Product Information

CANoe.CANopen

Product Information CANoe.CANopen

Table of Contents
1
1.1
1.2
1.3
1.4
2
3
4
5
6
7
8
9
10
11
12
13
14

Introduction ........................................................................................................................................... 3
Overview of Advantages .......................................................................................................................... 3
Features .............................................................................................................................................. 3
Hardware Interfaces ............................................................................................................................... 4
Further Information ............................................................................................................................... 4
Supplied Components and Functions ............................................................................................................ 4
EDS Formats ........................................................................................................................................... 5
Project Planning ...................................................................................................................................... 5
Generation of Models ................................................................................................................................ 5
Automatic Test Generation ......................................................................................................................... 6
Test Generation with CANoe pex or run ......................................................................................................... 6
Creating Test Sequences ............................................................................................................................ 6
Panel Support ......................................................................................................................................... 7
Communication Monitoring ........................................................................................................................ 8
Analysis ................................................................................................................................................. 8
Interactive Generator Block for CANopen....................................................................................................... 8
Interactive Device Access ........................................................................................................................... 8
Training ................................................................................................................................................. 8

Documentation Note
Valid for CANoe.CANopen from Version 8.1.
This document presents application areas and functions of Option .CANopen for CANoe.
CANoe.CANopen expands standard CANoe functionality. You will find product information and technical data on basic CANoe
functions in separate documents.

Please consider the environment before printing this document.

V1.0 May/2013

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Product Information CANoe.CANopen

Introduction

CANopen is an open, CAN-based communication protocol. Its wide range of application includes the areas of transport and
control technology, measurement systems, medical technology, railway technology, and much more in short everywhere
great flexibility and rapid data transmission are in demand. The specification drew on the experience of many component
manufacturers and users, resulting in an established standard that is maintained by the CAN in Automation (CiA) user
organization.
As the use of networking continues to increase, the development of CANopen systems is not possible without suitable
development tools. CANoe is a high-performance tool that supports the entire development process for networked systems,
from planning to development and testing and finally start-up. For a functional description of CANoe, see the CANoe product
information.
With CANoe.CANopen all developers have a tool for the development of CANopen systems:
>

Simulation of CANopen devices

>

Test tool during development with interactive configuration and setting of parameters, the functionality of devices
can be tested.

>

Start-up of devices

>

Programming of devices

>

Start-up of CANopen networks

>

Diagnostics

>

End-of-line tests

Using in parallel the options .J1939 and .CANopen, CANoe is the ideal development and test environment for the CiA DS-413
CANopen Truck Gateway.

1.1

1.2

Overview of Advantages
>

Integrated configuration, analysis, simulation and test tool from a single source

>

Support of commonly used CANopen standards

>

Extended CAPL interface for modeling CANopen devices

>

Simulation of extendable device models based on EDS files

>

Convenient interpretation of the bus traffic by protocol descriptions and color differentiation of CANopen services

>

Automatic generation of a CAN database using EDS files

>

Abstracted configuration of PDOs by graphically linking process data

>

Easy dialog-based access to CANopen device parameters

Features

CANoe.CANopen coupled with the project planning tool called ProCANopen (included in delivery) enables efficient planning,
management, simulation, test, and startup of CANopen networks. During the system design phase you have the opportunity to
simulate the later behavior of a system, estimate the bus load, and draw conclusions, like the necessary hardware performance,
supported with extensive, CANopen-specific functions. The necessary orientation and concentration with regards to CANopen is
largely avoided. The use of CANoe.CANopen aids in increasing the integration quality, at the same time reducing costs
significantly. This functionality reduces necessary steps to the definition of defaults without having to carry out a concrete
implementation manually. Effort and the possibility for errors are greatly reduced.

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Figure 1: Sample configuration for a simple, simulated CANopen network with central control and I/O nodes

1.3

Hardware Interfaces

Unlimited functionality of CANoe.CANopen is available from Vector for all commonly used hardware platforms.

1.4

Further Information
>

Vector Download Center

Various documents related to CANoe are available on the Internet. In the Demo version, for example, you get sample
configurations for the various use areas and detailed online Help texts, in which all CANoe functions are described. In
addition, you benefit from our valuable know-how in the form of technical articles and application notes.

>

CANoe Feature Matrix

More information on variants, channels and bus system support is presented in the feature matrix.

>

CANopen Forum
In the CANopen Forum, general questions are discussed that relate to the theme of CANopen and the free CANeds EDS
editor tool that is available.

Supplied Components and Functions

Along with the base tool CANoe, CANoe.CANopen also contains the ProCANopen configuration tool and the CANeds EDS editor.
CANoe.CANopen extends the basic functionality of CANoe by adding:
>

Configuration of CANopen devices

>

Interactive access to CANopen devices

>

Interpretation of CANopen messages

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>

Generation of simulation models

>

Extension of the test interface with CANopen-specific test functions

>

Generation of test sequences

>

Interactive generation of CANopen messages

>

Generation of panels

>

Protocol-specific display in the Trace window

>

Protocol monitoring

>

Creation and testing of EDS files

EDS Formats

CANalyzer.CANopen supports the standardized file formats EDS and DCF for data storage and informational exchange. It
supports both the conventional INI format and the XML format that is specified in CiA311.

