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Jetter AG
The CANopen
standard
Specifications
Application
User Manual – JVM-104-O09
8.2 CANopen STX API
The CANopen STX API is a platform allowing users to send and receive
CANopen messages via STX functions.
The device uses the STX functions to communicate with other CANopen nodes.
CANopen is an open standard for networking and communication, used e.g. in
automotive applications. The CANopen protocol is being further developed by the
CiA e.V. (CAN in Automation). On the physical layer it uses CAN high-speed in
accordance with ISO 11898.
The CANopen specifications can be obtained from the CiA e.V. homepage
http://www.can-cia.org.
The key specification documents are:
■
CiA DS 301 – This document is also known as Communication Profile and
describes the fundamental services and protocols used under CANopen.
■
CiA DS 302 – Framework for programmable devices (CANopen Manager,
SDO Manager)
■
CiA DR 303 – Information on cables and connectors
■
CiA DS 4xx - These documents describe the behavior of a number of device
classes in, what are known as, device profiles.
INFO
Further information
For more information on this subject refer to the application-
oriented manual CANopen STX API available for download
from our homepage.
8.2.1 STX Functions
STX functions are used to enable communication between the JVM-104-O09 and
other CANopen nodes.
The JVM-104-O09 supports the following STX functions:
Function
CanOpenInit()
CanOpenSet
Command()
CanOpenUploadSDO()
Description
Calling up the CanOpenInit() function initializes
one of the available CAN buses.
The function CanOpenSetCommand() lets you
change the heartbeat status of the device itself and
of all other devices (NMT slaves) on the CAN bus.
The function CanOpenUploadSDO() lets you ac-
cess a particular object in the Object Directory of the
message recipient and read the value of the object.
Data is exchanged in accordance with the SDO up-
load protocol.
Programming | 8
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