04-68280a manual digsy chapter k communication via canopen

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Manual digsy

Chapter K

Communication via CANopen

Drawing Number: 04 - 68 280 000/A

Issued: 14.10.02

Stored: 14.10.02

Version: 1.0.0

File name: 04-68280 Manual Communication via CANopen

Prepared by: Ralf Neuber

This manual was prepared with great care. The details and data in this document are regularly checked and updated andare at any time subject to change without notice. Nevertheless, INTER CONTROL does not assume liability for thecorrectness of the details/data in this document, since, despite great effort, mistakes cannot always be completely ruled out.In addition, INTER CONTROL reserves the right to make at any time technical changes to the product, which can also resultin deviations from the contents of this document.The document includes information that enjoys protection of copyright. No part of this publication may be reproduced and/ortranslated into other languages without the prior written permission of INTER CONTROL.Of course, any ideas and suggestions regarding amendments, or notes concerning mistakes in this document are welcome.

Please refer to INTER CONTROL.

INTER CONTROLHermann Khler Elektrik GmbH & Co. KGSchafhofstrae 30D-90411 NrnbergGermany

Tel.: ++49 911 9522-5

Fax: ++49 911 9522-857E-mail: [email protected]: http://www.intercontrol.de
mailto:[email protected]:[email protected]://www.intercontrol.de/http://www.intercontrol.de/http://www.intercontrol.de/mailto:[email protected]


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T a b l e o f C o n t e n t s

K Communication via CANopen..................................................................................................K-5K.1 Fundamentals ...................................................................................................................K-5

K.1.1 Data exchange principle............................................................................................K-6K.1.2 CANopen ...................................................................................................................K-7

K.1.2.1 Object directory......................................................................................................K-7K.1.2.2 CANopen-communication: .....................................................................................K-7K.1.2.3 NMT .......................................................................................................................K-8

K.1.2.3.1 Nodeguarding ................................................................................................K-10K.1.2.3.2 Heartbeat .......................................................................................................K-11

K.2 CANopen-Interfaces of digsy

compact/digsy

CGM ..............................................................K-12K.2.1 Object directory........................................................................................................K-12

K.2.1.1 Object directory digsycompactE (4885.27.102/202/302) .......................................K-12K.2.1.1.1 Allocation of the network variables................................................................K-23

K.2.1.2 Object directory digsy

CGM....................................................................................K-25K.2.1.2.1 Allocation of the network variables................................................................K-36

K.2.1.3 Differences between digsy

compactand digsy

CGM..................................................K-37K.2.2 Default settings in digsy

compact/digsy

CGM ...............................................................K-38

K.2.2.1 Default PDOs / Default PDO-Mapping.................................................................K-38K.2.2.2 NMT-values..........................................................................................................K-38

K.2.3 Function blocks and functions under PROSYD 1131..............................................K-39K.2.3.1 Introduction ..........................................................................................................K-39K.2.3.2 Initialization of the CAN-bus and setup of objects ...............................................K-40

K.2.3.2.1 CM_Init(): Setting up a CANopen-node.........................................................K-40

K.2.3.2.2 COPINIT(): Setting up a CANopen-node DcP/DcE-compatible.................K-42K.2.3.2.3 COBADD() : Setting up a new entry in the object directory:..........................K-43K.2.3.2.4 CM_AddNode(): Setting up the node list.......................................................K-45K.2.3.2.5 CM_Reset():CM_Reset(): Resetting the network settings of the control unitK-47

K.2.3.3 NMT and guarding mechanisms..........................................................................K-48K.2.3.3.1 CM_SetNodeState(): Setting the node state .................................................K-48K.2.3.3.2 CM_GetNodeState(): Reading the node state of a slave..............................K-50K.2.3.3.3 CM_StartStopGuarding(): Starting or stopping the network guarding...........K-51K.2.3.3.4 : CM_Guarding(): Heartbeat and guarding mechanism ................................K-53

K.2.3.4 Functions and function blocks for SDO-transfer..................................................K-55K.2.3.4.1 SDOADD(): Setting up SDO-channels ..........................................................K-55K.2.3.4.2 CM_SDO_RW(): Executing an SDO-transfer................................................K-56K.2.3.4.3 SDOTRANS(): Executing an SDO-transfer VERSION in DcP....................K-59

K.2.3.4.4 CM_DCFTrans( ): SDO-transfer of groups....................................................K-61K.2.3.5 Functions for PDO-transfer..................................................................................K-63K.2.3.5.1 CM_PDO_Sync():SYNC-object output..........................................................K-63

K.2.4 Error codes of the CANopen-functions or CANopen-function-blocks .....................K-64K.2.4.1 Error of the CM-functions and CM-function-blocks..............................................K-64

K.2.5 CAN-variables in data structures or in the control configuration.............................K-66K.2.5.1 digsy

compactE .......................................................................................................K-66

K.2.5.2 digsy

CGM ..............................................................................................................K-67K.2.6 Summary .................................................................................................................K-68

K.3 SDO-Transfer..................................................................................................................K-69K.3.1 Basics ......................................................................................................................K-69

K.3.1.1 Segmented SDO-transfer ....................................................................................K-69


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K.3.1.2 Expedited SDO download....................................................................................K-71K.3.1.3 Block transfer .......................................................................................................K-71

