Canopen Fieldbus Functionality; Supported Fieldbus Services - HMS Anybus X-gateway CANopen Series User Manual

4. CANopen Fieldbus Functionality

The functionality of the Anybus X-gateway CANopen is defined by the CANopen DS301 Rev. 4.2 spec-
ification and DSP302 (part 1-5).
Note: The first time the module starts up, it starts as a slave on the CANopen network.It can be set as
master during configuration, see "CANopen Configuration Example" on page 47. This setting only
needs to be performed once. The module will save the setting and start as master the next time.

4.1 Supported Fieldbus Services

Communication and parameters in the CANopen protocol are built around objects. There are different
services available to communicate with the objects and to perform other CANopen tasks like supervis-
ing the network. The following message types and objects are implemented in the Anybus X-gateway
CANopen:
• NMT (Network Management)
the network and handle errors. If the module is configured as a slave, startup is performed by a
master on the network.
• CMT (Configuration Manager)
primarily involves PDO parameters and mapping of information. If the module is configured as
a slave, the configuration is performed by a master on the network.
• PDOs (Process Data Objects) are used for I/O communication. There are 128 Receive PDOs
and 128 Transmit PDOs implemented in the Anybus X-gateway CANopen that each can trans-
fer up to 8 bytes. Supported PDO message types are COS (Change of state), Cyclic Synchronous
and Acyclic Synchronous.
• SDOs (Service Data Objects) use asynchronous data transmission and are used to access objects
without mapping them to an I/O (PDO) connection. Access is provided to all CANopen objects
in the module and in the network nodes (master mode). The SDO messages are used to configure
the modules and they can transfer more than 8 bytes, which is the upper limit for a PDO. (Ex-
pedited Upload/Download Protocol and Segmented Upload/Download Protocol are support-
ed)
• A SYNC (Synchronization Object) is used for synchronizing PDO communication. A master
can be either a producer or a consumer of the synchronization. A slave can only be a consumer.
• The Heartbeat Mechanism helps a device to monitor the status of another node. The module can
appear both as heartbeat producer and consumer
• The Node Guarding Protocol provides active surveillance of a slave by the master. Slaves can be
configured to expect a node guarding request from the master.
• An EMCY (Emergency Object) is used for error reporting when a fatal fault has occurred in the
module itself or in other monitored/supervised modules.
• LSS (Layer Setting Services)
that support LSS (i.e. the pre-configured baud rate and node ID of a slave can be changed by a
master).
1. Only available when the module is configured as master.
2. The data exchange with the PROFIBUS network is limited to 512 byte, so not all PDOs can be used at a time.
Anybus X-gateway CANopen - PROFIBUS
Doc.Rev. 1.02
1
messages configure and initialize the network, as well as monitor
1
messages are used for configuration of CANopen devices. This
2
1
. An LSS master can configure baud rate and node ID of all slaves
Chapter 4
Doc.Id. SCM-1200-080