Basic Operation
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4
Basic Operation
4.1
General Information
4.1.1
Software Requirements
Generally, no additional network support code needs to be written to support the Anybus Com-
pactCom 30 CANopen, however due to the nature of the CANopen networking system certain
things must be taken into account:
•
An ADI cannot be mapped as both Write- and Read Process Data simultaneously. Any at-
tempt to do so will result in an error.
•
An ADI cannot be mapped more than once. Any attempt to do so will result in an error.
•
Only ADIs with instance numbers less than 16384 can be accessed from the network.
•
Only ADI elements 0...253 can be accessed from the network.
•
To be able to initialize the Read Process Data properly during the NW INIT state, ADIs
mapped as Read Process Data must have both Set and Get access. If not, the startup val-
ue for their data will be zero.
•
Requests towards instances in the Application Data Object shall be handled within 3.5 sec-
onds, or the module will generate an error on the bus.
•
The SDO timeout that is set in the bus configuration tool, must be considered when reading
or writing to the objects 1010h or 1011h in the object dictionary. When writing to the object
1010h there is at least 1.5 seconds until the module will respond, corresponding to the time
it takes to store the parameters in the module. The timeout must also be considered when
running the Conformance Test Tool.
•
When using the default PDO mapping scheme, only the first element of an array will be rep-
resented cyclically. There is however no such limitation if creating a custom PDO mapping
scheme through the bus configuration tool.
•
For data consistency reasons, the module will not accept SDO downloads to ADIs mapped
as Read Process Data during the NMT Operational State.
For further information about the Anybus CompactCom software interface, consult the general
Anybus-CompactCom 30 Software Design Guide.
4.1.2
Electronic Data Sheet (EDS)
Each device on CANopen is associated with an Electronic Data Sheet (an EDS file), which
holds a description of the device and its functions. Most importantly, the file describes the object
dictionary implementation in the module.
HMS Industrial Networks AB supplies a generic EDS file which can serve as a basis for new im-
plementations; however this file must be altered to match the end product (i.e. the ADI and proc-
ess data configuration, identity settings etc.). All Anybus CompactCom ADIs must be described
as specified in the CANopen standard “DS306 Electronic data sheet specification for CANopen”
(can be requested from the CiA home page,
www.can-cia.org
). All application specific objects
start from index 2001h, but all ADIs should have a descriptive name in the EDS file, that corre-
sponds to the name in the application.
To verify the EDS-file, download and run the EDS-file checker program from
www.can-cia.org
.
See also...
•
Fieldbus Conformance Notes, p. 7
Anybus
®
CompactCom
™
30 Network Guide
HMSI-168-78 EN 4.1
