Canopen Functionality - HMS Anybus X-gateway CANopen User Manual

Description
2.3

CANopen Functionality

The functionality of the secondary CANopen network interface is defined by the following
CANopen specifications:
• KGB Draft Standard 301 version 4.2.0 (Rev. 4.2)
• CiA Draft Standard Proposal 302 Part 1–5.
Supported CANopen Services
Communication and parameters in the CANopen protocol are built around åbject. Different
services are used for communication with the objects and for other tasks such as supervising the
network. Which services are available depend on whether the secondary CANopen network
interface is operating as a master or as a slave.
The secondary CANopen network will start up as a slave by default.
Service
NMT (Network Management)
CMT (Configuration Management)
PDO (Process Data Objects)
SDO (Service Data Objects)
SYNC (Synchronization Object)
EMCY (Emergency Object)
LSS (Layer Setting Services)
Heartbeat Mechanism
Node Guarding Protocol
Anybus ® X-gateway ™ CANopen ® PROFINET
Available in
Master
Master
Master/Slave
Master/Slave
Master/Slave
Master/Slave
Master
Master/Slave
Master/Slave
® IRT (2.32) User Manual
Description
NMT messages are used to configure, initialize and
monitor the network,and for error handling.
CMT messages are used for configuring CANopen devices.
This primarily involves PDO parameters and mapping of
information.
Used for I/O communication.
128 Receive PDOs and 128 Transmit PDOs are
implemented, each being able to transfer up to 8 bytes.
The total number of PDOs that can be used is limited by
the data buffer size.
Supported PDO message types are COS (Change of state),
Cyclic Synchronous, and Acyclic Synchronous.
Used to access and configure objects in the X-gateway and
other network nodes without mapping them to an I/O
(PDO) connection.
SDOs use asynchronous data transmission and can transfer
more than 8 bytes (the limit for a PDO).
Supported SDO message types are Expedited Upload/
Download Protocol and Segmented Upload/Download
Protocol.
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.
Used for error reporting when a fatal error has occurred in
the X-gateway or in other monitored or supervised
modules.
Used by a CANopen master to configure the baud rate and
NodeID of slaves that support LSS.
Allows a device to monitor the status of another node. The
X-gateway can appear both as heartbeat producer and
consumer.
Provides active surveillance of a slave by the master.
Slaves can be configured to expect a node guarding
request from the master.
7 (60)
SCM-1202-029 1.2 en-US