CANopen Vehicle Gateway Software Specifications rev 2.01

Transcription

1 CApen Vehicle Gateway Software Specifications rev 2.01 Page 1 of 136

2 Revision Date 0.1A Initial Specification 10/21/ B Added MTU Emergency and MTU Fault codes 5/25/ C Added MTU Communication Emergency and MUX PDU Desc. 09/23/ Updated MTU Objects 09/15/ Corrected J1587 and J1939 Objects 09/22/09 Page 2 of 136

3 Table of Contents Revision...2 Table of Contents...3 Overview:...7 Physical...8 Network Switch Settings:...8 Bit Timing Settings...8 LED Indicators:...9 Supported SDO abort codes...11 Supported Emergency Error Codes...12 Emergency Object Data...13 Pre-defined connection set...14 Identifier allocation scheme for the pre-defined connection set...14 Broadcast Objects of the Pre-defined Connection Set...14 Peer-to-Peer Objects of the Pre-defined Connection Set...14 Assigning COB-IDS...14 Object Dictionary s...15 Object Dictionary Structure...16 Object Dictionary Overview...17 Object Dictionary Entries for Communication...17 Standard Objects...17 Server SDO Parameter...17 Client SDO Parameter...17 Receive PDO Communication Parameter...18 Receive Parameter...18 Transmit PDO Communication Parameter...18 Transmit Parameter...18 Detailed Specification of Communication Profile Specific Objects...20 Object 1000h: Device Type...20 Object 100: Error Register...21 Object 1002h: Manufacturer Status Register...22 Object 1003h: Pre-defined Error Field...23 Object 1005h: COB-ID SYNC message...24 Object 1008h: Manufacturer Device Name...25 Object 1009h: Manufacturer Hardware Version...26 Object 100Ah: Manufacturer Software Version...27 Object 100Ch: Guard Time...28 Object 100Dh: Life Time Factor...29 Object 1010h: Store parameters...30 Object 101: Restore default parameters...33 Object 1012h: COB-ID Time Stamp Object...35 Object 1014h: COB-ID Emergency Object...36 Object 1015h: Inhibit Time EMCY...37 Object 1016h: Consumer Heartbeat Time...38 Object 1017h: Producer Heartbeat Time...39 Object 1018h: Identity Object...40 Object 1020h: Verify Configuration...42 Object 1029: Error behavior object...43 Object 1200h-120: Server SDO Parameter...44 Object 1400h 141Eh: Receive PDO Communication Parameter...46 Object 1600h 161Eh: Receive Parameter...50 Object 1800h 181Fh: Transmit PDO Communication Parameter...52 Page 3 of 136

4 Object 1A00h 1A1Fh: Transmit Parameter...54 Object 1FA0h : Object Scanner List...55 Multiplexed PDOs...56 MPDO Protocol...56 Destination Address Mode (DAM)...56 Source Address Mode (SAM)...56 Object dictionary entries...57 Record...57 Additional error code meanings...58 Predefinitions...58 Introduction st RPDO mapping st TPDO mapping nd RPDO mapping nd TPDO mapping rd RPDO mapping rd TPDO mapping th RPDO mapping th TPDO mapping...59 Manufacturer Specific Objects...60 Overview:...60 Vehicle DataIn Objects...60 Vehicle DataIn Status Objects...60 J1939 Objects...60 DINBUS Objects...61 MTU Bus Objects...61 J1587 Bus Objects...62 Vehicle Data Mapping/Conversion Objects...62 Manufacturer Specific Object Details:...63 Vehicle DataIn Objects...63 Object 2000h: Vehicle DataIn_...63 Object 200: Vehicle DataIn_UNSIGNED Object 2002h: Vehicle DataIn_...65 Object 2003h: Vehicle DataIn_SIGNED Object 2004h: Vehicle DataIn_SIGNED Object 2005h: Vehicle DataIn_SIGNED Object 2006h: Vehicle DataIn_REAL Vehicle DataIn Status Objects...70 Object 2100h: Vehicle DataIn_ Status...70 Object 210: Vehicle DataIn_UNSIGNED16 Status...71 Object 2102h: Vehicle DataIn_ Status...72 Object 2103h: Vehicle DataIn_SIGNED8 Status...73 Object 2104h: Vehicle DataIn_SIGNED16 Status...74 Object 2105h: Vehicle DataIn_SIGNED32 Status...75 Object 2106h: Vehicle DataIn_REAL32 Status...76 J1939 Objects...77 Object 3000h: J1939 Bus Configuration...77 Object 3100h-31FFh: J1939 PDU Configuration...78 Object 3200h-32FFh: J1939 PDU Data...80 DINBUS OBJECTS...81 Object 3500h: DINBUS Bus Configuration...81 Object 350: DINBUS Data In...83 MTU Objects...84 Object 4000h: MTU Bus Configuration...84 Object 4100h: MTU Failure Code Configuration...85 Page 4 of 136

5 Object FFh: MTU PDU Configuration...86 Object 4200h: MTU PDU Data...88 Object 420: MTU Fault Codes Object 4202h: MTU Fault Codes Object 4203h: MTU Fault Codes J1587 Objects...92 Object 4500h: J1587 Baud Rate...93 Object 450: J1587 RXP Receive Polarity...94 Object 4502h: J1587 TXP Transmit Polarity...95 Object 4600h: J1587 TX MID...96 Object 460: J1587 Message Rx MIDS...97 Object 4700h: J1587 Data 1 Byte Page 1 MID A...99 Object 470: J1587 Data 1 Byte Page 2 MID A Object 4702h: J1587 Data 2 Byte Page 1 MID A Object 4703h: J1587 Data 2 Byte Page 2 MID A Object 4704h: J1587 Data 4 Byte Page 1 MID A Object 4705h: J1587 Data 4 Byte Page 2 MID A Object 4706h: J1587 Data 8 Byte Page 1 MID A Object 4707h: J1587 Data 8 Byte Page 2 MID A Object 4710h: J1587 Data 1 Byte Page 1 MID B Object 471: J1587 Data 1 Byte Page 2 MID B Object 4712h: J1587 Data 2 Byte Page 1 MID B Object 4713h: J1587 Data 2 Byte Page 2 MID B Object 4714h: J1587 Data 4 Byte Page 1 MID B Object 4715h: J1587 Data 4 Byte Page 2 MID B Object 4716h: J1587 Data 8 Byte Page 1 MID B Object 4717h: J1587 Data 8 Byte Page 2 MID B Object 4720h: J1587 Data 1 Byte Page 1 MID C Object 472: J1587 Data 1 Byte Page 2 MID C Object 4722h: J1587 Data 2 Byte Page 1 MID C Object 4723h: J1587 Data 2 Byte Page 2 MID C Object 4724h: J1587 Data 4 Byte Page 1 MID C Object 4725h: J1587 Data 4 Byte Page 2 MID C Object 4726h: J1587 Data 8 Byte Page 1 MID C Object 4727h: J1587 Data 8 Byte Page 2 MID C Object 4730h: J1587 Data 1 Byte Page 1 MID D Object 473: J1587 Data 1 Byte Page 2 MID D Object 4732h: J1587 Data 2 Byte Page 1 MID D Object 4733h: J1587 Data 2 Byte Page 2 MID D Object 4734h: J1587 Data 4 Byte Page 1 MID D Object 4735h: J1587 Data 4 Byte Page 2 MID D Object 4736h: J1587 Data 8 Byte Page 1 MID D Object 4737h: J1587 Data 8 Byte Page 2 MID D Object 4800h: J1587 Failure Mode Identifiers Vehicle Mapping/Conversion Objects Object 5000h-50FFh: Vehicle Data Mapping/Conversion Examples: RPM DINBUS J J MTU Data Conversion: DINBUS J J Page 5 of 136