K.3.2 SDO-transfer in the case of digsy

compactE/digsy

CGM..............................................K-71K.3.2.1 SDOADD() ...........................................................................................................K-71K.3.2.2 CM_SDO_RW() ...................................................................................................K-72

K.3.2.3 CM_DCFTrans()...................................................................................................K-73K.4 Mapping and COP-ID-setup in digsy

compact/digsy

CGM...................................................K-75K.4.1 Basics ......................................................................................................................K-75

K.4.1.1 General ................................................................................................................K-75K.4.1.2 Basic information on digsy

compactE/digsy

CGM.....................................................K-77

K.4.1.2.1 Structure of the Config-objects for an SDO-transfer to the CANopen-nodesK-77K.4.1.2.2 COB-Identifier-setup......................................................................................K-77K.4.1.2.3 Re-mapping process......................................................................................K-77

K.4.2 Setting up the COB-Ids............................................................................................K-78K.4.3 Mapping in digsy

compactE/ digsy

CGM........................................................................K-80

K.4.4 Mapping of slaves in this case with DIGSYcompact ............................................K-84K.4.5 Mapping of slaves in this case with CGC .............................................................K-86K.4.6 Mapping of slaves in this case standardized nodes acc. to DS301 .....................K-89

K.5 Sequencer for setting up a CANopen-network with digsy

compact-/digsy

CGMas a manager K-90

K.5.1 Steps of the runup sequencer .................................................................................K-90K.5.2 Keeping to the times between the individual steps .................................................K-91

K.6 PDO-Transfer..................................................................................................................K-94K.6.1 PDO: Transfer of values in the REAL-format ..........................................................K-94

K.7 NMT Guarding mechanisms ...........................................................................................K-95K.7.1 Bootup process........................................................................................................K-95K.7.2 Nodeguarding ..........................................................................................................K-95K.7.3 Heartbeat.................................................................................................................K-96

K.8 Error Handling.................................................................................................................K-99K.8.1 Introduction..............................................................................................................K-99K.8.2 Functionalities regarding the emergency-objects in digsy

compactE / digsy

CGM .....K-100

K.8.2.1 Basic user-functions regarding the error memory..............................................K-100K.8.2.1.1 GetNextError(): Inquiring the error memory.................................................K-100K.8.2.1.2 GetNextErrorTS(): Inquiring the error memory with time indication ............K-101K.8.2.1.3 SetNextError(): Generating an error / a message .......................................K-101K.8.2.1.4 Emergency-variables in data structures or of the adjustable controlconfiguration .................................................................................................................K-102

K.8.2.2 Reading-out an emergency message................................................................K-103K.8.2.3 Generating emergency messages.....................................................................K-104

K.9 Example Project............................................................................................................K-106K.9.1 Task definition........................................................................................................K-106K.9.2 Implementation of the CANopen-slave-nodes.......................................................K-107

K.9.2.1 CAN-Initialization................................................................................................K-107K.9.2.2 PDO-Setup.........................................................................................................K-108

K.9.2.3 Guarding mechanism.........................................................................................K-109K.9.2.4 SDO-transfer......................................................................................................K-110K.9.2.5 Error evaluation in slave-node implementations................................................K-110

K.9.3 Implementation of the CANopen-manager............................................................K-111K.9.3.1 CAN-Initialization................................................................................................K-111K.9.3.2 PDO-Setup.........................................................................................................K-112K.9.3.3 Guarding mechanism.........................................................................................K-112K.9.3.4 Runup sequencer for setting up the network.....................................................K-115

K.9.3.4.1 Setting up node 3, optionally node 5 ...........................................................K-115K.9.3.4.2 Individual setup of the node 5......................................................................K-116

K.9.3.5 Network management........................................................................................K-117K.9.3.6 Error evaluation in the CANopen-manager-implementation..............................K-117


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K.10 Technical Data and Important Additions.......................................................................K-120K.10.1 Technical data .......................................................................................................K-120K.10.2 Storage processes in FLASH-memory in the case of digsy

compactE/digsy

CGM....K-120

K.11 Appendix.......................................................................................................................K-121K.11.1 List of illustrations: .................................................................................................K-121

K.11.2 List of tables:..........................................................................................................K-123K.11.3 Bibliography...........................................................................................................K-124K.12 Notes.............................................................................................................................K-125


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K COMMUNICATION VIA CANOPEN

K.1 FundamentalsApart from some general words about CAN and CANopen this functional description basically

covers the features of the devices of the digsyoutdoor electronics-family and their handling. It is notmeant to give a general description of the features of the CAN-bus or of CANopen.

Basic information on the subjects CAN-bus and CANopen may be found under http://www.can-cia.de (CiA - CAN in Automation e.V., CAN-Nutzerorganisation (user organization)) or in theappropriate technical literature.

NOTE: To understand this functional description it is indispensable to have a basicknowledge of the subjects CAN-bus and CANopen.

NOTE: The CANopen-functionality described in this manual is based on the CANopenDraft Standard DS301, V4.01, which is available from CiA CAN in Automation

e.V.

CAN stands for Controller Area Network and was originally developed by the companies Boschand Intel as a bus system for vehicles. Meanwhile, however, CAN proved to be very good as a fieldbus in automation technology applications, too. As virtually all field buses CAN too is based on theOSI 7-layer model. CAN is only standardized for the OSI-layers 1 and 2 in the ISO 11898. The"missing" user layer is defined by the layer 7 protocols DeviceNet, J1939, SDS, CAL and CANopenthat are based on CAN.

