CANopen en

CANopen
training
Industrial Automation - Customer

View - Training Slide 1
PhW - CANopen_en 02/ 2002
CANopen
Section 1 : Basic knowledge
Section 2 : Application layer
Section 3 : Link layer
Section 4 : Physical layer
Section 5 : Schneider offer overview
Section 6 : Diagnostics
CANopen
Section 1: Basic knowledge
Part 1: History
Part 2: Main characteristics

Section 1: Basic knowledge - Part 1: History
1980: The automotive industry indicates a need for low-cost, real-time, highly

reliable communication between various on-board electronic subassemblies.
1983: In partnership with several German universities, the German equipment

manufacturer Robert BOSCH develops the specifications for the
communication protocol CAN = Controller Area Network.
1985: The first CAN integrated circuits are marketed by INTEL.
1986: Initial prototypes presented to the USA at Detroit.
1987: The major silicon manufacturers: Philips, Motorola, National

Semiconductors, Texas Instruments, MHS, SIEMENS offer a complete range of
drivers and micro-controllers which integrate CAN.

1989: First industrial applications.
1987 to 1991: Establishment of promotional organizations for both automotive

(SAE, OSEK), and industrial (CIA = CAN in Automation) applications.
1991: CAN Low Speed (125 kbps/Identifiers coded on 11 bits) becomes standard
ISO 11519-2.
1992: MERCEDES uses a 500 kbps CAN bus to link 5 electronic subassemblies
on an S class.
1993: CAN High Speed (1 Mbps/Identifiers on 11 bits) becomes standard

ISO 11898 = CAN 2.0 A.

1995: Amendment to standard ISO 11898 introducing identifiers coded

on 29 bits = CAN 2.0 B.
Publication by the CiA of communication profile DS-301.
1996: CAN is used on the majority of motor controls in top-of-the-range

European cars.
1997: 300 companies are members of the CiA.
1998: New set of ISO standards for diagnostics and compliance testing.

Section 1: Basic knowledge - Part 2: Main characteristics
Reference specifications
CANopen was built chronologically on the basis of several specifications:
• CAN 2.0 A and B (originating from Robert BOSCH)

Defines precisely the link layer and part of the physical layer
• CAL = CAN Application Layer (CiA):

Provides tools for developing an application using CAN without instructions
for use + further details on the physical layer
• CANopen (CiA):
Defines which CAL tools to use and how.
Ensures interoperability of products by profile descriptions.

Physical Layer
Medium: Shielded twisted pair

2 or 4-wire (if power supply)
Topology: Bus type

With short tap links and end-of-line resistor
Maximum distance: 1000 m
Data rate: 1 Mbps at 25 metres, 10 Kbps at 1000 metres

Depends on the length of the bus and the type of
cable
Max. no. of devices: 128

1 master and 127 slaves
Link layer
Network access method: CSMA/CA

Each device can send data as soon as the bus is free.
In the event of a collision, a principle of dominant or recessive bits can arbitrate
bit by bit in a non-destructive manner.
The priority of a message is given by the value of the identifier: the identifier
with the lowest value has the highest priority.
Communication model: Producer/Consumer

An identifier located at the start of the message informs receivers as to the type
of data contained in each message, each receiver decides whether or not to
consume the data.
Max. useful data size: 8 bytes per frame

Link layer
Security of transmission:
Among the best on industrial local area networks.
Numerous signalling and error detection devices ensure excellent security of
transmission.

CANopen application layer
A CAL subassembly which defines standardized communication objects and 4

types of service:
1 . Network administration: parameter setting, starting, monitoring (master-

slaves)
2 . Transmission of small amounts of process data (<= 8 bytes) in real time:

PDO = Process Data Object (producer-consumer)
3 . Transmission of large amounts of parameter-setting data (> 8 bytes) using

segmentation without time constraints: SDO = Service Data Object (client-server)
4 . Predefined messages for managing synchronizations, time-based

references, fatal errors: SFO = Special Function Object

CANopen
Section 2: Application layer
Part 1: CANopen basic concepts
Part 2: CANopen objects and services

Section 2: Application layer - Part 1: CANopen basic concepts
CANopen Device Profile Device Profile Device Profile Device Profile

