CANopen 主站卡用户手册

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GCAN-304CANopen(主站)转ModbusTcp用户手册

GCAN-304Modbus/TCP-CANopen主站转换模块用户手册文档版本：V3.01 （2014/10/22）修订历史目录目录 (3)1.功能简介 (4)1.1 功能概述 (4)1.2 技术指标 (4)1.3 典型应用 (5)2. 设备安装 (6)2.1 设备安装 (6)2.2 与以太网连接 (7)2.3 与CAN总线连接 (7)3. 设备使用 (8)3.1 与PC连接进行配置 (8)3.2 与以太网连接 (10)3.3 与CAN连接 (10)3.4 CAN总线终端电阻 (11)3.5 系统状态指示灯 (12)4. GCAN-304 Config软件使用 (13)4.1 恢复出厂设置 (13)4.2 基本参数配置 (13)4.3命令列表区 (16)4.4 参数配置区 (17)4.5 地址表 (19)4.6 GCAN-304模块参数保存 (20)5. 技术规格 (21)6. 常见问题 (22)附录A：CANopen协议简介 (23)附录B：CANopen网络通信 (28)销售与服务.................................................................................. 错误！未定义书签。

1.功能简介1.1 功能概述GCAN-304 Modbus/TCP-CANopen主站转换模块是集成1路标准CAN接口、1路标准以太网接口的高性能通讯模块。

GCAN-304模块是一个标准CANopen 主站卡，它可以将现有的使用以太网Modbus/TCP通信设备（如PC、PLC、工控机等）转换成CANopen主站与CANopen从站进行通信、配置。

