Product Manual CANcockpit
TU00-0726-5111102
Technische Änderungen vorbehalten
0609
Technical details subject to change
5.2 - 10
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CANopen-Specification for CANcockpit
Object Dictionary
Administrative Messages
(Layer Management, Network Management and Identifier Distribution Messages)
By means of
Administrative Messages
the setting up of layer specific parameters (Layer Management services), the
initialisation, configuration and supervision of the network is performed. Services and protocols of these functions are
according to the LMT
(Layer Management), NMT (Network Management) and DBT (Distributor) service entities of the CAL specification.
Service Data Messages
Service Data Messages are used for read and write access to all entries of the object dictionary of a device. The main usage
of this facility is device configuration.
CANcockpit must support multiplexed domain access protocol and expedited transfer (<5bytes) has to be supported for
SDOs.
The block transfer protocol is for the transfer of larger amounts of data, which is not required for CANcockpit, because
configuration and flash programming is done via K-Line.
Note: Block transfer protocol puts a high demand on resources of RAM for buffering data and also interrupt response time
must be small not to lose any information.
The following services are supported:
• SDO Download, which can be split up into
-Initiate SDO Download
-Download SDO Segment
• SDO Upload, which can be split up into
-Initiate SDO Upload
-Upload
SDO
Segment
• Abort SDO Transfer
Process Data Messages
Process data messages perform the real-time data transfer.
Transmission:
CANcockpit supports asynchronous time-triggered PDOs. The PDOs are transmitted no matter if the values have changed or
not. The event time (interval time) can be configured via WINgauge (K-Line) with a resolution of 31.25msec.
Remote request (provide mode) data transfer is also supported, in which case the update time interval value can be
configured (WINgauge) with the same resolution as for asynchronous time-triggered PDOs. The CM of the CO must be set to
Communication Mode: "Provide" (EEPROM parameter)
Reception:
The producer of the PDOs should normally put the information onto the CANopen network cyclical (synchronous or
asynchronous). This information is then received in the corresponding CO of the CANcockpit CAN controller and processed
once every 31.25msec.
However sometimes a device does not sent the information cyclical. In this case it should be possible to configure CANcockpit
so that the information is accessed applying remote request. This remote request will then be sent at a configurable
(WINgauge) interval with a resolution of 31.25msec.
The PDO mapping is static.
Содержание CANcockpit Series
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