CiA DSP-401 CiA DSP-402 CiA DSP-404 CiA DSP-4xx
is based on CAL I/O modules Drives Measuring devices
CiA DS-301 = Communication profile

7 APPLICATION
CAL= CAN Application Layer
6 PRESENTATION EMPTY
5 SESSION EMPTY
4 TRANSPORT EMPTY
3 NETWORK EMPTY
2 LINK = LLC + MAC CAN 2.0 A and B + ISO 11898
CAN 2.0 A and B = ISO 11898-1 and 2

1 PHYSICAL
ISO 11898 + DS-102

CAL = CAN Application Layer

was established in 1992 by the CAN in Automation association (CiA) in order to be able
to develop open CAN systems.
CAL provides developers with numerous tools without giving any instructions for use.
Historically, this was the first step towards interoperability...

Structure of CAL
CMS CAN Message Specification
Domains Events Variables Services
NMT LMT DBT

Master Master Master
Network Layer Identifier
Management Slave Management Slave Distributor Slave
CMS defines standard communication objects and services
NMT initializes and supervises the network
LMT sets the parameters for the various layers
DBT is used to distribute identifiers in real time (little used).

Breakdown of CAL identifiers = COB - ID
COB – ID (decimal) Services High

0000 NMT start / stop services
0001 – 0220 CMS objects priority 0
Priority
1761 – 2015 NMT Node guarding
2016 – 2031 NMT, LMT, DBT
2032 – 2047 Reserved Low
CANopen application layer
CANopen uses a restricted number of tools provided by CAL.
CANopen defines for a certain number of industrial devices:

what data is sent
and how by means of profiles
CANopen is based on the concept of the object dictionary:

Device Object Dictionary (OD) such as INTERBUS and PROFIBUS.

CANopen Object Dictionary = OD
The CANopen Object Dictionary is an ordered group of objects which can

be accessed by a 16-bit index and if necessary a sub-index coded on 8 bits.
Each network node has an OD in the form of an

EDS: Electronic Data Sheet ASCII type file.
This dictionary contains all the elements which describe the node and its
behaviour on the network.

Structure of the CANopen Object Dictionary
Index (hex) Object

0000 Reserved
0001 – 009F Data Types Area
00A0 – 0FFF Reserved
1000 – 1FFF Communication profile Area
2000 – 5FFF Manufacturer Specific Profile Area
6000 – 9FFF Standardized Device Profile Area
A000 – FFFF Reserved

CANopen profiles
CANopen defines 2 types of profile:
The DS-301 communication profile:

Describes the general structure of the OD and objects found in the
"Communication profile area" zone. It applies to all CANopen products.
DSP-4xx device profiles:

Describes the various associated standard objects for the various types of
product (discrete I/O modules, drives, measuring apparatus).
Some objects are compulsory, others are optional, some are read-only,
others are read-write.

Section 2: Application layer - Part 2: CANopen objects and services
DS-301 CANopen communication profile
The CANopen communication profile defines 4 types of message:
- network administration messages
- Service Data Objects = SDO
- Process Data Objects = PDO
- Special Function Objects = SFO

CANopen network administration messages
These messages are used to manage the various protocol layers, supervise
the complete network and distribute identifiers.
They are based on the CAL LMT, NMT and DBT services and protocols.

Service Data Objects = SDO
These services are used to transmit large amounts of parameter-setting

data without any time restriction.
They enable a client device to access the OD object dictionary of a

server device in read or write mode.
The data can exceed 8 bytes, but in this case a data segmentation system is
activated.
The result of a read or write operation is confirmed by a response.

An SDO requires 2 COB-IDs: one for the request, the other for the
response.

Process Data Objects = PDO
These services are used to transmit small amounts of process data (<= 8
bytes) in real time.
They enable a producer device to make a variable with a maximum size of

64 bits without overhead available to one or more consumers.
This service is implemented as an " Event-type CMS object" and therefore

is not confirmed.

Description of PDOs
Each PDO is described by 2 objects in the OD:
PDO Communication Parameter indicates which COB-ID is used, which

type of transmission is used, and the value of the inhibit time.
PDO Mapping Parameter contains the list of objects in the OD as well as

their size.