6 MTU Multiplexed PDO Implementation: Page 6 of 136

7 Overview: The INC CApen Vehicle Gateway allows the user of a CApen network to access data from a vehicle that uses standard serial communications including J1587, J1939, DINBUS and MTU protocols. The user must map each message that the user wants to receive. The data can then be read using SDOs or mapped into PDOs. The gateway also has 254 variables of each supported data type (, UNSIGNED16,, SIGNED8, SIGNED16, SIGNED32, REAL32) available for data input. The input data variables allow the user the option of converting the data from different vehicle network variables and make it accessible on the CApen network through the same location. This feature of the gateway allows the user to write programs based on the data they need, and the not worry about how the data is received or what type of engine is used. The conversion can change data types as well as change units by using the user s conversion factors. The gateway includes a Windows based configuration tool that allows all messages to be mapped and tested in a Windows environment. The configuration can then be downloaded to the display using one of several supported CApen interface cards. The gateway can also be configured using the included EDS file or through SDO commands. The gateway can support up to 8 TxPDOs and 8 RxPDOS. The user must map the data they want into the PDOs.

8 Physical Network Switch Settings: SW1 and SW2 de ID 0x00 0x01-0x7F 0x80-0xFF Meaning Re-Configure Module (Does t got Online) Use this de Address Use value stored in NV SW3 Baud Rate 0x0 0x1 0x2 0x3 0x4 0x5 0x6 0x7 0x8 0x9 0xA-0xF Meaning Auto-Baud 10k bps 20k bps 50k bps 100k bps (t used) 125k bps 250k bps 500k bps 800k bps 1M bps Use value stored in NV Bit Timing Settings Bit rate Bus length (1) minal bit time tb Number of time quanta per bit Length of time quantum tq Location of sample point 1 Mbit/s 25 m 800 kbit/s 50 m 500 kbit/s 100 m 250 kbit/s 250 m(2) 125 kbit/s 500 m(2) 50 kbit/s 1000 m(3) 20 kbit/s 2500 m(3) 10 kbit/s 5000 m(3) 1 us ns 6 tq(750 ns) 1,25 us ns 8 tq(1 us) 2 us ns 14 tq(1,75 us) 4 us ns 14 tq(3,5 us) 8 us ns 14 tq(7 us) 20 us 16 1,25 us 14 tq(17,5 us) 50 us 16 3,125 us 14 tq(43,75 us) 100 us 16 6,25 us 14 tq(87,5 us)

9 LED Indicators: The Gateway has a total of 6 bi-color LEDs that indicate the status of the module. Two LEDs are used to indicate the status of the module, these are the CAN and MOD leds. There is an LED for the transmit and for the receive status of each of the on board serial ports. CAN LED CAN RUN LED State (GREEN) Module State Single Flash STOPPED The Device is in the stopped state. Blinking PRE-OPERATIONAL The Device is in the Pre- Operational State On OPERATIONAL The Device is in the Operational State. CAN ERROR LED State (RED) Module State Off no error The Device is in working condition. Single Flash warning limit reached At least one of the error counters of the CAN controller has reached or exceeded the warning level (too many error frames). Double Flash Error Control Event A guard event (NMT-Slave or NMT-master) or a heartbeat event (Heartbeat consumer) has occurred. Triple Flash Sync Error The SYNC message has not been received within the configured communication cycle period time out (see Object Dictionary Entry 0x1006). On Bus Off The CAN controller is bus off te: The green and red led are independent and can be turned on together causing an orange appearance.

10 MOD LED MOD LED State Module State OFF NO POWER There is no power applied to the module. Green On Module Error The Device is operating properly. Red Flashing Minor Fault The device has experienced a minor fault. This includes power issues, running out of memory, etc. This usually means that the module must be reset. Red On Major Fault The Device has experienced a major fault. This can include a program checksum error, etc. This usually means module needs to be replaced. te: Both Leds CAN and MOD will flash red orange when in the download mode. Port 1 and 2 RX LEDs: COM LED STATE: Off Green Green with Flicker Flashing Red Solid Red Flashing Green-Red-Green-Red Port 1 and 2 TX LEDs: COM LED STATE: Off Green Green with Flicker Flashing Red Solid Red Flashing Green-Red-Green-Red INDICATION: Power Off, Rx Data Receiving Data Intermittently Receiving Data Communication Error (parity error, bus error) Communication Error (baud rate etc., BUS OFF) Power on Self Test. INDICATION: Power Off, Transmitting Data Intermittently transmitting data Communication Error (parity error) Communication Error(baud rate etc., BUS OFF) Power on Self Test.