用户使用GCAN-304模块，即可通过以太网对CANopen网络从站进行配置。

GCAN-304模块内部已经集成了CANopen主站协议栈代码，不需要用户进行二次开发。

协议栈遵循CANopen协议描述文档DS301标准。

CanOpen通信卡说明书

10P-0007 CanOpenCommunication CardTo be used with AC10P Series InverterProduct ManualIssue 12016 Parker Hannifin Manufacturing Ltd.All rights strictly reserved. No part of this document may be stored in a retrieval system, or transmitted in any form or by any means to persons not employed by a Parker SSD Drives company without written permission from Parker Automation Wuxi, a division of Parker Hannifin Ltd . Although every effort has been taken to ensure the accuracy of this document it may be necessary, without notice, to make amendments or correct omissions. Parker Automation Wuxi cannot accept responsibility for damage, injury, or expenses resulting therefrom.WARRANTYRefer to Parker Hannifin Manufacturing Limited Terms and Conditions of Sale. These documents are available on request at /ADC. Parker Hannifin Manufacturing Limited reserves the right to change the content and product specification without notice.CANOPEN INSTRUCTION (1)I.INTRODUCTION (3)1.1.CAN OPEN (3)1.2.I NSTALLA TION (3)1.3.DB15INTERFACE PINS (3)1.4.CAN–BUS CONNECTION (4)1.5.H ARDWARE LAYOUT (5)1.6.LED INDICA TOR (5)1.7.S WITCH CODE (5)1.8.I NTERFACE (6)II.OPERATION GUIDE (6)2.1B AUD RA TE (6)2.2A DDRESS AND BAUD RA TE SETTING (6)2.3P ARAMETERS SETTING (7)2.4P ROTOCOL (7)2.5NMT CONTROL DEMAND (8)2.6N ODE PROTECTION FUNCTION (8)2.7S ERVICE DATA OBJECT （SDO） (8)2.7.1 Demand format of master station reading slave station (9)2.7.2 Node response when master station reads command (9)2.7.3 Command format of master station writing parameters (11)2.7.4 Slave response after master writes data (11)2.8PDO (13)2.8.1 Node edits object dictionary (14)2.8.2 TPDO communication parameters’ definition in the object dictionary (14)III.OPTIONAL MODE (15)3.1P ROFILE V ELOCITY M ODE (15)3.1.1 ControlWord (15)3.1.2 StatusWord (15)3.1.3 Parameters of rest speed mode (16)I.Introduction1.1.CANopenCANopen is a high layer protocol which bases on CAN serial bus system and CAL(CAN application layer). The communication card is used to connect inverter to CAN network.1.2.InstallationCommunication cableFig 2-1 CANopen card installation1.3.DB15interface pinsFig 2-2 interface pins1.4.CAN –bus connection1.5.Hardware layoutFig 2-2 CANopen bus card 1.6.LED indicatorColorGreenGreenGreenRed1.7.Switch code1.8.InterfaceII.Operation guide2.1Baud rate1Mbit/s 500kbit/s25m 100m2.2Address and baud rate setting16 bits switch code of SW4 and SW5 are used to set baud rate and communication device2.3Parameters setting2.4ProtocolIn CAN network, communication objects are used to transfer data. Periodic data object uses PDO to transfer real time data (control command, given value and status information). Service data object uses SDO to transfer non-real time data (parameters). The COB-ID related to variable data is as below:NMT object: 0x000;RPDO object: 0x200+NODE-IDTPDO object: 0x180+NODE-IDTSDO object: 0x600+NODE-IDRSDO object: 0x580+NODE-IDSYNC object: 0x0802.5NMT control demandNMT control demand is sent from master station, slave station does not need to reply. The format of NMT is as below:2.6Node protection functionNMT main node can check the current state of each node by node protection service.NMT-Master node sends remote frame (no data) is as below:NMT-Slave node sends the below messageThe data includes a trigger bit (bit7), trigger bit must be set to “0” or “1 alternately when node protection response. Trigger bit must be set to “0” when node protection request. Bit 0 ~ bit 6 means2.7Service data object （SDO）SDO can visit the item in the dictionary of device object. SDO can send any length data (when the data is more than 4 bytes, it should be divided into several messages). Master node will read or write slave node object dictionary by SDO communication, to set slave node parameters, download program, define communication type and data format of PDO.2.7.1 Demand format of master station reading slave station2.7.2Node response when master station reads commandif it reads successfully, node 2 returns to the below contents:Table 3-1 Command format of node responseNote: d0,d1,d2 and d3 are the data which need to be transferred.For example, if node 2 returns to 582 4F 00 60 01 FD 00 00 00, which meaning is as below:5824F00 6001 FD 00 00 00Transfer dataSub-indexIndex1 byteRead SDONode No.Send SDOThe index of node 1 reading from node 2 object dictionary is 0x6000, the sub-index is 0x01. It is FD 00 00 00.if read failed, node 2 returns to failed information.The format is as below:Note: SDO abort code error will return to related parameters according to different error. Please refer to Appendix 1.2.7.3 Command format of master station writing parametersThe format of master writing data is as below tableFor example, node 1 will transfer 603 2F 00 70 01 FD 00 00 00 , the meaning is as blow: 6032F00 7001 FD 00 00 00Transfer dataSub-indexIndex1 byteRead SDONode No.Send SDONode 1 will write the data FD 00 00 00 to the entry of node 3 object dictionary, which index is 7000h, and sub-index is 01h.2.7.4 Slave response after master writes dataif writing succeeds, node 3 will return writing success command to node 1. The format is as below:if writing failed, node will return to failed command, the format is as below:,Note: SDO abort code error will return to related parameters according to different error. Please refer to Appendix 1.Appendix 1 SDO abort code error2.8PDOPDO communication is mainly used to transmit real-time data which bases on the model of (Producer/Consumer). The data transmitted is limited within 1~8 bits.In the object dictionary, each PDO is described by two objects, PDO communication parameters and PDO mapping parameters.CANopen protocol defines four receivePDO (Receive-PDO), four sendPDO(Transmit-PDO).2.8.1 Node edits object dictionaryNote: 6040 01 10h means the data mapping to object dictionary, which index is 6040h, thesub-index is 00h and the length is 16bits.60ff 01 20h means the data mapping to object dictionary, which index is 60ffh, sub-index is 00h and length is 32bits.2.8.2 TPDO communication parameters’ definition in the object dictionaryNote: 6041 01 10h means the data mapping to object dictionary, which index is 6041h, thesub-index is 00h and the length is 16bits.606C00 20h means the data mapping to object dictionary, which index is 606Ch, sub-index is 00h and length is 32bits.III.Optional modeServo drive can realize various operational mode. Master station writes to 0x6060 to set operational mode. Slave station writes to 0x6061 to show actual operational mode.3.1 Profile Velocity Mode3.1.1 ControlWordControl word objectControlword instruction is as below:3.1.2 StatusWordStatsword instruction is as below:In speed mode, bit definition is as below:3.1.3 Parameters of rest speed mode1.Set operational mode (6060h) to 0x02;2.Set target velocity (6042) to “according to user demand”3.Set acceleration time (6046.02h) to “according to user demand”.4.Set deceleration time (6048.00h) to “according to user demand”5.Set Max of velocity (6046.00h) to “according to user demand”6.Set Min of velocity (6046.01h) to “according to user demand”.7.Set control word（6040h）to 0x0F ;er can read operational state by state word (6041h).er can read actual velocity by 6044h.。