PDO transmission modes
Synchronous: by receiving a SYNC object
Acyclic: - transmission is pre-triggered by a "Remote

Transmission request"
- transmission is pre-triggered by the occurrence of a
"Specific event" object in the device profile
Cyclic: - transmission is triggered periodically after
each 1, 2 or up to 240 SYNC objects
Asynchronous:
- transmission is triggered by a "Remote
Transmission request"
- transmission is pre-triggered by the occurrence of a
"Specific event" object in the device profile

Special Function Objects = SFO
SYNC = Synchronization Object:
These objects are used to synchronize the acquisition of inputs or updating of outputs
(axis control for example).
The "SYNC master" sends the SYNC message at a period (communication cycle

period) fixed at the time of configuration.

Time Stamp Object:
The Time-Stamp object provides a time reference common to all devices.

This time is coded on 6 bytes and represents an absolute time in ms from 1st January
1984.

EMCY Object:
EMCY objects are triggered when an internal fault occurs in the device (current,
voltage, temperature, communication, etc).

Node guard Object:
The NMT master monitors the status of slaves connected to the network by periodically sending a Node
guard object remote frame to each slave.
Each slave answers immediately on reception.
Slaves have the option of monitoring the NMT master: Life guarding.
Life Time = Guard Time x Life Time Factor
If a slave receives no polling for a period equal to the Life Time, it generates a "Life guarding" event, goes
into communication fault mode and sends an EMCY object.

Network status diagram
Transitions performed by the NMT master: Types of communication object authorized:

1: Start_Remote_Node a. NMT
2: Stop_Remote_Node b. Node Guard
3: Enter_Pre-Operational_State c. SDO
4: Reset_Node d. EMCY
5: Reset_Communication e. PDO.
6: Node initialization complete
Allocation of default identifiers
With the aim of reducing the network configuration phase a compulsory

system for allocating default identifiers has been defined.
This allocation occurs in the "Pre operational" state just after the initialization
phase.
It is based on dividing the COB-ID identifier into 2 parts:
10 9 8 7 6 5 4 3 2 1 0
Function Code Node ID
Function code is used to code 2 PDOs in reception mode, 2 PDOs in transmission mode, 1
SDO, 1 EMCY object, 1 Node Guarding Identifier, 1 SYNC object, 1 Time Stamp object and
1 node guarding.
Node ID corresponds to the product address coded by DIP switches, for example.

Allocation of default identifiers
General broadcast objects

Object Function Code COB-ID CMS Priority group
NMT 0000 0x000 0
SYNC 0001 0x080 0
TIME STAMP 0010 0x100 1
Point-to-point broadcast objects

Object Function Code COB-ID CMS Priority group
Emergency 0001 0x081-0x0FF 0, 1
PDO 1 sending 0011 0x181-0x1FF 0, 1
PDO 1 receiving 0100 0x201-0x27F 2
PDO 2 sending 0101 0x281-0x2FF 2, 3
PDO 2 receiving 0110 0x301-0x37F 3, 4
SDO as server 1011 0x581-0x5FF 6
SDO as client 1100 0x601-0x67F 6, 7
NODE GUARD 1110 0x701-0x77F 1
CANopen
Section 3: Link layer
Part 1: Frame format
Part 2: Exchange protection

Section 3: Link layer - Part 1: Frame format
CAN 2.0.A and CAN 2.0.B
The CAN V2.0 specification consists of 2 parts: CAN 2.0.A and CAN
2.0.B.
CAN 2.0.A corresponds to the standard frame format with an identifier

coded on 11 bits. It is used by CANopen and most of the application
layers.
CAN 2.0.B corresponds to the extended frame format with an identifier

coded on 29 bits. It is very rarely used.

Structure of the CAN 2.0.A frame
Arbitration
field Frame size without bit stuffing: 47 to 111 bits
1 11 1 6 0 to 64 15 111 7
RTR Remote Data field CRC ACK

Start of frame Transmission delimit. delimit.
Request bit
(SOF)
Identifier Control field: CRC sequence ACK End of

compatibility slot frame
and length (EOF)

Structure of the CAN 2.0.B frame
Arbitration Frame size without bit stuffing: 67 to 131 bits

field
1 11 11 18 1 6 0 to 64 15 111 7
SRR RTR Remote Data field CRC ACK

Start of frame Transmission delimit.
Request bit
delimit.
(SOF)
IDE
Control field: ACK End of

Identifier Identifier CRC sequence
compatibility slot frame
and length (EOF)

Compatibility between CAN 2.0.A and CAN 2.0.B
Upward compatibility applies.
3 types of product have been defined:
CAN 2.0.A: these products prohibit exchanges of CAN 2.0.B frames

since they systematically destroy them.
Passive CAN 2.0.B: these products ignore CAN 2.0.B frames without
destroying them. They allow both exchange formats but only process
frames in CAN 2.0.A format.
CAN 2.0.B: these products are capable of exchanges in both formats.