The CAN-bus is a serial bus system in the case of which all the connected stations have equalrights, i.e., each control unit (CAN-node) is both able to transmit and to receive. Therefore, theconnected control units can talk to each other and exchange information via cables. Due to thelinear structure of the network the bus system continues to be fully available for all the otherstations if one station fails.

The following figure shows a schematic diagram of a CAN-network:

Figure K.1 Schematic device connection on the CAN-bus

With the lines CAN-High and CAN-Low the CAN-bus represents a two-wire-solution. The realizablebus length depends on the chosen transmission rate. To avoid reflections of the bus levels, each of

CAN

Device 1

CAN

Device 2

CAN

Device 3

CAN

Device n

120 120
http://www.can-cia.de/http://www.can-cia.de/http://www.can-cia.de/http://www.can-cia.de/http://www.can-cia.de/


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the bus ends is terminated with a terminating resistor of R=120. The length of the tap lines to theindividual participants must not exceed a length of l=30cm.

K.1.1 Data exchange principle

The CAN-bus represents a multi-master-system. With regard to their content and priority, themessages on the CAN-bus are clearly identified by a so-called identifier (in the arbitration field, seeFigure K.2).

Stations on a CAN-Bus are able to transmit messages at any time. If two or more stations start tosend messages at the same time, the message with the highest priority gets the transmission rightafter a nondestructive arbitration process. Messages deferred by this arbitration process areautomatically repeated.

11- bzw. 29-Bit Identifier

SOF

RTR

IDE

R0

DLC 0...8 Bytes 15-Bit CRC

Arbitration Field Control Field Data Field CRC Field Ackn.Field

End ofFrame

Figure K.2 Structure of a CAN-message

CAN-messages comprise up to 8 bytes of user data. They can be received and evaluated by eachof the stations. For this, however, both the producers and the consumers of a message require thesame information about the quality and the contents of the message.

This information is to be communicated to the individual stations of a CAN-network by means of aconfiguration process.


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K.1.2 CANopen

CANopen is an open protocol standard for the CAN-communication in automation engineering. Itwas standardized by the association CAN in Automation (CiA). The protocol uses the CAN-bus asa transmission medium and defines an application-layer (corresponds with OSI-layer 7) with the

following features:

network management

object directory

default settings for the allocation of identifiers

data transmission objects for process and configuration data

network guarding

error messages and

function profiles

Task definition:- to be able to operate CANopen-components of different producers on one bus.

This functional description is based on CANopen according to Draft Standard DS301, V4.01.

K.1.2.1 Object directory

All the variables and parameters of a CANopen-device, which are important for the CAN-communication, are put together in the object directory.

The object directory contains entries which are mandatory and others that are freely definable. Theentries are clearly identified by a number, the so-called index, and besides they are addressable,too. They may contain simple data types, e.g., bytes, integers, long integers, .. and complex datatypes such as arrays, too.

The structure of the object directory, the allocation of the index numbers as well as somemandatory entries are defined in the CANopen device profiles.

NOTE: In the case of the products digsy

compact and digsy

CGM the CANopen-

configuration, i.e., the change of entries in the object directory, is to be carried

out from the application program.

K.1.2.2 CANopen-communication:

The data exchange in CANopen is effected in the form of messages by means of which the userdata are transmitted. In this connection, one distinguishes between service data objects (SDO),which are used for the transmission of the service data from and to the object directory or for thenon-time-critical transmission of data (even those exceeding a data length of 8 bytes), and processdata objects (PDO), which are used for the exchange of the current process states. In addition,messages for the network management (NMT) and for error messages (emergencies) can bedefined as well.

By means of SDOs it is possible to access all the entries in the object directory. In practice, SDOsare mainly used for initialization and configuration purposes during the run-up of the CAN-bus. AnSDO can always access only one object of the object directory. SDOs represent a logic peer-to-peer connection between two stations in the form of an acknowledged service.


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A PDO can transport a maximum of 8 bytes of data. The data contents of a PDO can be composedof various objects from the object directory. The compilation of various data in a PDO is alsoreferred to as PDO-mapping.

PDO (Process Data Object) SDO (Service Data Object)- real-time data - system parameter

- message is not answered (faster transfer) - message is answered (slower transfer)

- high-priority identifiers - low-priority identifiers

- synchronous and asynchronous transferpossible

- only asynchronous transfer

- max. 8 bytes / message - data spread over several messages

- prearranged data format - index-addressable data

Table K.1 Communication types in the case of CANopen

Exclusively for the network management CANopen dispenses with the multi-master-capability ofthe CAN-bus. For this, a station in the CAN-network takes on the tasks of the network

management. These tasks comprise, e.g., defined starts and stops of the network or individualstations of the network and the network guarding. All the other stations in the CAN-network are tobe implemented as so-called slaves.

For the network management and network guarding, for error messages and other services inCANopen there are predefined logic communication objects:

- for the boot-up (start of the network after switch-on), starting, stopping, resetting one or allstations in the network,

- for node guarding and life guarding or heartbeat for guarding the network,- for the synchronization of messages or of stations in the network,- for emergency messages.

These objects are firmly defined in CANopen and have global news broadcasting characteristics.

