Using CANopen Slave Driver

Transcription

1 CAN Bus User Manual Using CANopen Slave Driver V1.

2 Table of Conens 1. SDO Communicaion PDO Communicaion TPDO Reading and RPDO Wriing RPDO Reading CANopen Communicaion Parameer Seings... 4

3 1. SDO Communicaion An imporan propery of CANopen device, Objec Dicionary (OD) is a able which sores he configuraion and process daa for all ypes of device. For direc access o CANopen devices, Service Daa Objecs (SDO) can be used. Wih SDO, Objec Dicionary enries can be read and wrien wih heir Index + Subindex as defined in he OD. Generally speaking, SDO is used o access he parameers of he CANopen device. wrie SDO read CANopen device parameer (Index+Subindex) Use SDO o read or wrie CANopen device parameers. SDO can direcly read or wrie a specific address. In EasyBuilder Pro, o access daa by SDO, selec he desired daa ype (8bi, 16bi, or 32 bi), and ener appropriae Index and Subindex values. For example, o read Index=22, Subindex=1, 16bi daa, please ener 221 in SDO_16bi device ype. Please Noe ha Subindex is no a required parameer. When subindex is no specified, use. 2. PDO Communicaion In CANopen proocol, Process Daa Objec (PDO) is anoher way for daa exchange. The daa o be ransmied or received from is Objec Dicionary can be copied ino he daa field of PDO. In his manner,, by communicaing wih PDO, can read or wrie daa in Objec Dicionary. Generally speaking, PDO is beer suied for daa ha changes dynamically. On PLC, PDO is divided ino wo ypes: Receive PDO (RPDO) and Transmi PDO (TPDO). However, for, RPDO ransfers daa o PLC, and TPDO receives daa from PLC. 1

4 wrie RPDO CANopen device address TPDO read Use PDO o read or wrie CANopen device parameers. 3. TPDO Reading and RPDO Wriing Each PDO conains 8 byes of daa. To read or wrie a 16bi or 32bi daa, use PDO device ype; for bye daa, use PDO(Bye) device ype. The following figure illusraes he address mapping of PDO daa field in EasyBuilder Pro. Address (16bi, 32bi) PDO (8 bye) Address(bye) In accessing PDO daa, one should selec device ypes and addresses according o PDO daa composiion. Take TPDO_1, which conains daa as follows: 16bi, 8bi, 8bi, and 32bi, as an example as shown in he following figure. Address (16bi, 32bi) TPDO_1 16bi 8b 8b 32bi Address(bye To display he daa on, he following device ypes are used in EasyBuilder Pro: 2

5 TPDO_1[], TPDO_1(Bye)[2], TPDO_1(Bye)[3], TPDO_1[2]. The number enclosed in [ ] indicaes he address. 4. RPDO Reading In order o monior and wrie daa o RPDO address on more convenienly (for example, when using a Numeric objec), in EasyBuilder Pro, RPDO is allowed o read daa in Objec Dicionary via SDO. Please define he daa mapping in Objec Dicionary in RPDO s seing page. The will display he daa in RPDO via SDO read process. In he RPDO s seing, he mapping should include: Index, Subindex and daa lengh, as shown in he following figure. 3

6 5. CANopen Communicaion Parameer Seings General Parameers: Proocol & Node ID CAN Bus 2.a: Node ID (range: 1 - xff). The command sen from TPDO/RPDO is seleced by Funcion Code + Node ID. For example, TPDO1: Funcion Code = x18 Node ID = x1 The command sen o read TPDO1 would be: x18 + x1 = x181 CAN Bus 2.b: The command sen from TPDO/RPDO is seleced by Funcion Code + Node ID. For example, x118 + x1 = x1118 Baud rae Se o he same baud rae as he CANopen device. Communicaion Parameers: Send NMT START command Iniializes CANopen nework. The device will ener operaional sae. Updae ime and Cycle communicaion mode (TPDO) Updae ime: When using a device ha sends signals periodically, if no new daa has been received 4

7 by he wihin he Updae Time, he will send a read command. The device sends a message every. If he updae ime is se o 15 ms, and he message is no sen when reaching 15 ms, he will send a read reques. 15 ms CANopen Device Cycle communicaion mode: When using a device ha sends ou signals periodically and doesn accep command, please selec his opion. The will no send read requess. CANopen Device 5