The 4 types of CAN frame
Data Frame: these frames transport data from a producer to consumers

without any guarantee that it will be processed.
Remote Frame: these request frames are sent by a client to a server to

request transmission of a data frame (the identifier will have the same
value as that of the request).
Error Frame: these frames are transmitted when a station detects the
presence of errors on the bus.
Overload Frame: these frames are sent to ask for an additional time
lapse between successive frames (data or request).

CAN V2.0 A Data Frame

Data frame
SOF IDENT RTR CTR DATA CRC ACK EOF Interframe
1D 11X 1D 6X 0 to 64X 5X+1R 1X+1R 7R 3R
CAN V2.0 A Remote Frame

Request frame
SOF IDENT RTR CTR DATA CRC ACK EOF Interframe
1D 11X 1R 6X 0 to 64X 5X+1R 1X+1R 7R 3R
If a request frame is repeated, the response to this request takes

priority.

Error Frame
Error detected
Frame being broadcast ERROR FLAG ERROR DELIMITER

ACTIVE ERROR FLAG: 6D 8R
PASSIVE ERROR FLAG: 6R
Overload Frame
EOF or ERROR DELIMITER
Previous frame OVERLOAD FLAG OVERLOAD DELIMITER

6D 8R

Section 3: Link layer - Part 2: Exchange protection
Protection mechanisms
At bit level: when 5 identical bits are transmitted, an additional "stuffing"

bit with the opposite value is introduced intentionally. This bit is tested
and eliminated by the receiver.
At frame structure level, the delimiters CRC Delimiter, ACK Delimiter,

End of Frame, Error Delimiter, Overload Delimiter are integrated to
enable the structure to be checked.
At content validity level: a CRC sequence enables receivers to check

the consistency of the data received.
ACK slot: this window enables the sender to know that his message has
been received correctly by at least one station (dominant bit).

Error counters
Each node must always contain two counters:

TEC Transmit Error Counter and REC Receive Error Counter.
These counters are incremented and decremented using a

sophisticated weighting mechanism etched in the silicon.
Depending on the value of these counters, the node will be in one of the
following 3 states:
Active errors
Passive errors
Bus OFF (sending driver disconnected from the bus).

Counter value/node status

Reset and
configuration
Active
errors
REC < 128 REC > 127

and TEC < 128 or TEC > 127
128 occurrences of
Passive 11 consecutive
errors recessive bits (end
of frames without
errors)
TEC > 255
Bus OFF

Behaviour in the event of detection of a communication

error
Active error status: On detection of the fault, the node sends an Error
Frame with an ACTIVE ERROR FLAG field.
The 6 dominant bits sent which contravene the stuffing bit law cause a
chain reaction in the other nodes which destroys the active frame.
Passive error status: On detection of the fault, the node sends an

Error Frame with a PASSIVE ERROR FLAG field.
The recessive bits sent have no effect on the frame currently being
sent.
Bus OFF status: The node is disconnected and monitors the bus.

CANopen
Section 4: Physical layer
Part 1: Network characteristics
Part 2: Recommended connections

Section 4: Physical layer - Part 1: Network characteristics
CANopen Device Profile Device Profile Device Profile Device Profile

CiA DSP-401 CiA DSP-402 CiA DSP-404 CiA DSP-4xx
physical layer I/O modules Drives Measuring devices
CiA DS-301 = Communication profile

7 APPLICATION
CAL= CAN Application Layer
6 PRESENTATION EMPTY
5 SESSION EMPTY
4 TRANSPORT EMPTY
3 NETWORK EMPTY
2 LINK = LLC + MAC CAN 2.0 A and B + ISO 11898
CAN 2.0 A and B + ISO 11898

