Jetter JetControlMobile 631, Руководство пользователя

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JCM-631 User Manual 48 / 78
8.4 CANopen® STX API
The CANopen
®
STX API provides platform where the user can send and receive
CANopen
®
messages via STX functions.
These STX functions are used in communication between this device and other
CANopen
®
nodes.
The CANopen
®
standard
CANopen
®
is an open standard for networking and communication, e.g. in the au-
tomotive sector. The CANopen
®
protocol has been further developed by the CiA
e.V. (CAN in Automation) and works on the physical layer with CAN Highspeed in
accordance with ISO 11898.
Specifications The CANopen
®
specifications can be obtained from the CiA e.V. homepage at
http://www.can-cia.org .
The key specification documents are:
■ CiA DS 301 - This document is also known as the communication profile and
describes 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
INFO
Further information
For more information on this subject refer to the application-oriented manual
CANopen® STX API available for download from our homepage .
8.4.1 STX Functions
Application STX functions are used in the communication between the JCM-631 and other
CANopen
®
nodes.
The JCM-631 supports the following STX functions:
Function Description
CanOpenInit() CanOpenInit()
lets you initialize one of the CAN
busses.
CanOpenSetCommand() CanOpenSetCommand()
lets you change the heart-
beat status of the device itself and of all other de-
vices (NMT slaves) on the CAN bus.
CanOpenUploadSDO() CanOpenUploadSDO()
lets you access a particular
object in the Object Directory of the message recipi-
ent and read the value of the object. Data is ex-
changed in accordance with the SDO upload proto-
col.
CanOpenDown-
loadSDO()
CanOpenDownloadSDO()
lets you access a particu-
lar object in the Object Directory of the message re-
cipient and specify the value of the object. Data is ex-
changed in accordance with the SDO download pro-
tocol.