11 Supported SDO abort codes Abort code h Toggle bit not alternated h SDO protocol timed out Client/server command specifier not valid or unknown h Invalid block size (block mode only) h Invalid sequence number (block mode only) h CRC error (block mode only) h Out of memory h Unsupported access to an object Attempt to read a write only object h Attempt to write a read only object h Object does not exist in the object dictionary Object cannot be mapped to the PDO h The number and length of the objects to be mapped would exceed PDO length h General parameter incompatibility reason h General internal incompatibility in the device h failed due to an hardware error h Data type does not match, length of service parameter does not match h Data type does not match, length of service parameter too high h Data type does not match, length of service parameter too low Sub-index does not exist. The abort codes not listed here are reserved.

12 Supported Emergency Error Codes Error Code Meaning (hex) 00xx Error Reset or Error 10xx Generic Error 81xx Communication 8110 CAN Overrun (Objects lost) 8120 CAN in Error Passive Mode 8130 Life Guard Error or Heartbeat Error 8140 Recovered from bus off 8150 Transmit COB-ID 82xx Protocol Error 8210 PDO not processed due to length error 8220 PDO length exceeded FFxx Device specific

13 Emergency Object Data The Emergency Telegram consists of 8 bytes with the data as shown in Emergency Object MTU Byte Content Emergency Error Code Error register Manufacturer Specific Error Field (see Table) (Object 1001H) Byte A Byte B Byte C Byte D Byte E Error Code (hex) Meaning Byte A Byte B Byte C Byte D Byte E FF00 MTU Fault MTU Fault Code LSB MTU Fault Code MSB MTU Fault Active Error Code (hex) Meaning Byte A Byte B Byte C Byte D Byte E FF01 MTU Communication MTU Lost Connecti on Emergency Object J1587 Byte Content Emergency Error Code Error register Manufacturer Specific Error Field (see Table) (Object 1001H) Byte A Byte B Byte C Byte D Byte E Error Code (hex) Meaning Byte A Byte B Byte C Byte D Byte E FF10 J1587 Communication J1587 Lost Commun ication

14 Pre-defined connection set Bit Number: COB-Identifier Function Code de-id Identifier allocation scheme for the pre-defined connection set Broadcast Objects of the Pre-defined Connection Set Object function code(binary) resulting COB-ID Communication Parameters at Index NMT SYNC (80h) 1005h,1006h,1007h TIME STAMP (100h) 1012h, 1013h Peer-to-Peer Objects of the Pre-defined Connection Set object function code (binary) Resulting COB-IDs Communication Parameters at Index EMERGENCY (8) (FFh) 1014h, 1015h PDO1 (tx) (18) (1FFh) 1800h PDO1 (rx) (20) (27Fh) 1400h PDO2 (tx) (28) (2FFh) 180 PDO2 (rx) (30) (37Fh) 140 PDO3 (tx) (38) (3FFh) 1802h PDO3 (rx) (40) (47Fh) 1402h PDO4 (tx) (48) (4FFh) 1803h PDO4 (rx) (50) (57Fh) 1403h SDO (tx) (58) (5FFh) 1200h SDO (rx) (60) (67Fh) 1200h NMT Error Control (70) (77Fh) 1016h, 1017h Seen from the device s point of view. The pre-defined connection set always applies to the standard CAN frame with 11-bit Identifier, even if extended CAN frames are present in the network. Assigning COB-IDS When Assigning COB-Ids to SDO and PDO objects, the user should use care. If the user selects a COB-ID for a PDO that is already assigned to the display s SDO by the pre-defined connection set, the gateway will accept the COB-ID, but the module may not function as the user desires. The COB-ID acceptance is done in order to provide greater flexibility for the advanced user.

15 Object Dictionary s Index Object Name 0001 DEFTYPE BOOLEAN 0002 DEFTYPE INTEGER DEFTYPE INTEGER DEFTYPE INTEGER DEFTYPE 0006 DEFTYPE UNSIGNED DEFTYPE 0008 DEFTYPE REAL DEFTYPE VISIBLE_STRING 000A DEFTYPE OCTET_STRING 000B DEFTYPE UNICODE_STRING 000C DEFTYPE TIME_OF_DAY 000D DEFTYPE TIME_DIFFERENCE 000E reserved - 000F DEFTYPE DOMAIN 0010 DEFTYPE INTEGER DEFTYPE REAL DEFTYPE INTEGER DEFTYPE INTEGER DEFTYPE INTEGER DEFTYPE INTEGER DEFTYPE UNSIGNED reserved DEFTYPE UNSIGNED DEFTYPE UNSIGNED48 001A DEFTYPE UNSIGNED56 001B DEFTYPE UNSIGNED64 001C-001F reserved DEFSTRUCT PDO_COMMUNICATION_PARAMETER 0021 DEFSTRUCT PDO_MAPPING 0022 DEFSTRUCT SDO_PARAMETER 0023 DEFSTRUCT IDENTITY F reserved F DEFSTRUCT Manufacturer Specific Complex s F DEFTYPE Device Profile (0) Specific Standard s F DEFSTRUCT Device Profile (0) Specific Complex s 00A0-00BF DEFTYPE Device Profile 1 Specific Standard s 00C0-00DF DEFSTRUCT Device Profile 1 Specific Complex s 00E0-00FF DEFTYPE Device Profile 2 Specific Standard s F DEFSTRUCT Device Profile 2 Specific Complex s F DEFTYPE Device Profile 3 Specific Standard s F DEFSTRUCT Device Profile 3 Specific Complex s F DEFTYPE Device Profile 4 Specific Standard s F DEFSTRUCT Device Profile 4 Specific Complex s 01A0-01BF DEFTYPE Device Profile 5 Specific Standard s 01C0-01DF DEFSTRUCT Device Profile 5 Specific Complex s 01E0-01FF DEFTYPE Device Profile 6 Specific Standard s F DEFSTRUCT Device Profile 6 Specific Complex s F DEFTYPE Device Profile 7 Specific Standard s F DEFSTRUCT Device Profile 7 Specific Complex s

16 Object Dictionary Structure Index (hex) Object 0000 not used F Static s F Complex s F Manufacturer Specific Complex s F Device Profile Specific Static s F Device Profile Specific Complex s 00A0-0FFF Reserved for further use FFF Communication Profile Area FFF Manufacturer Specific Profile Area FFF Standardized Device Profile Area A000-FFFF Reserved for further use