1 PHYSICAL
ISO 11898 + DS-102 + DRP-301-1

Description of the network
Twisted differential pair: 1 pair if CAN-H/CAN-L

2 pairs if CAN-H/CAN-L + p. supply
Characteristic line impedance: 120 ohms nominal
Line terminators: 120 ohms at each end
Wire resistance: 70 milli-ohms/metre nominal
Propagation time: 5 ns/metre nominal
Topology: Bus type with the shortest possible tap links

Electrical levels
Voltage (V)
5
CAN_H
3.5
2.5
CAN_L
1.5
Recessive Dominant Recessive Time
Recessive status: VCAN_H - VCAN_L = 0V (-0.5 V to + 50 mV)

Dominant status: VCAN_H - VCAN_L = 2V (1.5 V to 3 V)
Tx output current: Higher than 25 mA

Protection: Against short-circuits
Data rate - bus length - cable cross-section for 32 slaves maximum
Data rate Bus length Cable x-section

1 Mbps 25 m 0.25 mm2 AWG 23
800 Kbps 50 m 0.34 mm2 AWG 22
500 Kbps 100 m 0.34 mm2 AWG 22
250 Kbps 250 m 0.34 mm2 AWG 22
125 Kbps 500 m 0.5 mm2 AWG 20
50 Kbps 1000 m 0.75 mm2 AWG 18
20 Kbps 1000 m 0.75 mm2 AWG 18
10 Kbps 1000 m 0.75 mm2 AWG 18

Data rate - bus length - cable cross-section for 100 slaves

maximum
Data rate Bus length Cable x-section

1 Mbps 25 m 0.34 mm2 AWG 22
800 Kbps 50 m 0.6 mm2 AWG 20
500 Kbps 100 m 0.6 mm2 AWG 20
250 Kbps 250 m 0.6 mm2 AWG 20
125 Kbps 500 m 0.75 mm2 AWG 18
50 Kbps 1000 m 1 mm2 AWG 17
20 Kbps 1000 m 1 mm2 AWG 17
10 Kbps 1000 m 1 mm2 AWG 17

Section 4: Physical layer - Part 2: Recommended connections
Recommended connections
In its recommendation DR-303-1, the CiA provides a list of suitable

connectors classified into 3 categories with their pin signal description.
General use
9-pin SUB D connector DIN 41652, multi-pole connector (ribbon cable to 9-pin SUB-D),
RJ10 and RJ45
Industrial use
5-pin Mini Style, 5-pin Micro Style, Open Style
Special use
7-pin round connector, 8-pin round connector, 9-pin round connector, 12-pin round
connector, Hand Brid Harting.

9-pin SUB D connector DIN 41652
Male product end
Pin Signal Description:

1: Reserved
2: CAN_L = CAN_L bus line dominant low
3: CAN_GND = CAN Ground
4: Reserved
5: (CAN_SHLD) Optional CAN Shield
6: (GND) Optional Ground
7: CAN_H = CAN_H bus line dominant high
8: Reserved
9: (CAN_V+) Optional CAN external positive supply

RJ45 connector
Pin Signal Description

1: CAN_H = CAN_H bus line (dominant high)
2: CAN_L = CAN_L bus line (dominant low)
3: CAN_GND = Ground/0 V/V-
4: Reserved
5: Reserved
6: (CAN_SHLD) = Optional CAN Shield
8 (CAN_V+) = Optional CAN external positive supply

5-pin Mini Style connector: ANSI/B93.55M-1981
Male product end

2: (CAN_V+) = Optional CAN external positive supply
3: CAN_GND = Ground/0V/V-

Open Style connector
Male product end

5: (CAN_V+) = Optional CAN external positive supply

Recommended suppliers
Cables
- U.I.LAPP GmbH
Schultze-Delitsch-Str. 25
D-70565 Stuttgart Germany
http://www.lappcable.com
Connectors
- ERNI Elektroapparate GmbH
Seestrasse 9 D-73099 Adelberg Germany
- ERNI Connectique S.a.r.l, France
27 bis, avenue des Sources/CP 638 F-69258 LYON Cedex 09,
http://connect.erni.com/

