CAN. Holger Zeltwanger. Virtuelle Netzwerkarchitekturen. für CANopenbasierende. Aufzugssteuerungen. CiA

Transcription

1 Holger Zeltwanger Virtuelle Netzwerkarchitekturen für CANopenbasierende Aufzugssteuerungen

2 CANopen hisry CANopen 1993: ESPRIT project ASPIC (CAL-based communication profile) November 1994: CAL-based communication profile version 1.0 January 1995: CAL-based communication profile version 1.1 September 1995: CANopen CiA DSP 301 version 2.0 Ocber 1996: CiA DS 301 version 3.0 June 1999: CiA DS 301 version 4.0 Summer 2005: CiA DS 301 version 4.1

3 Virtual lift control architecture Floor 254 Floor 2 Floor 1 Lift 1 Lift 2 Lift 8

4 Single lift control system Physical device Drive controller Door controller Call controller Panel controller Car drive unit Virtual devices Sensor unit Car position unit Load measuring unit Car door unit Light-barrier Panel in unit n Panel out unit n Car panel Panel in unit 2 Panel out unit 2 Car display Panel in unit 1 Panel out unit 1

5 CANopen device model Multiple device I/O lines (Process IF) PDO/SDO (Control IF) Object dictionary Logical device 1 Virtual device 1 Virtual device n Logical device 8 Virtual device 1 Virtual device n SDO (Configuration IF) Emergency/SDO (Diagnostics IF)

6 Object dictionary layout Index 1 (hex) Object 0000 reserved F Data Types FFF reserved for further use FFF Communication Profile Area FFF Manufacturer Specific Profile Area FFF Standardized Device Profile Area A000-AFFF Network Variables B000-FFFF reserved for further use 1 16-bit index plus 8-bit sub-index

7 Multiple lift control Index Description 6000 h 60FF h Physical device 6100 h 67FF h Lift h 68FF h reserved 6900 h 6FFF h Lift h 98FF h ::::: reserved 9900 h 9FFF h Lift 8 Index Description 6100 h 61FF h 6200 h 62FF h Panel input unit 6300 h 630F h Panel output unit 6310 h Car door unit Light barrier unit 6311 h 637F h reserved 6380 h 63FF h Car position unit 6400 h 647F h Car drive unit Load measuring unit 6480 h 64FF h 6500 h 657F h Sensor unit 6580 h 67FF h reserved

8 Physical device objects Index Name Category Access 1000 h Device_type M ro 67FF h Device_type O ro 6000 h Supported_virtual_device_types O ro 6001 h Lift_number C rw 6010 h Virtual_input_mapping C ro 6011 h Virtual_output_mapping C rw 6012 h Virtual_sensor_mapping C ro 6020 h Object_creation O rw

9 Input panel unit Index Name Category Access 6100 h Input_group_1 M ro 611F h Input_group_32 O ro 6120 h Parameter_1_group_1 O rw 613F h Parameter_1_group_32 O rw 6140 h Parameter_2_group_1 O rw 615F h Parameter_2_group_32 O rw 6160 h Parameter_3_group_1 O rw 617F h Parameter_3_group_32 O rw 6180 h Parameter_4_group_1 O rw 619F h Parameter_4_group_32 O rw

10 Display unit Index Name Category Access 6200 h Output_group_1 M rw 621F h Output _group_32 O rw 6220 h Parameter_1_group_1 O rw 623F h Parameter_1_group_32 O rw 6240 h Parameter_2_group_1 O rw 625F h Parameter_2_group_32 O rw 6260 h Parameter_3_group_1 O rw 627F h Parameter_3_group_32 O rw 6280 h Parameter_4_group_1 O rw 629F h Parameter_4_group_32 O rw

11 Car door controller Index Name Category Access 6300 h Door_control_word M ro 6301 h Door_status_word M rw 6310 h Light_barrier_status O rw

12 Car door unit Index Name Category Access 6300 h Door_control_word M rw 6301 h Door_status_word M ro 6302 h Door_position O ro 6304 h Door_configuration_1 O rw 6305 h Door_configuration_2 O rw 6306 h Door_configuration_3 O rw 6307 h Door_configuration_4 O rw

13 Transparent gateway Index Description 6100 h Drive control 6200 h Drive status 6300 h Input Acc. ro rw rw CANopen 1 (or proprietary network) Controller Index Description 6100 h Drive control 6200 h Drive status 6300 h Input Acc. ro rw rw Index 6100 h 6200 h Drive Description Drive control Drive status Acc. rw ro Input CANopen 2 (or proprietary network) Index Description 6100 h Drive control 6200 h Drive status 6300 h Input Acc. rw ro ro Index Description 6300 h Input Acc. ro

14 Communication procols Service Data Object (SDO) procols Standard SDO procols SDO block procols Process Data Object (PDO) procol Special object procols: Synchronization (SYNC) procol Time Stamp (TIME) procol Emergency (EMCY) procol Network Management procols: NMT Message procol Boot-Up procol Error Control procols - Heartbeat procol - Node guarding procol

15 PDO procol Producer request Write PDO DLC = 0 8 Application object(s) CAN-ID = pre-defined or user-specific Consumer(s) indication(s) indication Read PDO CAN Remote Frame request(s) response DLC = 0 8 Application object(s) CAN-ID = pre-defined or user-specific confirmation(s)

16 Multiplexed PDO procol Producer Write MPDO Consumer(s) request f addr m d indication(s) f = 0 (Source Address Mode) addr = single producer node-id m = index and sub-index d = application data f = 1 (Destination Address Mode) addr = single consumer node-id m = index and sub-index d = application data DLC = 8 CAN-ID = pre-defined or user-specific

17 Pre-defined lift PDOs PDO PDO1 PDO2 PDO128 PDO129 PDO130 PDO256 PDO257 PDO272 PDO273 PDO288 ::::: PDO369 PDO384 PDO385 PDO386 PDO512 Description not used MPDO not used Virtual input Lift 1 Lift 2 Lift 8 not used Sensor input PDO PDO257 PDO258 PDO259 PDO260 PDO261 PDO264 PDO265 PDO268 PDO269 PDO270 PDO271 PDO272 Description Virtual output not used Load measuring not used Car drive control and status Car position sensor 1 4 Car door control and status Light barrier Car door position

18 Device design ol

19 Typical CANopen network

20 CAN 3-lift (group) control system

21 CAN Single lift control system Two local physical CAN networks: CANopen 1 for tableaus CANopen 2 for car control including encoder