17 Object Dictionary Overview Object Dictionary Entries for Communication Standard Objects Index(hex) Object Name Type Acc. M/O (Symbolic Name) VAR device type ro M 1001 VAR error register ro M 1002 VAR Manufacturer status register ro O 1003 VAR Pre-defined error field O 1005 VAR COB-ID SYNC rw O 1008 VAR Manufacturer device name Vis-String const O 1009 VAR Manufacturer hardware version Vis-String const O 100A VAR Manufacturer software version Vis-String const O 100C VAR guard time UNSIGNED16 rw O 100D VAR life time factor rw O 1010 ARRAY store parameters rw O 1011 ARRAY restore default parameters rw O 1012 VAR COB-ID TIME rw O 1014 VAR COB-ID EMCY rw O 1015 VAR Inhibit Time EMCY UNSIGNED16 rw O 1016 ARRAY Consumer heartbeat time RW O 1017 VAR Producer heartbeat time UNSIGNED16 rw O 1018 RECORD Identity Object Identity (23h) ro M 1020 ARRAY Verify Configuration rw O 1029 ARRAY Error Behavior rw O Server SDO Parameter 1200 RECORD 1 st Server SDO parameter SDO Parameter (22h) ro O 1201 RECORD 2st Server SDO parameter SDO Parameter (22h) rw O Client SDO Parameter t Supported

18 Receive PDO Communication Parameter 1400 RECORD 1 st receive PDO Parameter PDO CommPar (20h) rw M/O* 1401 RECORD 2 nd receive PDO Parameter PDO CommPar (20h) rw M/O* ::::: ::::: ::::: ::::: ::::: ::::: 141F RECORD 32 nd receive PDO Parameter PDO CommPar (20h) rw M/O* Receive Parameter 1600 RECORD 1 st receive PDO mapping (2) rw M/O* 1601 RECORD 2 nd receive PDO mapping (2) rw M/O* ::::: ::::: ::::: ::::: ::::: ::::: 161F RECORD 32 nd receive PDO mapping (2) rw M/O* Transmit PDO Communication Parameter 1800 RECORD 1 st transmit PDO Parameter PDO CommPar (20h) rw M/O* 1801 RECORD 2 nd transmit PDO Parameter PDO CommPar (20h) rw M/O* ::::: ::::: ::::: ::::: ::::: :::: 181F RECORD 32nd transmit PDO PDO CommPar (20h) rw M/O* Parameter Transmit Parameter 1A00 RECORD 1 st transmit PDO mapping (2) rw M/O* 1A01 RECORD 2 nd transmit PDO mapping (2) rw M/O* ::::: ::::: ::::: ::::: ::::: ::::: 1A1F RECORD 32 nd transmit PDO mapping (2) rw M/O* Ranges Fh and 1A00-1A1Fh can also used to map multiplexed PDOs. See specification below.

19

20 Detailed Specification of Communication Profile Specific Objects Object 1000h: Device Type Contains information about the device type. The object at index 1000h describes the type of device and its functionality. It is composed of a 16-bit field which describes the device profile that is used and a second 16-bit field which gives additional information about optional functionality of the device. The Additional Information parameter is device profile specific. OBJECT DESCRIPTION Name Category ENTRY DESCRIPTION Byte: MSB Additional Information 0x h device type VAR LSB Device Profile Number 0x0000

21 Object 100: Error Register This object is an error register for the device. The device can map internal errors in this byte. This entry is mandatory for all devices. It is a part of an Emergency object. OBJECT DESCRIPTION Name Category ENTRY DESCRIPTION 100 error register VAR ro Structure of the Error Register Bit M/O Supported Meaning 0 M Yes generic error 1 O Current 2 O Yes Voltage 3 O Temperature 4 O Yes communication error (overrun, error state) 5 O device profile specific 6 O Reserved (always 0) 7 O Yes manufacturer specific If a bit is set to 1 the specified error has occurred. The generic error is signaled at any error situation.

22 Object 1002h: Manufacturer Status Register This object is a common status register for manufacturer specific purposes. In this document only the size and the location of this object is defined. OBJECT DESCRIPTION Name Category 1002h manufacturer status register VAR ENTRY DESCRIPTION MSB ro LSB

23 Object 1003h: Pre-defined Error Field The object at index 1003h holds the errors that have occurred on the device and have been signaled via the Emergency Object. In doing so it provides an error history. 1. The entry at sub-index 0 contains the number of actual errors that are recorded in the array starting at sub-index Every new error is stored at sub-index 1, the older ones move down the list. 3. Writing a 0 to sub-index 0 deletes the entire error history (empties the array). Values higher than 0 are not allowed to write. This have to lead to an abort message (error code: h). 4. The error numbers are of type (see Table 7-18) and are composed of a 16 bit error code and a 16 bit additional error information field which is manufacturer specific. The error code is contained in the lower 2 bytes (LSB) and the additional information is included in the upper 2 bytes (MSB). The additional information consists of the information contained in the Error register Object (100) The length entry on sub-index 0h and at least one error entry at sub-index 1H. Byte: MSB LSB Additional Information Structure of the pre-defined error field OBJECT DESCRIPTION Name Category Error code 1003h pre-defined error field ARRAY ENTRY DESCRIPTION 0h number of errors rw standard error field ro 2h 10 standard error field ro

24 Object 1005h: COB-ID SYNC message Index 1005h defines the COB-ID of the Synchronization Object (SYNC). Further, it defines whether the device generates the SYNC. MSB LSB bits bit-ID X 0/ bit Identifier 29-bit-ID X 0/ bit Identifier Structure of SYNC COB-ID entry of SYNC COB-ID entry bit number value meaning 31 (MSB) X do not care Device does not generate SYNC message Device generates SYNC message bit ID (CAN 2.0A) 29-bit ID (CAN 2.0B) X if bit 29=0 if bit 29=1: bits of 29-bit-SYNC- COB-ID 10-0 (LSB) X bits 10-0 of SYNC-COB-ID Bits 29, 30 may be static (not changeable). If a device is not able to generate SYNC messages, an attempt to set bit 30 is responded with an abort message (abort code: h). Devices supporting the standard CAN frame type only either ignore attempts to change bit 29 or respond with an abort message (abort code: h). The first transmission of SYNC object starts within 1 sync cycle after setting Bit 30 to 1. It is not allowed to change Bit 0-29, while the objects exist (Bit 30=1). OBJECT DESCRIPTION Name Category 1005h COB-ID SYNC VAR Conditional;, if PDO communication on a synchronous base is supported ENTRY DESCRIPTION 80h or h