CANopen
Section 5: Schneider offer overview
Part 1: Global offer overview overview
Part 2: Product characteristics

Section 5: Schneider offer overview - Part 1: Global offer overview
Products
CANopen master PCMCIA card for Premium PLC:

TSXCPP100
CANopen communication card for ATV58 variable speed drive:

VW3A58308
CANopen communication module for TEGO POWER / QUICKFIT

motor starters:
APP1CCO0 = 16I + 8O on bus
APP1CCO2 = 16I + 8O on bus + 16I + 16O locally

Accessories
CANopen Sycon master configuration software from HILSCHER:

LXLFBCM
Junction box for connecting the CANopen master card to 1 or 2 CANopen buses:
TSXCPPACC1
Schneider does not provide cables or connectors for CANopen, but recommends
suppliers.

Recommended suppliers
Cables
- U.I.LAPP GmbH
Schultze-Delitsch-Str. 25
D-70565 Stuttgart Germany
http://www.lappcable.com
Connectors
- ERNI Elektroapparate GmbH
Seestrasse 9 D-73099 Adelberg Germany
- ERNI Connectique S.a.r.l, France
27 bis, avenue des Sources / CP 638 F-69258 LYON Cedex 09,
http://connect.erni.com/

Section 5: Schneider offer overview - Part 2: Product characteristics
CANopen master card: TSXCPP100
Type III PCMCIA card inserted in the processor module communication port slot
(only 1 CANopen master per PLC).
2 indicator lights
Brackets for fixing

on PLC CPU
Connecting cable, 0.6 m

long, with male 15-pin
SUBD at the end

Compatibility:
Premium processors >= V5.0 except for TSX57103.
PL7 >= V4.0
Sycon configurator >= 2.630
The Sycon configurator is used to generate the ***.co configuration file

which can be imported from PL7 or loaded directly into the card.

Functions supported:
Bus management
Implicit exchange of PDOs (8 bytes max.) using %MW words
Explicit exchange of SDOs by WRITE_VAR and READ_VAR functions
Sending any identifier by the SEND_REQ function
Fault identification, diagnostics and history by the SEND_REQ function

Processor Max. size of Max. size of I/O data (PDO)

configuration file (1)
Mast task Fast task
TSXP57-203 16 Kb 512 %MW 64 %MW

(256 + 256) (32 + 32)
TSXP57-253 16 Kb 512 %MW 64 %MW

(256 + 256) (32 + 32)
TSXP57-303 32 Kb 1024 %MW 128 %MW

(512 + 512) (64 + 64)
TSXP57-353 32 Kb 1024 %MW 128 %MW

(512 + 512) (64 + 64)
TSXP57-453 64 Kb 3584 %MW 256 %MW

(1792 + 1792) (128 + 128)
(1) This maximum size can be exceeded if the configuration file is loaded directly into the card using the Sycon software. The
maximum file size authorized by Sycon is 256 Kb.
For 10 ATV58: Configuration file size = 4.6 Kb I/O data = 2 X 20 words
For 20 ATV58: Configuration file size = 7.5 Kb I/O data = 2 X 40 words

CANopen communication card for ATV58: VW3A58308
L-shaped electronic card connected to the drive control card.
Switches for configuring the

speed and the address
Indicator
lights
End of line
switch
Bus connection terminal block
Supplied with floppy disk containing the .eds description file for the device.
Compatible with all ATV58 and ATV58F control cards.
Main characteristics:
Communication speed (125, 250, 500 Kbps or 1 Mbps) and address
configured by switches
Conforms to CAN V2.0.A: identifiers on 11 bits

The CAN controller used on the card is active 2.0B: it accepts frames with identifiers on 11
and 29 bits.
Identifier value allocated by the address
Conforms to DS402 V1.1 CANopen profile: "Device profile for drives and
motion control - Velocity Mode"
Conforms to Drivecom profile

PDO services supported (control):
1 PDO in reception mode (control) non-synchronised containing 4 bytes

corresponding to 2 words:
CMDD: DRIVECOM control register
LFRD: DRIVECOM speed reference in rpm
1 PDO in send mode (monitoring) non-synchronised sent on change of

status* containing 4 bytes corresponding to 2 words:
ETAD: DRIVECOM status word
RFRD: DRIVECOM motor speed in rpm
* PDOs are sent by the drive at intervals of 50 ms minimum and one second maximum.