CANopen用户手册：线性传感器说明书

Content1CANopen 2 1.1EDS Files 2 1.2Support 2 1.3Features 2 1.3.1Basic information 2 1.3.2Basics based on CiA DS-301, V4.2.0 2 1.3.3Basics based on CiA DSP-406, V3.2 3 1.3.4Basics SDO communication 3 1.3.5Basics PDO communication based on CiA 301, V4.2.0 3 1.4Object Library 4 1.4.1Communication Profile Area based on DS 301 V4.2.0 4 1.4.2Device Profile Area 6 1.4.3Manufacturer specific Area 8 1.5Explanations to Object Library 9 1.5.1Object 0x6300 Encoder Cams 9 1.5.2Cam state registers 9 1.5.3Object 0x6400 Work Area 9 1.5.3.1Work Area Supervision 9 1.5.3.2Work Area State 9 1.6LSS / Layer Setting Service 9 1.6.1Configuration of Node-ID 10 1.6.2Configuration of Bit Rate 10 1.6.3Store Configuration Data 11 1.7SDO Services 11 1.7.1SDO Download 11 1.7.2SDO Upload 12 1.7.3SDO Abort 12 1.8Process Data PDO 12 1.8.1PDO Default Setting 12 1.8.2PDO Parameter Setting 12 1.9Error Handling 14 1.9.1Emergency Messages 14 1.10Error Objects 15 1.10.1Manufacturer-specific Status 15 1.11Non-Volatile Storage and Data Restoration 16 1.12Abbreviations 17 1.13Document Changes 171 CANopenThis document reflects the Novotechnik sensor protocol implementation of the standard CANopen protocol.A basic knowledge of the CAN Bus is required for a proper understanding of this document.Most of the definitions made are according to the following CiA Standard specifications.For making use of all the features that these specifications offer, a knowledge about them is absolutely necessary. The sensor supports the CANopen Communication profile DS-301, V4.2.0, Encoder profile DSP-406, V3.2 and Layer Setting Services (LSS) DSP-305, V1.1.2.1.1 EDS FilesFor integration in a common CANopen projecting tool, electronic data sheet (*.eds) files are provided.These files can be downloaded from the Novotechnik Web Site, see Downloads/Operating manualswhere also this document can be found.Electric data sheet see file Product series_CANopen.1.2 SupportIfyouhaveanyquestions,******************************************************.Electronic data sheets or user manuals for previous software versions are available on request.1.3 Features1.3.1 Basic informationVendor ID: 386 = 0x0182 (Novotechnik)Product code: TP1: 04035 = 0x0FC3, TH1: 04042 = 0x0FCA, TM1: 04228 = 0x1084, TF1: 04052 = 0x0FD4 Rev.-No.: f.e 196613 = 0x30005Serial No.: see product label, “YYMMxxxx”1.3.2 Basics based on CiA DS-301, V4.2.01.3.3 Basics based on CiA DSP-406, V3.21.3.4 Basics SDO communication1.3.5 Basics PDO communication based on CiA 301, V4.2.01.4 Object Library1.4.1 Communication Profile Area based on DS 301 V4.2.01) for 1 position marker2) for 2 position markers1.4.2 Device Profile Area* for 1 position marker: default value 0x01** for 1 position marker and product series TM1 / TF1: not available 1.4.3 Manufacturer specific Area1.5 Explanations to Object Library1.5.1 Object 0x6300 Encoder CamsEncoder cams are used to indicate if a position falls below or exceeds a defined value.1.5.2 Cam state registersCam active: the current position value is between the higher and lower cam-limitCam inactive: the current position value is not between the higher and lower cam-limit.The values for low limit (0x631x) and high limit (0x632x) regard the values for preset (0x6010) and measuring steps (0x6005). The value of hysteresis (0x633x) is added in direction of motion.Note: the cam high limit value can have a lower value than the cam low limitA change in cam state causes an EMCY message.The cam state objects (0x6300) are able to be mapped to the TPDOs.1.5.3 Object 0x6400 Work AreaIt is possible for encoders to define a so-called user defined working area.The main purpose for a work area is to get a high-priority information (via