25 Object 1008h: Manufacturer Device Name Contains the manufacturer device name. OBJECT DESCRIPTION Name Category ENTRY DESCRIPTION 1008h manufacturer device name VAR Visible String const Vehicle Gateway

26 Object 1009h: Manufacturer Hardware Version Contains the manufacturer hardware version description. OBJECT DESCRIPTION Name Category 1009h manufacturer hardware version VAR Visible String ENTRY DESCRIPTION const 2.1

27 Object 100Ah: Manufacturer Software Version Contains the manufacturer software version description. OBJECT DESCRIPTION Name Category 100Ah Manufacturer software version VAR Visible String ENTRY DESCRIPTION Const 2.01

28 Object 100Ch: Guard Time The objects at index 100Ch and 100Dh include the guard time in milliseconds and the life time factor. The life time factor multiplied with the guard time gives the life time for the Life Guarding Protocol. It is 0 if not used. OBJECT DESCRIPTION Name Category ENTRY DESCRIPTION 100Ch guard time VAR UNSIGNED16 Conditional;, if heartbeat is not supported rw UNSIGNED16 0

29 Object 100Dh: Life Time Factor The life time factor multiplied with the guard time gives the life time for the node guarding protocol. It is 0 if not used. OBJECT DESCRIPTION Name Category 100Dh life time factor VAR Conditional;, if heartbeat is not supported ENTRY DESCRIPTION 0

30 Object 1010h: Store parameters This object supports the saving of parameters in non volatile memory. By read access the device provides information about its saving capabilities. Several parameter groups are distinguished: 0 contains the largest that is supported. 1 refers to all parameters that can be stored on the device. 2 refers to communication related parameters (Index 1000h - 1FFFh manufacturer specific communication parameters). 3 refers to application related parameters (Index 6000h - 9FFFh manufacturer specific application parameters). At manufacturers may store their choice of parameters individually are reserved for future use. In order to avoid storage of parameters by mistake, storage is only executed when a specific signatureis written to the appropriate. The signature is save. Signature MSB LSB ISO 8859 ( ASCII ) hex E V a s 65h 76h 6 73h Storage write access signature On reception of the correct signature in the appropriate sub-index the device stores the parameter and then confirms the SDO transmission (initiate download response). If the storing failed, the device responds with an Abort SDO Transfer (abort code: h). If a wrong signature is written, the device refuses to store and responds with Abort SDO Transfer (abort code: xh). On read access to the appropriate the device provides information about its storage functionality with the following format: MSB LSB reserved (=0) 0/1 0/1 Storage read access structure Structure of read access bit number Value meaning reserved (=0) 1 0 Device does not save parameters autonomously 1 Device saves parameters autonomously 0 0 Device does not save parameters on command 1 Device saves parameters on command Autonomous saving means that a device stores the storable parameters in a non-volatile manner without user request.

31 OBJECT DESCRIPTION Name Category 1010h store parameters ARRAY ENTRY DESCRIPTION 0h largest subindex supported ro - 7Fh 4 Save all parameters (Figure 55 for write access; Figure 56 for read access) 0 2h save communication parameters rw (Figure 55 for write access; Figure 56 for read access) 0 3h Save application parameters (Figure 55 for write access; Figure 56 for read access) 02h 4h Save I/O Configuration and de Address (Figure 55 for write access; Figure 56 for read access) 0

32 te Application parameters are stored autonomously. Communication parameters must be manually stored.

33 Object 101: Restore default parameters With this object the default values of parameters according to the communication or device profile are restored. By read access the device provides information about its capabilities to restore these values. Several parameter groups are distinguished: 0 contains the largest that is supported. 1 refers to all parameters that can be restored. 2 refers to communication related parameters (Index 1000h - 1FFFh manufacturer specific communication parameters). 3 refers to application related parameters (Index 6000h - 9FFFh manufacturer specific application parameters). At manufacturers may restore their individual choice of parameters are reserved for future use. In order to avoid the restoring of default parameters by mistake, restoring is only executed when a specific signature is written to the appropriate sub-index. The signature is load. Signature MSB LSB ASCII Hex d a o l 64h 6 6Fh 6Ch Figure 57: Restoring write access signature On reception of the correct signature in the appropriate sub-index the device restores the default parameters and then confirms the SDO transmission (initiate download response). If the restoring failed, the device responds with an Abort SDO Transfer (abort code: h). If a wrong signature is written, the device refuses to restore the defaults and responds with an Abort SDO Transfer (abort code: xh). The default values are set valid after the device is reset (reset node for sub-index - 7Fh, reset communication for sub-index 2h) or power cycled. On read access to the appropriate sub-index the device provides information about its default parameter restoring capability with the following format: MSB LSB Reserved (=0) 0/1 Figure 59: Restoring default values read access structure Table 50: Structure of restore read access bit number value meaning reserved (=0) 0 0 Device does not restore default parameters 1 Device restores parameters

34 OBJECT DESCRIPTION Index Name Category 101 restore default parameters ARRAY ENTRY DESCRIPTION 0h largest subindex supported ro - 7Fh 4 r Restore all default parameters (Figure 57) 0 2h Restore communication default parameters (Figure 57) 0 3h Restore application default parameters (Figure 57) 0 4h Restore Manufacturer Specific parameters (Figure 57) 0 The number and type of physically attached modules control most of the manufacturer specific parameters, therefore 4 is reserved for future use.

35 Object 1012h: COB-ID Time Stamp Object Index 1012h defines the COB-ID of the Time-Stamp Object (TIME). Further, it defines whether the device consumes the TIME or whether the device generates the TIME. The structure of this object is shown in Figure 60 and Table 51. MSB LSB bits bit-ID 0/1 0/ bit Identifier 29-bit-ID 0/1 0/ bit Identifier Figure 60: Structure of TIME COB-ID entry Table 51: of TIME COB-ID entry bit number value meaning 31 (MSB) 0 Device does not consume TIME message 1 Device consumes TIME message 30 0 Device does not produce TIME message 1 Device produces TIME message bit ID (CAN 2.0A) 1 29-bit ID (CAN 2.0B) if bit 29=0 X if bit 29=1: bits of 29-bit-TIME-COB-ID 10-0 (LSB) X bits 10-0 of TIME-COB-ID Bits 29, 30 may be static (not changeable). If a device is not able to generate TIME messages, an attempt to set bit 30 is responded with an abort message (abort code: h). Devices supporting the standard CAN frame type only, an attempt to set bit 29 is responded with an abort message (abort code: h). It is not allowed to change Bits 0-29, while the object exists (Bit 30=1). OBJECT DESCRIPTION Name Category 1012h COB-ID time stamp message VAR ENTRY DESCRIPTION rw 100h