SDO services supported (configuration, adjustment):

1 SDO in reception mode: processing a request to read or write drive communication internal variables:
1 to 4 bytes
1 SDO in send mode: processing the response to a request to read or write drive
communication internal variables: 1 to 4 bytes
NMT services: network management status graph
Node guarding object: periodic transmission of drive status
EMCY object : sent in the event of a drive fault

CANopen communication module for TEGO POWER/QUICKFIT
Communication module placed on the left side of the motor

starters
Indicator lights
Bus connection terminal block
Switches for configuring the speed and address
Local I/O connection terminal blocks

(only on APP1CCO2 module)
24V power supply

Main characteristics:
Communication speed (125, 250, 500 Kbps or 1 Mbps) and address

configured by switches
Conforms to CAN V2.A: identifier on 11 bits
Identifier values allocated by the address
Conforms to the "I/O module" DS401 CANopen profile

PDO services supported on APP1CCO0:
1 PDO in reception mode (control) non-synchronised containing 1 byte:

Control of 8 TEGO sub-base contactors

status containing 2 bytes:
State of 8 contactor auxiliary contacts
State of 8 circuit-breaker auxiliary contacts

PDO services supported on APP1CCO2:
1 PDO in reception mode (control) non-synchronised containing 4 bytes:

Control of 8 TEGO sub-base contactors
Control of 16 outputs external to the sub-base
4th bytes unused

status containing 4 bytes:
State of 8 contactor auxiliary contacts
State of 8 circuit-breaker auxiliary contacts
State of 16 inputs external to the sub-base
No configuration or parameter setting
NMT services: network management status graph
Node guarding object: periodic transmission of motor starter status
EMCY object: sent in the event of a drive fault

CANopen Sycon master configuration software from HILSCHER
Used to generate a configuration file for the CANopen

master PCMCIA card.
This configuration can be imported from PL7 PRO/PL7

Junior or loaded directly by inserting the card in the PC.

Junction box for connecting the master card
15-pin SUBD sub-base for Activity indicators

connecting the master PCMCIA channels A and B
card
9-pin SUBD sub-base for 9-pin SUBD connector for

connecting the slaves on connecting the slaves on
channel A channel B

CANopen
Section 6: Diagnostics
Part 1: Indicator lights
Part 2: Diagnostic PLC objects

Section 6: Diagnostics - Part 1: Indicator lights
LEDs Meaning
ERR COM
Off Off No power supply to card or configuration transfer in progress
Flashing No configuration in the card
(Irregular)
Flashing Card configured and ready, bus not activated or no CANopen firmware
(Regular)
On Bus configured and active, no error
On Off Error detected, bus controller stopped
steady Flashing Card faulty, configuration error or synchronization error between the
card and the PLC (for more information, refer to the module status
diagnostic data)
On Bus configured and active, at least one bus subscriber cannot be
reached or is signalling an error

Green LED = OK
Red LED = COM
LED Status Meaning

Green LED Fixed green No fault.
"OK" Flashing Address 0 or communication fault (CNF) or
green internal fault (ILF)
Yellow LED Flashing Receiving PDO or SDO
"COM" yellow
Off Not receiving PDO or SDO

CANopen
CAN-ERR
RUN
The first 4 LEDs relate to CANopen
TX communication
Overflow
RW
CAN-ERR Run TX RX Meaning

0 1 0 0 OK: operational.
1 1 0 0 Bus Off: an error has occurred on CAN, the module has been disconnected.
The CAN bus needs to be reset.
1 1/0 0 0 The data monitoring system has sent a message, the RUN LED flashes until a
response has been received.
1 1/0 0 0 A synchronization error has occurred during the monitored message. The module
has not received a synchronization "telegram".
1 0 1 0 A message has appeared which is too long to be sent. The module must be reset
in order to return to normal.
1 0 0 1 A message has appeared which is too long to be received. The module must be
reset in order to return to normal.

