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CANopen Manager API

-Software and hardware package for the implementation of complex PC-based CANopen control solutions

Highlights

• Comprehensive range of functions based on the current CANopen specifications
• Full CANopen master functionality including support of the standardized bootup procedure
• Automatic configuration of devices on system start-up (plug & play) thanks to integrated configuration manager
• Local object dictionary with integrated management of network variables, with the option to create application specific objects
• Support of CANopen slave devices in accordance with DS301 versions 3 and 4
• Supports hot swapping of CANopen devices in a running system
• Simple integration of the application program via a Microsoft Windows DLL with C function interface
• Communication between PC application and firmware via process image, command interface and diagnostics interface
• All functions locally parameterizable via the object dictionary

Function Overview

The IXXAT CANopen Manager API provides a comprehensive application programming interface for a CANopen Manager which is running on the microcontroller of the supported IXXAT CAN interface. Emphasis has been made to provide the full scope of function offered, by the CANopen Manager, to a PC application under Microsoft Windows. The PC application thus has to control over the process of network initialization and the slave boot-up process.

The programming interface implemented by CANopen Manager API is divided into function categories. Each cover a clearly defined section of the overall functionality provided:

• Basic functions for initialization, software or hardware configuration
• Functions of network management
• Functions for management of the local object dictionary and for running SDO services
• Functions for data exchange by means of process image
• Functions for state monitoring and diagnostics

Data Interface and Process Map

The exchange of process data with the application program is carried out via a data interface. This allows a complete decoupling of application and communication software. The data interface consists of the following areas:

Process image: I/O data (and other process paramenters) received and to be transmitted via PDOs is transferred from the application to the CANopen Manager and vice versa, via the process image. The organisation of the process image is in accordance with DSP302/DS405 by means of network variables.

Command interface: the command interface provides the application with all necessary functions for the control of the CANopen Manager. These include commands for initialization and checking of the device and system state.

Client-SDO interface: the interface allows access to remote slave devices from the user application.

Event interface: the CANopen-Manager is informed of important events in the device and the system via this interface.

Diagnostics interface: this interface allows the application to obtain information, at any time, on the sate of all devices in the system.

NMT-MASTER

The NMT-Master implemented in the CANopen Manger is able to control and monitor up to 126 slave devices. The system is started according to the standardized boot-up procedure defined in DSP302. This boots a CANopen system in a pre-defined sequence while checking all devices in the system for vendor, device type, version number and serial number. Automatic download of configuration data (by Configuration Manager), restart of a device or of the system in the event of a fault or after failure of the device, differentiation between mandatory and optional devices as well as hot swapping of devices is also available. The NMT-Master supports CANopen devices according to both version 4 and version 3 of the specification. In addition, the NMT-Master supports an automatic configuration mode. This automatically determines the current system configuration and automatically creates the process image and network variables. Device monitoring can either be carried out via Node-Guarding or Heartbeat. The NMT-Master can be configured completely via object dictionary entries in accordance with DSP302.

Implemented Specification

• CiA DS301 Version 4.02 CANopen Application Layer and Communication Profile
• CiA DSP302 Version 3.3 Framework for CANopen Managers and Programmable CANopen Devices
• DS405 Version 2.0 Interface and Device Profile for IEC 61131-3 Programmable Devices

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