Product Manual CANcockpit
TU00-0726-5111102
Technische Änderungen vorbehalten
0609
Technical details subject to change
5.2 - 9
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utility model or design
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CANopen-Specification for CANcockpit
Pre-Defined Connection Set
In order to reduce configuration effort for simple networks a mandatory default identifier allocation scheme is defined. These
identifiers are available in the PRE-OPERATIONAL state directly after initialization (if no modifications have been stored).
The default profile ID-allocation scheme consists of a functional part, which determines the object priority and a Node-ID-part,
which allows distinguishing between devices of the same functionality. This allows a peer-to-peer communication between a
single master device and up to 127 slave devices. It also supports the broadcasting of non-confirmed NMT-objects.
Broadcasting is indicated by a Node-ID of zero.
The pre-defined connection set supports one emergency object, one SDO, maximum 4 Receive-PDOs (RPDO) and 4
Transmit-PDOs (TPDO) and the NMT objects.
COB ID Structure of pre-defined Connection Set
Bit 10 9 8 7 6 5 4 3 2 1 0
F F F F N N N N N N N
Function Code
Node ID
The following table outlines the CO allocation for the CAN controller.
CO Function
Comment
ID
1
TPDO1
64 Digital Inputs
own Node ID
2 TPDO2
4 analogue Inputs
(ADC_wANI1Phy, ADC_wANI2Phy, ADC_wANI3Phy,
ADC_w20mAPhy)
own Node ID
3 TPDO3
4 analogue Inputs (ADC_w5VPhy, ADC_wKl58, VN_wRevolution,
VN_wVelocity)
own Node ID
4
Emergency
Emergency Message and reserved for TNMT2025
own Node ID
5
Heartbeat
Heartbeat, also used for boot-up message.
own Node ID
6
TSDO
Send SDO responses
own Node ID
7 RNMT0
Receive NMT commands with ID=0.
This CO will be serviced via interrupt.
0x0000
8
Reserved for
RNMT2026
Disabled until required.
9
RSDO
Receive SDO messages
own Node ID
10
RPDO1
64 Digital Outputs
own Node ID
11
RPDO2
4 analogue Outputs (Main Gauge + 3Sat Gauges)
own Node ID
12
RPDO3
4 analogue Outputs (4 Sat Gauges)
own Node ID
13
RPDO4
4 analogue Outputs (4 Sat Gauges)
own Node ID
14 RPDO5
4 analogue Outputs (4 Sat Gauges).
This PDO is not part of the pre-defined connection set. The system
designer must allocate a unique ID with WINgauge.
Configurable with
WINgauge
15 RPDO6
4 analogue Outputs (4 Sat Gauges).
This PDO is not part of the pre-defined connection set. The system
designer must allocate a unique ID with WINgauge.
Configurable with
WINgauge
16 RPDO7
4 analogue Outputs (4 Sat Gauges).
This PDO is not part of the pre-defined connection set. The system
designer must allocate a unique ID with WINgauge.
Configurable with
WINgauge
Summary of Contents for CANcockpit Series
Page 53: ...June 2009 Training WinGauge Software page 1 ...
Page 54: ...Components and Concept June 2009 Training WinGauge Software page 2 ...
Page 55: ...Example of a fully configured Instrumentation June 2009 Training WinGauge Software page 3 ...
Page 66: ...June 2009 Training WinGauge Software page 14 ...
Page 67: ...June 2009 Training WinGauge Software page 15 ...
Page 80: ...Examples of new defined Symbols June 2009 Training WinGauge Software page 28 ...
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Page 168: ......