I/O RUN The 2 bottom LEDs relate to the module

I/O ERR and the I/O
Green LED Lights up if there is no communication error on CAN-Open and no errors during the I/O cycle
Red LED Lights up if there is an error on the module or the I/O
1 on steady: Module fault
2 continuous flashing: Error during the I/O cycle
3 intermittent flashing: Rapid flashing: start of error message
: 1st sequence of slow flashing: Error code
: 2nd sequence of slow flashing: type of error (argument)
Error table
1st sequence 2nd sequence Description of the error
error code Type (argument)
1 pulse 0 pulse - EEPROM memory error
1 pulse - RAM memory error
4 pulses 0 pulse - I/O error

Section 6: Diagnostics - Part 2: Diagnostic PLC objects
Implicit diagnostic objects
2 bits:
%Iy.MOD.ERR = module fault
%Iy.1.ERR = channel fault
24 words:
%IWy.1.0 to %Iwy.1.23 = used to determine:

the channel status
of the various slaves
the description of the last fault
Word %Iwy.1.0 is a general status word which, depending on the type of fault, is used
to perform more detailed diagnostics.

Section 6: Diagnostics - Part 2: Diagnostic PLC objects
Explicit diagnostic function
SEND_REQ(ADR#y.1.SYS, 16#0F, %MWi:L, %MWj:L, %M Wk:4):
used to access identification and status of the CANopen master
SEND_REQ(ADR#y.1.SYS, 16#31, %MWi:3, %MWj:L, %MWk:4):
depending on the value of %Mwi, used to:

perform diagnostics on a slave
or to determine the version/status of the CANopen master PCMCIA card
or to read the message handling error log (SDO)
Word %Iwy.1.0 is a general status word which, depending on the type of fault, is
used to perform more detailed diagnostics.


CANopen en

Uploaded by

Copyright:

Available Formats

CANopen en

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

CANopen en

Uploaded by

Copyright:

Available Formats

CANopen

Industrial Automation - Customer

Section 2 : Application layer

Section 3 : Link layer

Section 4 : Physical layer

Section 5 : Schneider offer overview

Part 2: Main characteristics

Industrial Automation - Customer

1980: The automotive industry indicates a need for low-cost, real-time, highly

1983: In partnership with several German universities, the German equipment

1985: The first CAN integrated circuits are marketed by INTEL.

1986: Initial prototypes presented to the USA at Detroit.

1987: The major silicon manufacturers: Philips, Motorola, National

Industrial Automation - Customer

1989: First industrial applications.

1987 to 1991: Establishment of promotional organizations for both automotive

1993: CAN High Speed (1 Mbps/Identifiers on 11 bits) becomes standard

Industrial Automation - Customer

1995: Amendment to standard ISO 11898 introducing identifiers coded

1996: CAN is used on the majority of motor controls in top-of-the-range

1997: 300 companies are members of the CiA.

Industrial Automation - Customer

CANopen was built chronologically on the basis of several specifications:

• CAN 2.0 A and B (originating from Robert BOSCH)

• CAL = CAN Application Layer (CiA):

Industrial Automation - Customer

Medium: Shielded twisted pair

Topology: Bus type

Maximum distance: 1000 m

Data rate: 1 Mbps at 25 metres, 10 Kbps at 1000 metres

Max. no. of devices: 128

Network access method: CSMA/CA

Communication model: Producer/Consumer

Max. useful data size: 8 bytes per frame

Industrial Automation - Customer

Industrial Automation - Customer

CANopen application layer

A CAL subassembly which defines standardized communication objects and 4

1 . Network administration: parameter setting, starting, monitoring (master-

2 . Transmission of small amounts of process data (<= 8 bytes) in real time:

3 . Transmission of large amounts of parameter-setting data (> 8 bytes) using

4 . Predefined messages for managing synchronizations, time-based

Industrial Automation - Customer

Part 1: CANopen basic concepts

Part 2: CANopen objects and services

Industrial Automation - Customer

CANopen Device Profile Device Profile Device Profile Device Profile

CiA DS-301 = Communication profile

2 LINK = LLC + MAC CAN 2.0 A and B + ISO 11898

CAN 2.0 A and B = ISO 11898-1 and 2

Industrial Automation - Customer

CAL = CAN Application Layer

Historically, this was the first step towards interoperability...

Industrial Automation - Customer

CMS CAN Message Specification

Domains Events Variables Services

NMT LMT DBT

CMS defines standard communication objects and services

NMT initializes and supervises the network