36 Object 1014h: COB-ID Emergency Object Index 1014h defines the COB-ID of the Emergency Object (EMCY). The structure of this object is shown in Figure 61. MSB LSB Bits bit-ID 0/ bit Identifier 29-bit-ID 0/ bit Identifier Figure 61: Structure of the EMCY Identifier entry Table 52: of EMCY COB-ID entry bit number value Meaning 31 (MSB) 0 EMCY exists / is valid 1 EMCY does not exist / is not valid 30 0 reserved (always 0) bit ID (CAN 2.0A) 1 29-bit ID (CAN 2.0B) if bit 29=0 X if bit 29=1: bits of 29-bit-COB-ID 10-0 (LSB) X bits 10-0 of COB-ID Devices supporting the standard CAN frame type only, an attempt to set bit 29 is responded with an abort message (abort code: h). It is not allowed to change Bits 0-29, while the object exists (Bit 31=0). OBJECT DESCRIPTION Name Category 1014h COB-ID Emergency message VAR Conditional;, if Emergency is supported ENTRY DESCRIPTION ro;optional rw 80h + de-id

37 Object 1015h: Inhibit Time EMCY The inhibit time for the EMCY message can be adjusted via this entry. If this entry exists it must be writeable in the object dictionary. The time has to be a multiple of 100ms. OBJECT DESCRIPTION Name Category 1015h Inhibit Time EMCY VAR UNSIGNED16 ENTRY DESCRIPTION rw UNSIGNED16 0

38 Object 1016h: Consumer Heartbeat Time The consumer heartbeat time defines the expected heartbeat cycle time and thus has to be higher than the corresponding producer heartbeat time configured on the device producing this heartbeat. Monitoring starts after the reception of the first heartbeat. If the consumer heartbeat time is 0 the corresponding entry is not used. The time has to be a multiple of 1ms. MSB LSB Bits Value reserved (value: 00h) de-id heartbeat time Encoded as - UNSIGNED16 Table 62: Structure of Consumer Heartbeat Time entry At an attempt to configure several consumer heartbeat times unequal 0 for the same de-id the device aborts the SDO download with abort code h OBJECT DESCRIPTION Name Category 1016h Consumer Heartbeat Time ARRAY ENTRY DESCRIPTION 0h number entries ro Consumer Heartbeat Time rw (Figure 62) 0 2h - 4h Consumer Heartbeat Time rw (Figure 62)

39 Object 1017h: Producer Heartbeat Time The producer heartbeat time defines the cycle time of the heartbeat. The producer heartbeat time is 0 if it not used. The time has to be a multiple of 1ms. OBJECT DESCRIPTION Name Category 1017h Producer Heartbeat Time VAR UNSIGNED16 Conditional; if guarding not supported ENTRY DESCRIPTION rw UNSIGNED16 0

40 Object 1018h: Identity Object The object at index 1018h contains general information about the device. The Vendor ID (sub-index ) contains a unique value allocated to each manufacturer. The manufacturer-specific Product code (sub-index 2h) identifies a specific device version. The manufacturer-specific Revision number (sub-index 3h) consists of a major revision number and a minor revision number. The major revision number identifies a specific CApen behavior. If the CApen functionality is expanded, the major revision has to be incremented. The minor revision number identifies different versions with the same CApen behavior major revision number minor revision number MSB LSB Structure of Revision number The manufacturer-specific Serial number (sub-index 4h) identifies a specific device. OBJECT DESCRIPTION 1018h Name Identity Object RECORD Identity Category ENTRY DESCRIPTION 0h number of entries Vendor ID 0x h Product code 1101 for MTU Gateway 1102 for J1587 Gateway

41 3h Revision number 0x h Serial number

42 Object 1020h: Verify Configuration If a device supports the saving of parameters in non-volatile memory, a network configuration tool or a CApen manager can use this object to verify the configuration after a devices reset and to check if a reconfiguration is necessary. The configuration tool shall store the date and time in that object and shall store the same values in the DCF. w the configuration tool lets the device save its configuration by writing to index 1010h the signature "save". After a reset the device shall restore the last configuration and the signature automatically or by request. If any other command changes boot-up configuration values, the device shall reset the object Verify Configuration to 0. The Configuration Manager compares signature and configuration with the value from the DCF and decides if a reconfiguration is necessary or not. Index Object Name Type Attr. M/O 1020h ARRAY Verify Unsigned32 rw O Configuration The sub-objects for the Verify Configuration Object are: Index Field in Configuration Verify 1020h 0h Number of supported entries Unsigned8 Configuration date Unsigned32 2h Configuration time Unsigned32 Configuration date shall contain the number of days since January 1,1984. Configuration time shall be the number of ms after midnight. Application hint: The usage of this object allows a significant speed-up of the boot-up process. If it is used, the system integrator has to consider that a user may change a configuration value and afterwards activate the command store configuration 1010h without changing the value of 1020h. So the system integrator has to ensure a 100% consequent usage of this feature.

43 Object 1029: Error behavior object If a serious device failure is detected in Operational State, the module shall enter by default autonomously the pre-operational state. If object 1028h (Error Behavior) is implemented, the device can be configured to enter alternatively the stopped state or remain in the current state in case of a device failure. Device failures shall include the following communication errors: Bus-off conditions of the CAN interface Life guarding event with the state occurred Heartbeat event with state occurred Serious device errors also can be caused by device internal failures. The value of the Error Classes is as follows: 0 = pre-operational (only if current state is operational) 1 = no state change 2 = stopped = reserved OBJECT DESCRIPTION Name Category 1029h Error Behavior ARRAY ENTRY DESCRIPTION 0h. of Error Classes 1 Communication Error rw 0

