index [1029] for F40 and index [67FE] for CANopen ChipF40 V3 can be used to define which state the CANopen Chip164 should transfer to in case of an error.
Page 76: Pwm Outputs
A value of “1“ at the bit position for an applicable output in the object [6206] results in writing the bit value (“0“ or “1“) located in the object [6207] to the corresponding output. Example for digital outputs: Index Subindex DO 3 DO 2 DO 1...
Page 77: Changing From Error State To Normal Operation
Operation in the Event of Errors 9.3 Changing from Error State to Normal Operation In the event of an error, the outputs retain their active values until overwritten (by means of PDO/SDO) by new output values. This requires that the error, such as “Bus Off” or “Life-Guarding” error, is eliminated and the CANopen Chip164 be switched into Operational state by a Master “Start_Remote_Node”...
Page 79: Object Dictionary Canopen Chipf40
Object Dictionary CANopen ChipF40 10 Object Dictionary CANopen ChipF40 Index Object Name Data type in PDO [hex] mappable 1000 Device Type Unsigned32 1001 Error Register Unsigned8 1003 Array Error Message Unsigned32 1005 Identifier SYNC-message Unsigned32 1007 SYNC window length Unsigned32...
Page 80: Table 32: Object Dictionary Of The Canopen Chipf40
Unsigned32 6500 Array PWM Pulse Unsigned16 6510 Array PWM Period Unsigned16 6543 Array PWM Output Error Mode Unsigned8 6544 Array PWM Output Error Value Unsigned16 Table 32: Object Dictionary of the CANopen ChipF40 © SYS TEC electronic GmbH 2010 L-1062e_9...
Page 81: Object Dictionary Canopen Chipf40 V3
Object Dictionary CANopen ChipF40 V3 11 Object Dictionary CANopen ChipF40 V3 Index Object Name Data type in PDO [hex] mappable 1000 Device Type Unsigned32 1001 Error Register Unsigned8 1003 Array Error Message Unsigned32 1005 Identifier SYNC-message Unsigned32 1007 SYNC window length...
Page 82: Table 33: Object Dictionary Of The Canopen Chipf40 V3
Boolean 6424 Array Interrupt upper Limit Integer32 6425 Array Interrupt lower Limit Integer32 6426 Record Input Interrupt Delta Unsigned32 67FE Array Error Behavior Unsigned8 Table 33: Object Dictionary of the CANopen ChipF40 V3 © SYS TEC electronic GmbH 2010 L-1062e_9...
Page 83: Revision History Of This Document
Revision History of this Document 12 Revision History of this Document Date Manual Version Changes 22/11/2004 L-1062e_1 Initial translation based on L- 1062d_1 22/04/2005 L-1062e_2 Error code for stack overrun and display on the LEDs included 10/02/2006 L-1062e_3 QA Revision, reformatting 12/03/2007 L-1062e_4 description for Error Led changed 23/01/2008 L-1062e_5...
Page 85 Index Index Analog Input ....... 14, 17 Device Type ......44 Array ......... 34 Digital Input ......14, 17 Base Identifier ......42 Digital Output ..... 14, 17 Bit rate ........19 DIP-Switch ......... 7 Bit Rate ........11 Display State ......60 Board Configuration ....
Page 86 6510 ......... 47, 58 Node-Guarding ......50 6543 ........64 Object Dictionary ....30, 44 6544 ........64 CANopen ChipF40 ....67 67FE ......... 25, 63 CANopen ChipF40 V3 ..69 OD ..........30 Object index © SYS TEC electronic GmbH 2010 L-1062e_9...
Page 87 Index Open Networking System ..33 Reset_Communication ....42 Operating Voltage ..... 17 RESTART ......... 51 Operational ......42, 50 RTR-Bit ........24 Operational Temperature ..18 Run- LED ......... 60 P82C251 ........19 Save_ Start ........ 51 PDO ......30, 36, 38 SDO .......
Page 89 Suggestions for Improvement Document: CANopen ChipF40 Document number: L-1062e_9, Edition June 2012 How would you improve this manual? page Did you find any mistakes in this manual? Submitted by: Customer number: Name: Company: Address: Return to: SYS TEC electronic GmbH August-Bebel-Str.

Systec Electronic CANopen ChipF40 System Manual

1 Preface

2 Introduction to the Canopen Chipf40

3 Hardware Overview

4 Setting up the Canopen Chipf40

5 Quickstart

6 Controller Area Network - CAN

7 Canopen Communication

8 Canopen Chipf40 Operation

9 Operation in the Event of Errors

10 Object Dictionary Canopen Chipf40

11 Object Dictionary Canopen Chipf40 V3

12 Revision History of this Document

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