Canopen; Description Canopen; Canopen ® V4 - DEUTSCHMANN AUTOMATION UNIGATE CX-CANopen-(Mapping) - PROFIBUS DP Instruction Manual

Deutschmann Automation GmbH & Co. KG
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13 CANopen

13.1 Description CANopen

This specification is based on the CiA
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CANopen supports the Standard CAN-frame with 11-bit Identifier.
It is not required to support the extended frame with 29-bit Identifier.
Benutzen Sie folgende Werte als Parameter:
Parameter Type Meaning
vw_Channel Word Value Meaning
Direction -
vw_ByteLen Byte Length of the object to use. If the length is > 8 byte only the first 8 bytes are
vw_ObjAddress Word Allowed values are 0x2000 to 0x5FFF, which is the range of objects to be
vw_COB_ID Word Value
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13.1.1 CANopen
Additional supported functions:
• Heartbeat
• Dynamic mapping
• Onswich message
The following example can be found in the file folder "example" after the installation of the soft-
ware "Protocol Developer" (this example gives a detailed description of the initialization):
•
Example_CO_V4.dss
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At CANopen V4 the following fieldbus-specific Scripts are supported:
28.9.20 Fieldbus-Gateway UNIGATE
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Draft Standard 301 (DS301).
0 Using CAN Layer2, we have no PDO and SDO data access
1..8 Define PDO 1..8
RX or Tx depending of the data direction. It is seen from the devices view, this
means Rx-data is incoming data.
used to transmit by the PDO
defined by the user
Meaning
0 PDO is not active, data is defined to be used by a SDO
transfer only.
0x181..0x57F Allowed range for normal Rx and Tx - PDO's
0xFFFE Is to be used, if the master defines the COB-ID's when the
CANopen
COB-IDs).
The resulting objects used by the device are 0x1800 + (PDO-
Nr - 1). Sub-Index 1 of this object contains the COB-ID. After
writing a valid value to this object with subindex the
requested PDO becomes active. Valid values must be in the
range from 0x181 to 0x57F.
0xFFFF Is to be used for PDO1 and PDO2. The COB-ID is as defined
by the predefined connection set
Tx-PDO1: 0x180 + Node-ID
Rx-PDO1: 0x200 + Node-ID
Tx-PDO2: 0x280 + Node-ID
Rx-PDO2: 0x300 + Node-ID
V4
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CX C4Map - PROFIBUS V. 1.0
network is started by the master (no predefined
CANopen®
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