K.1.2.3 NMT

A CANopen-node can take the following states:

Node state SDO-Transfer PDO-Transfer NMT Special features

1 (INIT) not possible not possible not possible boot- up message

4 (STOPPED or. PREPARED) not possible not possible possible

5 (OPERATIONAL) possible possible possible

127 (PREOPERATIONAL) possible not possible possible automatically after Init

Table K.2 Network states and how they differ

Possible state changes are indicated in Figure K.3:


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Figure K.3 NMT-states

After switching the network on (Power on) a network participant goes through an initialization stage(Init). Afterwards it sends a so-called boot-up message on the bus. The other network participants,especially the CANopen-manager, automatically change to the Preoperational state. All thefollowing state changes are effected by order of the network master.

In general, a network slave is configured in the Preoperational state. That means that theCANopen-Manager, via SDO-communication, makes adjustments with regard to the input/outputconfiguration, the PDO-communication and the network guarding. When the configuration stage isfinished, the CANopen-Manager switches the network slave over to the Operational state.

Guarding mechanisms:

In CANopen there are 2 types of network guarding:

Nodeguard

Heartbeat

ResetA lication

ResetCommunication

Init

Pre-operational

Stopped

Operational

power on

Initialization


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K.1.2.3.1 Nodeguarding

The NMT-master cyclically sends a guard request to an NMT-slave-node with a time interval oftGUARD. This slave node answers the master with its current node state. If the NMT-master, afternLIFETIME-requests, receives no answer, the nodeguarding will deactivate itself and an error handlinghas to be effected.

Relevant entries in the object directory:16#100C => Guarding time tGUARD[WORD]16#100D => Life-time-factor nLIFETIME[BYTE]

Figure K.4 Nodeguard principle

700 h + Node ID ( request )

700 h + Node - ID ( response)

tGUARD

NMT-Master NMT-Slave


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K.1.2.3.2 Heartbeat

The heartbeat-producer (this may be the NMT-master or an NMT-slave) cyclically transmits itscurrent node state without request at a time interval of tHEARTBEAT. The heartbeat-consumer (thismay be the NMT-master or an NMT-slave, too) receives this node state and can react to it. If, aftertHB-Consum, no heartbeat follows, the heartbeat guarding in the heartbeat-consumer will bedeactivated and an error handling has to be effected. In this connection, the heartbeat-consumer-time should be an integer multiple of the heartbeat-producer-time tHEARTBEAT.

Relevant entries in the object directory:16#1017 => Heartbeat-producer-time tHEARTBEAT[WORD]16#1016 => Heartbeat-consumer-value (16#rrnnccccwith rr(reserved),

nn(Node-Id), cccc(tHB-Consum) )

Figure K.5 Heartbeat principle

700 h + NodeID (produce)

700 h + NodeID (produce)

tHEARTBEAT

Heartbeat-producer Heartbeat-consumer


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K.2 CANopen-Interfaces of digsycompact/digsy

CGM

K.2.1 Object directory

K.2.1.1 Object directory digsycompactE (4885.27.102/202/302)

Index Sub-Index

Object Name Type/Value Range

Attrib. Cate-gory

1

DefaultValue

Detailed Description

Communication Profile Area (CANopen Communication Characteristics Area)1000h VAR Device type UNSIGNED32 ro M 16#0195

1001h VAR Error register UNSIGNED8 ro M 0 No error

1005h 0 VAR COB-ID SYNC message UNSIGNED32 rw O 16#40000080 CAN-Identifier of theSYNC-Object(Bit 30:= 1 -> SYNC isgenerated;Bit 29:= 0 -> 11Bit-ID;Bits 10-0 -> SYNC-COP-ID (16#80))

2

1006h 0 VAR Communication cycleperiod UNSIGNED32 rw O 0 Communication cycleperiod in [s]At present: no function

1007h 0 VAR Synchronous windowslength

UNSIGNED32 rw O 0 Length of time window in[s]

At present: no function

1008h 0 VAR Manufacturer device name STRING ro O DIGSYcompact E

Device name

1009h 0 VAR Manufacturer Hardwareversion

STRING ro O e.g. 3.0 Hardware version

100Ah 0 VAR Manufacturer Softwareversion

STRING ro O e.g.6.0.9 Software version

100Ch 0 VAR Guard Time UNSIGNED16 rw C 512 Min. Guarding time in[ms]

100Dh 0 VAR Life Time Factor UNSIGNED8 rw C 3 Life time factor

1010h ARRAY Store parameters O

0 Largest subindex

supported

UNSIGNED8 ro M 1 Max. Subindex of Index

1010h1 Save all parameters UNSIGNED32 rw M 0 Storage of all

parametersAt present: no function

1011h ARRAY Restore default parameters O

0 Largest subindexsupported

UNSIGNED8 ro M 1 Max. Subindex of Index1011h

1 Restore all defaultparameters

UNSIGNED32 rw M 0 Recovery of all defaultparameters

1012h 0 VAR COB-Id Time StampObject

UNSIGNED32 rw O 16#80000100 Transfer of the globaltime in a COB-Id

1014h 0 VAR COB-Id Emergency Object UNSIGNED32 rw M 16#80 + Node-ID

COB-Id of theemergency object

1016h ARRAY Consumer Heartbeat Time O Entries to the Heartbeatconsumer

0 Number of entries UNSIGNED8 ro M 16#20 Number of possibleentries

1 Consumer heartbeat time UNSIGNED32 rw M 0 Consumer heartbeattime

2 Consumer heartbeat time UNSIGNED32 rw O 0 Consumer heartbeattime




6 Consumer heartbeat time UNSIGNED32 rw O 0 Consumer heartbeat

1The following categories are possible: M->Mandatory; O->Optional; C->Conditional