44 Object 1200h-120: Server SDO Parameter In order to describe the SDOs used on a device the data type SDO Parameter is introduced. The data type has the index 22h in the Object Dictionary. The structure is described in The number of supported entries in the SDO object record is specified at sub-index 0h. The values at and 2h specify the COB-ID for this SDO. Sub-index 3 gives the server of the SDO in case the record describes an SDO for which the device is client and gives the client of the SDO if the record describes an SDO for which the device is server. MSB LSB bits bit-ID 0/ bit Identifier 29-bit-ID 0/ bit Identifier Figure 64: Structure of SDO COB-ID entry Table 53: of SDO COB-ID entry bit number value Meaning 31 (MSB) 0 SDO exists / is valid 1 SDO does not exist / is not valid 30 0 reserved (always 0) bit ID (CAN 2.0A) 1 29-bit ID (CAN 2.0B) if bit 29=0 X if bit 29=1: bits of 29-bit-COB-ID 10-0 (LSB) X bits 10-0 of COB-ID An SDO is only valid if both SDO-valid-bits are 0. Devices supporting the standard CAN frame type only, an attempt to set bit 29 is responded with an abort message (abort code: 0609E0030h). These objects contain the parameters for the SDOs for which the device is the server. If a device handles more than one server SDO the default SDO must be located at index 1200h as the first server SDO. This entry is read only 2. All additional server SDOs are invalid by default (invalid bit - see Table 53), there description is located at subsequent indicies. It is not allowed to change the COB-ID while the SDO exists. The description of the Client of the SDO (sub-index 3h) is optional. It is not available for the default SDO (no Sub-index 3h at Index 1200h), as this entry is read only.

45 OBJECT DESCRIPTION Name Server SDO parameter RECORD SDO Parameter Category Conditional Index 1200h: Index Fh: for each additionally supported server SDO ENTRY DESCRIPTION 0h number of entries Index 1200h: 2 Index F: 2 3 COB-ID Client->Server (rx) Index 1200h: ro, Index Fh: rw (Table 53) Index 1200h: 600h+de-ID, Index Fh: 2h COB-ID Server -> Client (tx) Index 1200h: ro Index Fh: rw (Table 53) Index 1200h: 580h+de-ID, Index Fh:

46 Object 1400h 141Eh: Receive PDO Communication Parameter Contains the communication parameters for the PDOs the device is able to receive. The type of the PDO communication parameter (20h) is described in The sub-index 0h contains the number of valid entries within the communication record. Its value is at least 2. If inhibit time supported the value is 3. At sub-index resides the COB-ID of the PDO. This entry has been defined as in order to cater for 11-bit CAN Identifiers (CAN 2.0A) as well as for 29- bit CAN identifiers (CAN 2.0B). The entry has to be interpreted as defined in Figure 65 and Table 54. MSB LSB bits bit-ID 0/1 0/ bit Identifier 29-bit-ID 0/1 0/ bit Identifier Figure 65: Structure of PDO COB-ID entry Table 54: of PDO COB-ID entry bit number value Meaning 31 (MSB) 0 PDO exists / is valid 1 PDO does not exist / is not valid 30 0 RTR allowed on this PDO 1 no RTR allowed on this PDO bit ID (CAN 2.0A) 1 29-bit ID (CAN 2.0B) if bit 29=0 X if bit 29=1: bits of 29-bit-COB-ID 10-0 (LSB) X bits 10-0 of COB-ID The PDO valid/not valid allows to select which PDOs are used in the operational state. There may be PDOs fully configured (e.g. by default) but not used, and therefore set to "not valid" (deleted). The feature is necessary for devices supporting more than 4 RPDOs or 4 TPDOs, because each device has only default identifiers for the first four RPDOs/TPDOs. Devices supporting the standard CAN frame type only or do not support Remote Frames, an attempt to set bit 29 to 1 or bit 30 to 0 is responded with an abort message (abort code: 0609Ê0030h). It is not allowed to change bit 0-29 while the PDO exists (Bit 31=0). The transmission type (sub-index 2) defines the transmission/reception character of the PDO (see ). Table 55 describes the usage of this entry. On an attempt to change the value of the transmission type to a value that is not supported by the device an abort message (abort code: 0609E0030h) is generated. transmission type PDO transmission - Cyclic acyclic synchronous asynchronous RTR only 0 - X X X - X reserved X - X X X X X - Synchronous (transmission types and 252) means that the transmission of the PDO shall be related to the SYNC object as described in 9.3. Preferably the devices use the SYNC as a trigger to output or actuate based on the previous synchronous Receive PDO respectively to

47 update the data transmitted at the following synchronous Transmit PDO. Details of this mechanism depend on the device type and are defined in the device profile if applicable. Asynchronous means that the transmission of the PDO is not related to the SYNC object. A transmission type of zero means that the message shall be transmitted synchronously with the SYNC object but not periodically. A value between 1 and 240 means that the PDO is transferred synchronously and cyclically. The transmission type indicating the number of SYNC which are necessary to trigger PDO transmissions. Receive PDOs are always triggered by the following SYNC upon receiption of data independent of the transmission types The transmission types 252 and 253 mean that the PDO is only transmitted on remote transmission request. At transmission type 252, the data is updated (but not sent) immediately after reception of the SYNC object. At transmission type 253 the data is updated at the reception of the remote transmission request (hardware and software restrictions may apply). These value are only possible for TPDOs. For TPDOs transmission type 254 means, the application event is manufacturer specific (manufacturer specific part of the Object Dictionary), transmission type 255 means, the application event is defined in the device profile. RPDOs with that type trigger the update of the mapped data with the reception. Sub-index 3h contains the inhibit time. This time is a minimum interval for PDO transmission. The value is defined as multiple of 100ms. It is not allowed to change the value while the PDO exists (Bit 31 of sub-index 1 is 0). Sub-index 4h is reserved. It does not have to be implemented, in this case read or write access leads to Abort SDO Transfer (abort code: ). In mode 254/255 additionally an event time can be used for TPDO. If an event timer exists for a TPDO (value not equal to 0) the elapsed timer is considered to be an event. The event timer elapses as multiple of 1 ms of the entry in sub-index 5h of the TPDO. This event will cause the transmission of this TPDO in addition to otherwise defined events. The occurence of the events set the timer. Independent of the transmission type the RPDO event timer is used recognize the expiration of the RPDO.

