Jetter JVM-104-O08, Руководство пользователя

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JVM-104-O08 User Manual 21 / 44
7.2 CANopen® STX API
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
■ CiA DS 4xx - These documents describe the behavior of a number of device
classes in, what are known as, device profiles.
INFO
Further information on the subject CANopen
®
STX-API can be found in the appli-
cation-oriented manual „CANopen
®
STX-API“ which can be downloaded from our
Homepage .
7.2.1 STX Functions
Application STX functions are used in the communication between the JVM-104-O08 and
other CANopen
®
nodes.
The JVM-104-O08 supports the following STX functions:
Features Description
CanOpenInit()
The function
CanOpenInit()
lets you initialize
one of the CAN busses.
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 upload protocol.
CanOpenDownloadSDO()
The function
CanOpenDownloadSDO()
lets you
access a particular object in the Object Directory of
the message recipient and specify the value of the
object. Data is exchanged in accordance with the
SDO download protocol.
CanOpenAddPDORx()
By calling up the
CanOpenAddPDORx()
function,
process data, sent by other CANopen
®
devices,
can be entered for reception.
CanOpenAddPDOTx()
By calling up the
CanOpenAddPDOTx()
function,
process data can be placed on the bus.
INFO
Further information about STX functions can be found in the application-oriented
manual "CANopen
®
STX-API" on our homepage and in the JetSym online help.