2At present: no complete SYNC-implementation, SYNC-output serves only for ini tiating SYNC-PDOs, time conditions are

not kept to and checked


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Index Sub-Index


Attrib. Cate-gory

1

DefaultValue


time












time18 Consumer heartbeat time UNSIGNED32 rw O 0 Consumer heartbeat

time










time






1017h 0 VAR Producer heartbeat time UNSIGNED16 rw C 0 Producer heartbeat timein [ms]

1018h RECORD Identity object M Device information

0 Number of entries UNSIGNED8 ro M 4 Max. number of entries

1 Vendor ID UNSIGNED32 ro M 16#0000007A Vendor-Id (vendor)

2 Product code UNSIGNED32 ro O 4885.27.xxx Product-code(xxx -> Device specific)

3 Revision number UNSIGNED32 ro O Device specific Revision number

4 Serial number UNSIGNED32 ro O Device specific Serial number

Communication Profile Area (SDO-Server Area)1200h RECORD 1st Server-SDO parameter M Parameter of 1st Server-

SDO


1 COB-Id Client->Server(Rx)

UNSIGNED32 ro M 0 COB-Id of 1st Client->Server-SDO (reception)

2 COB-Id Server->Client (Tx) UNSIGNED32 ro M 0 COB-Id of 1st Server->Client-SDO (transm.)

1201h RECORD 2nd Server-SDO M Parameter of 2nd


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Index Sub-Index


Attrib. Cate-gory

1

DefaultValue


parameter Server-SDO

0 Number of entries UNSIGNED8 rw M 2 Max. number of entries


UNSIGNED32 rw M 16#80000000 COB-Id of 2nd Client->Server-SDO (reception)

2 COB-Id Server->Client (Tx) UNSIGNED32 rw M 16#80000000 COB-Id of 2nd Server->Client-SDO (transm.)

1202h RECORD 3rd Server-SDO parameter M Parameter of 3rd Server-SDO


1 COB-Id Client Server (Rx) UNSIGNED32 rw M 16#80000000 COB-Id of 3rd Client->Server-SDO (reception)

2 COB-Id Server->Client (Tx) UNSIGNED32 rw M 16#80000000 COB-Id of 3rd Server->Client-SDO (transm.)

1203h RECORD 4th Server-SDO parameter M Parameter of 4th Server-SDO


1 COB-Id Client Server (Rx) UNSIGNED32 rw M 16#80000000 COB-Id of 4th Client->Server-SDO (reception)

2 COB-Id Server->Client (Tx) UNSIGNED32 rw M 16#80000000 COB-Id of 4th Server->Client-SDO (transm.)

Communication Profile Area (SDO-Client Area)1280h RECORD 1st Client -SDO parameter M Parameter of 1st Client-

SDO



UNSIGNED32 rw M 16#80000000 COB-Id of 1st Client->Server-SDO (reception)

2 COB-Id Server->Client (Tx) UNSIGNED32 rw M 16#80000000 COB-Id of 1st Server->Client -SDO (transm.)

1281h RECORD 2nd Client -SDO parameter M Parameter of 2nd Client-SDO


1 COB-Id Client Server (Rx) UNSIGNED32 rw M 16#80000000 COB-Id of 2nd Client->Server-SDO (reception)

2 COB-Id Server->Client (Tx) UNSIGNED32 rw M 16#80000000 COB-Id of 2nd Server->Client -SDO (transm.)

1282h RECORD 3rd Client -SDO parameter M Parameter of 3rd Client-SDO



2 COB-Id Server->Client (Tx) UNSIGNED32 rw M 16#80000000 COB-Id of 3rd Server->Client -SDO (transm.)

1283h RECORD 4th Client -SDO parameter M Parameter of 4th Client-SDO



2 COB-Id Server->Client (Tx) UNSIGNED32 rw M 16#80000000 COB-Id of 4th Server->Client -SDO (transm.)














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Index Sub-Index


Attrib. Cate-gory

1

DefaultValue










1289h RECORD 10th Client -SDOparameter

M Parameter of 10thClient-SDO




128Ah RECORD 11th Client -SDOparameter M Parameter of 11thClient-SDO




128Bh RECORD 12th Client -SDOparameter





128Ch RECORD 13th Client -SDOparameter





128Dh RECORD 14th Client -SDOparameter





128Eh RECORD 15th Client -SDOparameter




2 COB-Id Server->Client (Tx) UNSIGNED32 rw M 16#80000000 COB-Id of 15th Server->

Client -SDO (transm.)128Fh RECORD 16th Client -SDO

parameterM Parameter of 16th

Client-SDO










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Index Sub-Index


Attrib. Cate-gory

1

DefaultValue

















1294h RECORD 21st Client -SDOparameter M Parameter of 21st Client-SDO


1 COB-Id Client Server (Rx) UNSIGNED32 rw M 16#80000000 COB-Id of 21st Client->Server-SDO (reception)


1295h RECORD 22nd Client -SDOparameter

M Parameter of 22ndClient-SDO




1296h RECORD 23rd Client -SDOparameter

M Parameter of 23rdClient-SDO














Client -SDO (transm.)1299h RECORD 26th Client -SDO


Client-SDO




129Ah RECORD 27th Client -SDOparameter






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Index Sub-Index


Attrib. Cate-gory

1

DefaultValue

















129Eh RECORD 31st Client -SDOparameter M Parameter of 31st Client-SDO




129Fh RECORD 32nd Client -SDOparameter

M Parameter of 32ndClient-SDO




12A0h RECORD 33rd Client -SDOparameter





12A1h RECORD 34th Client -SDOparameter










Client -SDO (transm.)12A3h RECORD 36th Client -SDO


Client-SDO










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Attrib. Cate-gory

1

DefaultValue

















Communication Profile Area (RxPDO Communication Area)1400h RECORD RxPDO-Parameter M Parameter of 1st RxPDO