48 OBJECT DESCRIPTION 1400h 141Fh Name receive PDO parameter RECORD PDO CommPar Category Conditional; for each supported PDO ENTRY DESCRIPTION 0h largest sub-index supported ro 2 5 COB-ID used by PDO ro; rw if variable COB-ID is supported (Table 54) Index 1400h: 200h + de-id, Index 140: 300h + de-id, Index 1402h: 400h + de-id, Index 1403h: 500h + de-id, Index 1404h Ð 15FFh: disabled 2h transmission type ro;rw if variable transmission type is supported (Table 55) (Device Profile dependent) 3h inhibit time (not used for RPDO) rw UNSIGNED16 4h compatibility entry rw 5h event timer

49 (not used for RPDO) rw 0 = not used UNSIGNED16

50 Object 1600h 161Eh: Receive Parameter Contains the mapping for the PDOs the device is able to receive. The type of the PDO mapping parameter (2) is described in The sub-index 0h contains the number of valid entries within the mapping record. This number of entries is also the number of the application variables which shall be transmitted/received with the corresponding PDO. The sub-indices from to number of entries contain the information about the mapped application variables. These entries describe the PDO contents by their index, sub-index and length (Figure 66). All three values are hexadecimal coded. The length entry contains the length of the object in bit (1..40h). This parameter can be used to verify the overall mapping length. It is mandatory. The structure of the entries from sub-index - 40h is as follows: Byte: MSB LSB index (16 bit) sub-index (8 bit) object length (8 bit) Figure 66: Structure of Entry If the change of the PDO mapping cannot be executed (e.g. the PDO length is exceeded or the SDO client attempts to map an object that cannot be mapped) the device responds with an Abort SDO Transfer Service. Subindex 0 determines the valid number of objects that have been mapped. For changing the PDO mapping first the PDO has to be deleted, the sub-index 0 must be set to 0 (mapping is deactivated). Then the objects can be remapped. When a new object is mapped by writing a subindex between 1 and 64, the device may check whether the object specified by index / subindex exists. If the object does not exist or the object cannot be mapped, the SDO transfer must be aborted with the Abort SDO Transfer Service with one of the abort codes h or After all objects are mapped subindex 0 is set to the valid number of mapped objects. Finally the PDO will be created by writing to its communication parameter COB-ID. When subindex 0 is set to a value >0 the device may validate the new PDO mapping before transmitting the response of the SDO service. If an error is detected the device has to transmit the Abort SDO Transfer Service with one of the abort codes h, or h. When subindex 0 is read the actual number of valid mapped objects is returned. If data types (Index -7h) are mapped they serve as dummy entries. The corresponding data in the PDO is not evaluated by the device. This optional feature is useful e.g. to transmit data to several devices using one PDO, each device only utilizing a part of the PDO. It is not possible to create a dummy mapping for a TPDO.

51 OBJECT DESCRIPTION Name Category 1600h 161Fh receive PDO mapping RECORD Conditional; for each supported PDO ENTRY DESCRIPTION 0h number of mapped application objects in PDO ro; rw if dynamic mapping is supported 0: deactivated 1-64: activated (device profile dependent) - 40h PDO mapping for the nth application object to be mapped Conditional depends on number and size of object be mapped rw (device profile dependent)

52 Object 1800h 181Fh: Transmit PDO Communication Parameter Contains the communication parameters for the PDOs the device is able to transmit. The type of the PDO communication parameter (20h) is described in A detailed description of the entries is done in the section for the Receive PDO Communication Parameter (1400h 141Fh). OBJECT DESCRIPTION Name Category 1800h 181Fh transmit PDO parameter RECORD PDO CommPar Conditional; for each supported PDO ENTRY DESCRIPTION 0h largest sub-index supported ro 2 5 COB-ID used by PDO ro; rw if COB-ID can be configured (Figure 65) Index 1800h: 180h + de-id, Index 180: 280h + de-id, Index 1802h: 380h + de-id, Index 1803h: 480h + de-id, Index 1804h - 18FFh: disabled 2h transmission type ro; rw if transmission type can be changed (Table 54) (device profile dependent) 3h inhibit time rw UNSIGNED16 4h

53 reserved rw 5h event timer rw 0 = not used UNSIGNED16

54 Object 1A00h 1A1Fh: Transmit Parameter Contains the mapping for the PDOs the device is able to transmit. The type of the PDO mapping parameter (2) is described in A detailed description of the entries is done in the section for the Receive Parameter (1600h 161Fh). OBJECT DESCRIPTION Name Category 1A00h 1A1Fh transmit PDO mapping RECORD Conditional; for each supported PDO ENTRY DESCRIPTION 0h number of mapped application objects in PDO ro; rw if dynamic mapping is supported 0: deactivated 1-64: activated (device profile dependent) - 40h PDO mapping for the n-th application object to be mapped Conditional; depends on number and size of objects to be mapped (device profile dependent)

55 Object 1FA0h : Object Scanner List The Object Scanner list is used to configure which objects are transmitted in the Multiplexed TPDO. OBJECT DESCRIPTION Name Category 1FA0h 1FA0h Object Scanner List ARRAY ENTRY DESCRIPTION 0h number of entries ro h Scan_1 Scan 20h no

56 Multiplexed PDOs MPDO Protocol This protocol is used to implement MPDO services. The MPDO producer sends data and the multiplexor indicating the source or destination address. MPDO PDO Producer Consumer Byte Meaning f Addr m D d shall contain the data to be transferred. The value always shall be filled up to 32 bit. 3 m shall contain the multiplexor (Index and ) of the variable in the object dictionary. The MSB f of the first byte shall be a format flag, and addr shall be an address field, which may be used in the following combinations: f addr Usage 0 0 Reserved Source addressing. addr is a single producer s de ID. Multiplexor is index and sub-index of the object dictionary of the producer. 1 0 Destination addressing. The consumer is a group Destination addressing. addr is a single consumer s de ID. Multiplexor is index and sub-index of the object dictionary of the consumer. Destination Address Mode (DAM) The addr and the m field of the MPDO refers to the consumer. This allows access to the consumer s Object Dictionary in an SDO-like manner. With addr = 0, it allows multicasting and broadcasting, to write into the Object Dictionaries of more than one node simultaneously, without having a PDO for each single object. Initiating a DAM-MPDO is application-dependent, like it is for SDOs. Source Address Mode (SAM) The addr and the m field of the MPDO refers to the producer. Only one producer MPDO of this type is allowed for each node. Transmission type has to be 254 or 255. The producer uses an Object Scanner List in order to know, which objects are to send. The consumer uses an Object Dispatcher List as a cross reference. 3 The restriction about using 32- bit transfers only will not present problems in practice since all of the participating devices know the data types (and sizes) of their related objects.