Cattron CattronControl CCM12, User Manual

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CCM12 CANbus
User Manual
14
9M02-7717-A001-EN
Version 3.0
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Node ID
–
Unlike parallel operation, the CCM12 appears as a single CAN node, so a single node ID is used.
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Error Detection
–
In case of error detection from the slave or from the master, the MCU enters Error mode.
In this mode, the transmission of CAN frames is aborted until the next power off/on cycle.
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Received Data Frames
–
As for parallel operation, this scheme operates for transmitted CAN frames only;
there is no cross-verification of received data frames.
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Master-Slave Interconnection
–
The two CANbus controllers are not connected internally. They need to be
connected together outside the MCU:
Connect CANH_M (pin1) to CANH_S (pin 14) (Master and Slave CAN High signals)
Connect CANL_M (pin2) to CANL_S (pin 15) (Master and Slave CAN Low signals)
The CCM12 main connector is shown in Section Error! Reference source not found. .
Note: The standard configuration for the CCM12 is the cross-monitored configuration. Parallel operation is
available upon request.
3.2 CANbus Protocols
The CCM12 supports two standard configurations:
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CANopen protocol standard configuration
•
J1939 protocol standard configuration
In many applications, low-level CANbus protocols can be supported using a subset of CANopen.
In addition, custom configurations can be implemented according to the
customer’s requirements. The selection
of the protocol configuration is done at the Cattron factory.
Sections 0 and 0 provide basic information about CANopen and J1939 usage.
3.3 CANopen
3.3.1 Standard Configuration
The CANopen CCM12 is a slave device that supports three transmit PDOs (TPDO1-3) and two receive PDOs
(RPDO1-2). The transmit PDO contains control data from the OCU, and the receive PDO contains feedback data
to be sent to the OCU for display.
Table 6: PDO summary
PDO COB-ID DLC CONTENT
TPDO1 Node ID + 180h 8 Digital inputs (OCU pushbuttons, switches)
TPDO2 Node ID + 280h 8 Proportional inputs 1 to 6 (OCU paddles/joysticks)
TPDO3 Node ID + 380h 8 Proportional inputs 7 to 8 + alternate digital inputs
RPDO1 Node ID + 200h 8 Feedback bits 1-64
RPDO2 Node ID + 300h 8 Feedback bits 65-128
The standard CANopen implementation is described in the following documents:
[1] Cattron #9S02-7887-
A002, “Standard CANopen Protocol Specification”
[2] Cattron #9S02-7887-
A100, “Standard CANopen Protocol Specification for Pushbutton OCUs”