UNSIGNED8 ro M 5 Max. subindex of Index1400h

1 COB-ID used by PDO UNSIGNED32 rw M 16#00000200 COB-Identifier of 1stRxPDO

2 Transmission type UNSIGNED8 rw M 254 Transmission type, inthis case asynchronous

3 Inhibit time UNSIGNED16 rw O 0 Inhibit time(ATTENTION: not usedin the case of RxPDO)

4 Compatibility entry UNSIGNED8 rw O 0 No function

5 Event timer UNSIGNED16 rw O 0 Time for timer in [ms](ATTENTION: not usedin the case of RxPDO)

1401h RECORD RxPDO-Parameter M Parameter of 2ndRxPDO



1 COB-ID used by PDO UNSIGNED32 rw M 16#00000300 COB-Identifier of 2ndRxPDO





1402h RECORD RxPDO-Parameter M Parameter of 3rdRxPDO



1 COB-ID used by PDO UNSIGNED32 rw M 16#00000400 COB-Identifier of 3rdRxPDO





1403h RECORD RxPDO-Parameter M Parameter of 4th RxPDO



1 COB-ID used by PDO UNSIGNED32 rw M 16#00000500 COB-Identifier of 4thRxPDO


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1

DefaultValue









1 COB-ID used by PDO UNSIGNED32 rw M 16#80000000 COB-Identifier of 5thRxPDO -In this case inactive




5 Event timer UNSIGNED16 rw O 0 Time for timer in [ms]

(ATTENTION: not usedin the case of RxPDO)









: : : : : : : : :

: : : : : : : : :

143Fh RECORD RxPDO-Parameter M Parameter of 64thRxPDO


UNSIGNED8 ro M 5 Max. subindex of Index143Fh






Communication Profile Area (RxPDO Mapping Area)1600h RECORD RxPDO mapping M Mapping parameter of

1st RxPDO


UNSIGNED8 rw M 1 Max. subindex of Index1600h0 -> deactivated1..8 -> activated

1 PDO-Mapping for the 1stMapped application object

UNSIGNED32 rw C 16#A8C00140 Reception of anUNSIGNED64 with adata length of 64 bitsfrom %MB1024

1601h RECORD RxPDO mapping M Mapping parameter of2nd RxPDO


UNSIGNED8 rw M 1 Max. subindex of Index1601h


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1

DefaultValue


0 -> deactivated1..8 -> activated

1 PDO-Mapping for the 2ndMapped application object

UNSIGNED32 rw C 16#A8C00240 Reception of anUNSIGNED64 with adata length of 64 bits

from %MB10321602h RECORD RxPDO mapping M Mapping parameter of

3rd RxPDO



1 PDO-Mapping for the 3rdMapped application object


1603h RECORD RxPDO mapping M Mapping parameter of4th RxPDO



1 PDO-Mapping for the 4thMapped application object


1604h RECORD RxPDO mapping M Mapping parameter of5th RxPDO





: : : : : : : : :

: : : : : : : : :

163Fh RECORD RxPDO mapping M Mapping parameter of64th RxPDO


UNSIGNED8 rw M 1 Max. subindex of Index163Fh0 -> deactivated1..8 -> activated



Communication Profile Area (TxPDO Communication Area)1800h RECORD TxPDO-Parameter M Parameter of 1st TxPDO



1 COB-ID used by PDO UNSIGNED32 rw M 16#00000180 COB-Identifier of 1stTxPDO


3

3 Inhibit time UNSIGNED16 rw O 10 Inhibit time in [ms]



1801h RECORD TxPDO-Parameter M Parameter of 2ndTxPDO



1 COB-ID used by PDO UNSIGNED32 rw M 16#00000280 COB-Identifier of 2ndTxPDO


3



3At present: only asynchronous transmission possible


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DefaultValue



1802h RECORD TxPDO-Parameter M Parameter of 3rd TxPDO



1 COB-ID used by PDO UNSIGNED32 rw M 16#00000380 COB-Identifier of 3rdTxPDO


3




1803h RECORD TxPDO-Parameter M Parameter of 4th TxPDO



1 COB-ID used by PDO UNSIGNED32 rw M 16#00000480 COB-Identifier of 4thTxPDO


3




1804h RECORD TxPDO-Parameter M Parameter of 5th TxPDO



1 COB-ID used by PDO UNSIGNED32 rw M 16#80000000 COB-Identifier of 5thTxPDOIn this case inactive


3




: : : : : : : : :

: : : : : : : : :

