Jetter JCM-501-E01, Руководство пользователя

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User Manual – JCM-501-E01 30 / 65
8.2 CANopen STX API
The CANopen STX API is a platform allowing users to send and receive
CANopen messages via STX functions.
The device uses the STX functions to communicate with other CANopen nodes.
The CANopen
standard CANopen is an open standard for networking and communication, used e.g. in
automotive applications. The CANopen protocol is being further developed by the
CiA e.V. (CAN in Automation). On the physical layer it uses CAN high-speed in
accordance with ISO 11898.
Specifications The CANopen specifications can be obtained from the CiA e.V. homepage
http://www.can-cia.org .
The key specification documents are:
■ CiA DS 301 – This document is also known as Communication Profile and de-
scribes the fundamental services and protocols used under CANopen.
■ CiA DS 302 – Framework for programmable devices (CANopen Manager,
SDO Manager)
■ CiA DR 303 – Information on cables and connectors
■ CiA DS 4xx - These documents describe the behavior of a number of device
classes in, what are known as, device profiles.
INFO
Further information
For more information on this subject refer to the application-oriented manual
CANopen STX API available for download from our homepage .
8.2.1 STX Functions
Application STX functions are used to enable communication between the JCM-501-E01 and
other CANopen nodes.
The JCM-501-E01 supports the following STX functions:
Function Description
CanOpenInit()
Calling up the
CanOpenInit()
function initializes
one of the available CAN buses.
CanOpenSetCommand()
The function
CanOpenSetCommand()
lets you
change the heartbeat status of the device itself and
of all other devices (NMT slaves) on the CAN bus.
CanOpenUploadSDO()
The function
CanOpenUploadSDO()
lets you ac-
cess a particular object in the Object Directory of the
message recipient and read the value of the object.
Data is exchanged in accordance with the SDO up-
load protocol.
CanOpenDown-
loadSDO()
The function
CanOpenDownloadSDO()
lets you ac-
cess a particular object in the Object Directory of the
message recipient and specify the value of the ob-
ject. Data is exchanged in accordance with the SDO
download protocol.