Project Planning

The project planning tool ProCANopen allows the creation of a project in the typical manner for CANopen systems. Devices are
selected from a list of device types, programmed, and then process data assignments are made. A functional description can be
found in the ProCANopen product information.

Generation of Models

A key aspect of CANoe.CANopen is automatic generation of device models based on standardized EDS files. These models are
integrated in the simulation environment and executed there. The application-oriented, C-based language CAPL
(Communication Access Programming Language) from Vector serves as the programming language. All information necessary
for the generation exist in the device descriptions that are set up using ProCANopen. One CAPL program is generated for each
ECU to be simulated. This program contains the basic framework for ECU functionality. These are event functions that can fill
with relevant application-related behavior.
The interface for the application code is created so that the code can be written independent of changes in communication.
When changes in the communication characteristics are made in ProCANopen, only the program sections relevant for the
CANopen communication are changed; the application simulation remains unchanged.
The entire CANopen-specific functionality of an ECU is implemented by special CAPL functions. The user can utilize the
functionality of this DLL by means of function calls from a generated CAPL program. This makes it very easy to initiate an SDO
access to another device in the network from the CAPL program. In addition, a whole series of event functions are created
during generations, which are called during the simulation.
The following properties can be simulated:
>

SDO Client/Server

>

NMT Status Machine

>

Heartbeat Consumer/Producer

>

Mapping the object dictionary of the simulated node

>

Saving configurations

>

NMT Master functionality per DSP302

>

Configuration Manager (CMT)

>

PDO Communication

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In addition to device models, device-specific panels are also generated. Panels serve to visualize the process data; they are also
used to set setpoint values for process data with related input elements such as switches, sliders or simple input boxes (see
also chapter 10).

Automatic Test Generation

It is easy to generate test sequences for CANopen devices. The necessary test functions are identified and assembled into a
sequence, based on device descriptions (EDS files). CANoe.CANopen runs through these sequences. All test results are
conveniently logged and documented to a report file. The following test scenarios can be generated:
>

SDO protocol test

>

Receive PDO test

>

Send PDO test

>

Hidden Object test

>

Test of object access and object default values

>

NMT Status Machine and error control

Full coverage of the CiA310 test specification, which forms the basis of the CiA Conformance Test, is thus ensured.

Test Generation with CANoe pex or run

The CANoe pex and CANoe run variants, which are lower-cost alternatives to the full version, can also be used to generate tests
that check for CANopen conformity. All generation templates of the full version are available here. The only limitation is that it
is only possible to test one CANopen device per test configuration. However, you can create as many test configurations as you
like.

Creating Test Sequences

You can put together test sequences from a series of predefined test functions. An example would be a test step used to check
for the existence of an object in the object dictionary. In contrast to automated test generation, a test step must still be
parameterized before it can be used. For an SDO access the user must specify the Node-ID of the SDO server and the index and
sub-index of the selected object. Once the test sequence has been prepared, a key press initiates generation of the associated
test script.

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Figure 2: The Test Configurator defines and parameterizes test sequences.

Panel Support

Automatic generation of panels simplifies simulation in a fundamental way. Controls are created for objects transmitted via
PDOs (process data). These objects may be accessed directly and conveniently via panels, without requiring user knowledge of
their communication properties. Using these panels, direct and easy access to these objects is possible without requiring
extensive knowledge of their communication properties. It is possible to carry out an operating simulation of the planned
network with an easy to use display of process values without further effort.

Figure 3: Fire department turntable ladder as an application example: CANoe takes over the partial simulation of the CANopen network being built as well as
the gateway function to the commercial vehicle. Color highlighting of CANopen services in the new Trace window accelerates bus analysis.

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10 Communication Monitoring
In a Trace window the CAN message traffic is displayed while simultaneously interpreting the protocol information it contains.
The user not only sees which service is currently being executed, but can also examine the relevant service parameters. This
information is displayed in clear text. Different CANopen services are shown in different font colors and background colors
here. It gives the user a quick overview of the chronological order of individual protocol sequences of the observed CANopen
services and makes it significantly easier to localize errors in a real system. Refined search functions and filter options ensure
that you maintain a clear overview even when there are many different messages.
CANoe.CANopen also monitors for the correctness of individual protocol sequences. This involves detecting whether the
protocol information was properly entered in the CAN message.

11 Analysis
Provided for the analysis of CANopen data traffic are not only the Trace window, but also the familiar Data and Statistics
windows of the standard version of CANoe. The CANopen Scanner evaluates CAN messages and shows the active nodes in a list.
Other node-specific information is also output such as the node state or device name.

12 Interactive Generator Block for CANopen

CANopen-specific message sequences may be assembled within a dialog. You select and configure the desired messages (PDOs,
SDOs, etc.) from a project-specific list and assemble them into a sequence. The sequence can be replayed once or periodically.
This means that message sequences can be sent to the connected devices as often as desired.

13 Interactive Device Access

ProCANopen is a project-planning tool that allows interactive communication with simulated and real devices. The object
directories of the devices can be read and configured. Services are available for startup of CANopen devices such as start, stop,
reset, and enter-preoperational.

14 Training
As part of our training program, we offer a range of classes and workshops on CANopen in our classrooms and on-site at our
customers. For more information and the dates of our training courses, please visit our website www.vector-academy.com

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