183Fh RECORD TxPDO-Parameter M Parameter of 64thTxPDO


UNSIGNED8 ro M 5 Max. subindex of Index183Fh

1 COB-ID used by PDO UNSIGNED32 rw M 16#80000000 COB-Identifier of 64thTxPDOIn this case inactive


3




Communication Profile Area (TxPDO Mapping Area)1A00h RECORD TxPDO mapping M Mapping parameter of

1st TxPDO


UNSIGNED8 rw M 1 Max. subindex of Index1A00h0 -> deactivated

1..8 -> activated1 PDO-Mapping for the 1st

Mapped application objectUNSIGNED32 rw C 16#A4400140 Transmission of an

UNSIGNED64 with adata length of 64 bitsfrom %MB0

1A01h RECORD TxPDO mapping M Mapping parameter of2nd TxPDO


UNSIGNED8 rw M 1 Max. subindex of Index1A01h0 -> deactivated1..8 -> activated


UNSIGNED32 rw C 16#A4400240 Transmission of anUNSIGNED64 with adata length of 64 bitsfrom %MB8

1A02h RECORD TxPDO mapping M Mapping parameter of3rd TxPDO


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1 PDO-Mapping for the 1st

Mapped application object

UNSIGNED32 rw C 16#A4400340 Transmission of an


1A03h RECORD TxPDO mapping M Mapping parameter of4th TxPDO





1A04h RECORD TxPDO mapping M Mapping parameter of5th TxPDO


UNSIGNED8 rw M 1 Max. subindex of Index1A04h0 -> deactivated

1..8 -> activated1 PDO-Mapping for the 1st

Mapped application objectUNSIGNED32 rw C 16#A4400540 Transmission of an


: : : : : : : : :

: : : : : : : : :

1A3Fh RECORD TxPDO mapping M Mapping parameter of5th TxPDO


UNSIGNED8 rw M 1 Max. subindex of Index1A3Fh0 -> deactivated1..8 -> activated




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K.2.1.1.1 Allocation of the network variables

Data type[%..] MB0 MB1 MB2 MB3 MB4 MB5 MB6 MB7 ... M2044 M2045 M2046 M2047Int8/Uint8 ...INT16/UINT16 MW 0 MW 1 MW 2 MW 3 ... MW 1022 MW 1023INT/UINT32 MD 0 MD 1 ... MD 5118-String SO CT 0 ... SO CT 255REAL (32Bit) MD 0 MD 1 ... MD 511LREAL (64Bit) ...UINT64 (64Bit) ...

Table K.3 Memory allocation of the flag area in the IEC 1131

Network input variables(from the perspective of the CAN-bus): Read-Only-Variables (TxPDOs)

(Note: from the perspective of the Prosyd 1131: output variables):

Variabletypes

from %MB0 from %MB256 from %MB512 from %MB768 to %MB1023

Input , Subindex(Offset)




SINT A000 1 - 255 A001 1 255 A002 1 - 255 A003 1 - 255USINT/BYTE

A040 1 - 255 A041 1 255 A042 1 - 255 A043 1 - 255

BOOL A080 1 - 255 A081 1 255 A082 1 - 255 A083 1 - 255

INT A0C0 1 - 128 A0C0 128-255 A0C1 1 - 128 A0C1 128-255

WORD/UINT

A100 1 - 128 A100 128-255 A101 1 - 128 A101 128-255

DINT/

UDINT/DWORD

A1C0 1 - 64 A1C0 65 128 A1C0 129-192 A1C0 193-255

REAL A240 1 - 64 A240 65 128 A240 129-192 A240 193-255

Int64 A400 1 - 32 A400 33 64 A400 65 - 96 A400 97 - 128

Uint64 A440 1 - 32 A440 33 64 A440 65 - 96 A440 97 128

Table K.4 Index and Subindex allocation for the TxPDOs


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Network output variables (from the perspective of the CAN-bus): Read-Write-Variables(RxPDOs)(Note: from the perspective of the Prosyd 1131: Input variables)

Variabletypes

from %MB0 from %MB256 from %MB512 from %MB768 to %MB1023





SINT A480 1 - 255 A481 1 255 A482 1 - 255 A483 1 - 255USINT/BYTE

A4C0 1 - 255 A4C1 1 255 A4C2 1 - 255 A4C3 1 - 255

BOOL A500 1 - 255 A501 1 255 A502 1 - 255 A503 1 - 255

INT A540 1 - 128 A542 128 255

A543 1 - 128 A543 128 - 255

WORD/UINT

A580 1 - 128 A582 128 255

A583 1 - 128 A583 128 - 255

DINT/UDINT/

DWORD

A640 1 - 64 A640 65 128 A640 129 -192

A640 193 - 255

REAL A6C0 1 - 64 A6C0 65 128 A6C0 129 -192

A6C0 193 - 255

Int64 A880 1 - 32 A880 33 64 A880 65 - 96 A880 97 - 128

Uint64 A8C0 1 - 32 A8C0 33 64 A8C0 65 - 96 A8C0 97 - 128

Table K.5 Index and Subindex allocation for the RxPDOs

ATTENTION: The flag area cannot fully be mapped with the network variables. For moredetails please refer to the chapter Mapping in digsy

compactE/ digsy

CGM.


