Product Manual CANcockpit
TU00-0726-5111102
Technische Änderungen vorbehalten
0609
Technical details subject to change
5.2 - 5
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CANopen-Specification for CANcockpit
Operational States
Initialisation
The initialisation starts after ignition (Kl15) is turned on for the CANcockpit Gauge. Here the gauge application-programme
and CAN hardware is initialised and then it transits to the Pre-Operational state automatically.
Boot-Up Message
The Boot-Up Message is transmitted, when CANcockpit performs the transition from "Initialising" to "Pre-Operational". The
Boot-Up Message is part of the Heartbeat-Protocol and uses the same COB-ID (1792+own Node-ID). This allows one to
retrieve the sending node directly from the used COB-ID.
Pre-Operational
In this state communication via CANopen SDOs is possible, but PDOs are still disabled. "Digital outputs" are switched to the
defined state, which is given by object 6206h and 6207h. The state of the digital outputs can be modified via SDO and the
state will be retained throughout NMT state transitions, if the corresponding "Error mode bit" is 0. "Analogue outputs"
(Gauges, PVDs) will move to their "invalid data" indication. The gauge also sends emergency messages during this state.
Heartbeat
Yes, as producer. Heartbeat time is configurable via WINgauge in increments 1msec with an effective resolution of
31.25msec. If this parameter is 0, then no heartbeat message will be sent.
Lifeguarding
No.
The draft standard DS-401 V2.1 highly recommends supporting the Heartbeat functionality. To support the old lifeguarding
function as well is not required, because CANcockpit is an indication system and its operation should not be critical to any
process.
Operational
If the gauge is in CANopen Operational state, it communicates via PDOs. Emergency messages are sent, if necessary. SDO
communication is possible. Because PDO communication is active, write access via SOD to some objects must be rejected.
An example is to write to EEPROM or to change the state of the digital outputs.
Stopped
When the gauge is in this state, it does not communicate over the CANopen interface (no SDOs and no PDOs). However it is
possible to activate the communication with a command from the CANopen master. "Digital outputs" are switched to the
defined state, which is given by object 6206h and 6207h. "Analogue outputs" (Gauges, PVDs) will move to their "invalid data"
indication.
States and Communication Objects
The table below is based on DS-301 V4.02 and shows in which states CANcockpit will support the listed objects.
INITIALISING
PRE-OP.
OPERATIONAL
STOPPED
PDO
X
SDO
X
X
Sync. Object
Time Stamp Object
Emergency Object
X
X
Boot-Up Object
X
NMT Objects incl. Heartbeat
X
X
X
Содержание CANcockpit Series
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