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K.2.1.2 Object directory digsyCGM

Index Sub-Index


Attrib. Cate-gory

4

DefaultValue


Communication Profile Area (CANopen Communication Characteristics Area)1000h VAR Device type UNSIGNED32 ro M 16#0195

1001h VAR Error register UNSIGNED8 ro M 0 No error

1005h 0 VAR COB-ID SYNC message UNSIGNED32 rw O 16#40000080 CAN-Identifier of SYNC-Objects(Bit 30:= 1 -> SYNC willbe generated;Bit 29:= 0 -> 11Bit-ID;Bits 10-0 ->SYNC-COP-ID (16#80))

5

1006h 0 VAR Communication cycleperiod

UNSIGNED32 rw O 0 Communication cycleperiod in [s]


1007h 0 VAR Synchronous windowslength

UNSIGNED32 rw O 0 Length of time window in[s]


1008h 0 VAR Manufacturer device name STRING ro O CGM Device name

1009h 0 VAR Manufacturer Hardwareversion

STRING ro O e.g. 2.1 Hardware version

100Ah 0 VAR Manufacturer Softwareversion

STRING ro O e.g. 3.1.1 Software version

100Ch 0 VAR Guard Time UNSIGNED16 rw C 512 Min. Guarding time in[ms]

100Dh 0 VAR Life Time Factor UNSIGNED8 rw C 3 Life time factor

1010h ARRAY Store parameters O



1 Save all parameters UNSIGNED32 rw M 0 Storage of allparameters


1011h ARRAY Restore default parameters O



1 Restore all defaultparameters

UNSIGNED32 rw M 0 Recovery of all defaultparameters

1012h 0 VAR COB-Id Time StampObject

UNSIGNED32 rw O 16#80000100 Transfer of the globaltime in a COB-Id

1014h 0 VAR COB-Id Emergency Object UNSIGNED32 rw M 16#80 + Node-ID

COB-Id of Emergency-object

1016h ARRAY Consumer Heartbeat Time O Entries to the Heartbeat-Consumer

0 Number of entries UNSIGNED8 ro M 16#20 Number of possibleentries

1 Consumer heartbeat time UNSIGNED32 rw M 0 Consumer heartbeattime





time





4The following categories are possible: M->Mandatory; O->Optional; C->Conditional

5At present: No complete SYNC-implementation, SYNC-output serves only for initiating SYNC-PDOs, no time conditions

are kept to and checked


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4

DefaultValue






time




















1017h 0 VAR Producer heartbeat time UNSIGNED16 rw C 0 Producer heartbeat timein [ms]

1018h RECORD Identity object M Device information


1 Vendor ID UNSIGNED32 ro M 16#0000007A Vendor-Id (vendor)

2 Product code UNSIGNED32 ro O 4885.8x.xxx Product-code(x.xxx -> Device specific)

3 Revision number UNSIGNED32 ro O Device specific Revision number

4 Serial number UNSIGNED32 ro O Device specific Serial number

Communication Profile Area (SDO-Server Area)1200h RECORD 1st Server-SDO parameter M Parameter of 1st Server-

SDO



UNSIGNED32 ro M 0 COB-Id of 1st Client->Server-SDO (reception)

2 COB-Id Server->Client (Tx) UNSIGNED32 ro M 0 COB-Id of 1st Server->Client-SDO (transm.)

1201h RECORD 2nd Server-SDOparameter

M Parameter of 2ndServer-SDO



UNSIGNED32 rw M 16#80000000 COB-Id of 2nd Client->Server-SDO (reception)

2 COB-Id Server->Client (Tx) UNSIGNED32 rw M 16#80000000 COB-Id of 2nd Server->Client-SDO (transm.)

1202h RECORD 3rd Server-SDO parameter M Parameter of 3rd Server-


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4

DefaultValue


SDO



2 COB-Id Server->Client (Tx) UNSIGNED32 rw M 16#80000000 COB-Id of 3rd Server->Client-SDO (transm.)

1203h RECORD 4th Server-SDO parameter M Parameter of 4th Server-SDO



2 COB-Id Server->Client (Tx) UNSIGNED32 rw M 16#80000000 COB-Id of 4th Server->Client-SDO (transm.)

Communication Profile Area (SDO-Client Area)1280h RECORD 1st Client -SDO parameter M Parameter of 1st Client-

SDO



UNSIGNED32 rw M 16#80000000 COB-Id of 1st Client->Server-SDO (reception)


1281h RECORD 2nd Client -SDO parameter M Parameter of 2nd Client-SDO




1282h RECORD 3rd Client -SDO parameter M Parameter of 3rd Client-SDO

























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DefaultValue











128Ah RECORD 11th Client -SDOparameter





128Bh RECORD 12th Client -SDOparameter M Parameter of 12thClient-SDO














128Eh RECORD 15th Client -SDOparameter





128Fh RECORD 16th Client -SDOparameter





Client -SDO (transm.)1290h RECORD 17th Client -SDO


Client-SDO










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DefaultValue












1294h RECORD 21st Client -SDOparameter

M Parameter of 21st Client-SDO




1295h RECORD 22nd Client -SDOparameter M Parameter of 22ndClient-SDO




1296h RECORD 23rd Client -SDOparameter




















Client -SDO (transm.)129Ah RECORD 27th Client -SDO


Client-SDO










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DefaultValue












129Eh RECORD 31st Client -SDOparameter

M Parameter of 31st Client-SDO




129Fh RECORD 32nd Client -SDOparameter M Parameter of 32ndClient-SDO




12A0h RECORD 33rd Client -SDOparameter















12A3h

04-68280a manual digsy chapter k communication via canopen

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