EMCY message) when the transducer’s p o-sition leaves its predefined working area.The actual work area information with work area low limit and work area high limit may be stored in object 0x6401 and 0x6402. This way, the area state object (0x6400) may also be used as software limit switches.1.5.3.1 Work Area SupervisionEach work area channel is fixedly linked to a position channel:1.5.3.2 Work Area StateThe values for low limit (0x6401) and high limit (0x6402) regard the values for preset (0x6010) and scaling (0x6501, 0x6502).A change in work area state causes an EMCY message.The work area state objects (0x6400) are able to be mapped to the TPDOs.1.6 LSS / Layer Setting ServiceTo configure the encoder via the LSS(according CiA DS 305) the encoder is handled as a slave, thePLC must have a LSS master functionality.A LSS-message is composed as follows:This applies to the COB-ID:• LSS-Master ⇒ LSS-Slave: 2021 (0x7E5)• LSS-Slave ⇒ LSS-Master: 2020 (0x7E4)LSS can only be used when the encoder is in the stopped status or pre-operational status.The NMT command for setting the encoder in stopped status is:To program via LSS the sensor has to be switched to LSS configuration state.There are two possible ways to do so:• Switch Mode Selective:only the addressed CANopen device is switched to the LSS configuration stateLSS requires data content in the following objects:Example:Vendor-ID (see index 1018/1) 0x0182 LSS-Command 0x40 Product code (see index 1018/2) 0x0BE0 LSS-Command 0x41 Rev.No. (see index 1018/3) 0x10003 LSS-Command 0x42 Serial-No. (see index 1018/4) 0x12345678 LSS-Command 0x43 After receiving the identification objects, the encoder answers with LSS-Command 0x44.• Switch Mode Global: all CANopen devices supporting LSS are switched to the LSS configuration stateWhen the CAN devices are in configuration state the Node-ID and/or the bit rate can be changed. 1.6.1 Configuration of Node-IDThe Node-ID can be programmed with the LSS-Command 0x11N ID: new Node-ID in the range of 1 (127)Err Code: 0: protocol successfully completed / 1: Node-ID out of rangeChange of Node-ID will cause:•Automatic alteration of COB-ID’s for SDO1, EMCY and Heartbeat and TPDOs.•Non-volatile Node-ID storage through …Store Configuration“ in the LSS mode configur ation.1.6.2 Configuration of Bit RateThe Bit Rate can be programmed with LSS-Command 0x13Table Index: 0x07: 20 kBaud0x06: 50 kBaud0x04: 125 kBaud0x03: 250 kBaud0x02: 500 kBaud0x01: 800 kBaud0x00: 1000 kBaudErr Code: 0: protocol successfully completed 1: Bit timing not supportedChange of Bit rate will cause:•The bit rate gets active•Non-volatile CAN bit rate storage through …Store Configuration“ in the LSS mode configuration1.6.3 Store Configuration DataThe LSS configuration data (Node-ID and Bit Rate) are stored to the non-volatile memory of the sen-sor using LSS-Command 0x17Err Code: 0: protocol successfully completed 2: storage media access error1.7 SDO ServicesService Data Objects SDO (according to CiA DS 301) manage the parameter data exchange, e.g. thenon-cyclical execution of the preset function.Parameters of device object library (object index/subindex see chapter 1.4 Object Library) can beread, written or stored by means of SDO.1.7.1 SDO DownloadThe SDO download service is used to configure the parameters.Command 0x2_: 0x22 write command, parameter to encoder0x23 write command, 4 Byte parameter to encoder0x27 write command, 3 Byte parameter to encoder0x2B write command, 2 Byte parameter to encoder0x2F write command, 1 Byte parameter to encoderCommand 0x60: confirmation: parameter receivedNODE-IDUsing writing to object 0x2000, non-volatile storage has to be done by w riting the“save”- signature (0x65766173) on object 0x1010/1 (TP1/TH1) or 0x1010/4 (TF1). These changes will become effective after a communication restart or a power up.Changing the Node-ID will affect all COB-IDs according to the “predefined co nnection s et”.Example: COB-ID TPDO1 = 0x180 + (Node-ID)BIT-RATEUsing writing to object 0x2001; non-volatile storage has to be done by writing the“save”- signature (0x65766173) on ob-ject 0x1010/1 (TP1/TH1) or 0x1010/4 (TF1). These changes will become effective after a communication restart or a power up.1.7.2 SDO UploadThe SDO upload service is used to read the parameters.Command 0x40: read command, parameters from encoderCommand 0x4_: 0x42 read command, parameter to encoder0x43 read command, 4 Byte parameter to encoder0x47 read command, 3 Byte parameter to encoder0x4B read command, 2 Byte parameter to encoder0x4F read command, 1 Byte parameter to encoder1.7.3 SDO AbortIf the SDO download or SDO upload service fails for any reason, the sensor responds with a SDO abort protocol. Abort Code: 0x06090011 subindex does not exist0x06090030 value exceeded0x06020000 object does not exist0x06010001 object is write only0x06010002 object is read only0x06060000 access error0x08000020 data transport error0x08000000 general error0x08000022 wrong state1.8 Process Data PDOProcess Data Objects (according CiA DS 301)manage the process data exchange, f.e the cyclical transmission of the position value. The process data exchange with the CANopen PDOs is a very slim process without protocol overhead.1.8.1 PDO Default Setting2 Transmit PDOs (TPDO) with each max. 8 bytes are provided:0x1800 TPDO1: default: Event-driven with event timer switched off (changeable to synchronous)0x1801 TPDO2: default: synchronous1.8.2 PDO Parameter SettingThe contents of the encoder-specific TPDOs can be configured by variable mapping according to cus-tomer´s requirements. This mapping has to be performed for the encoder as well as for the receiver.The PDO is limited to a maximum size of 8 bytes and 5 mappings per each PDO.Step 1: For changing of mapping, the sensor must be in properational mode and the MSB of PDOCOB-ID has to be set to 1 to deactivate it.Step 2: Clearing entries in mapping table of PDO1 (PDO2) => subindex 0x0 of object 1A00 (1A01)has to be set to 0x00.Step 3: Mapping of objects into PDOExample:A PDO shall be mapped in a way that the "current position", the "current speed" and the "current chiptemperature" are transmitted in one PDO .Mapping #1 “current position”:Mapping #2 “current speed”:Mapping #3: “current chip temperature”.Step 4: Setting entries in mapping table => subindex 0x0 of object 1A00 has to be set to the numbers of mapping en-tries (e.g. 0x03)Step 5: For re-activating the PDO, the MSB of PDO COB-ID has to be set to 0.Note:TPDO1 value for Event Timer must always be higher than the value for Inhibit Time (except for value 0).Failed sending of TPDOs can occur if:•more TPDOs shall be sent than the CANbus may accept due to insufficient CAN bit rate compared to TPDO/Event Timer •excessive bus load or unfavourable setting of COB-ID in the CANopen network prevents TPDOsending•Object 0x1800/5- event timer- is set to 0.1.9 Error HandlingDepending on the type of error occured, the sensor will react accordingly:* according to DS-301, see chapter 1.7 SDO Services** details see chapter 1.9.1 Emergency Messages1.9.1 Emergency MessagesCOB-ID EMCY in object 0x1014.Error-Register in object 0x1001.0x50xx Device Hardware 0x60xx Device Software 0x80xx Monitoring 0x90xx External Error1.10 Error Objects1.10.1 Manufacturer-specific StatusThe object 0x1002 shows the sensor status bit code and is used for internal process control purposes. For servicing this information can be requested via SDO (see chapter 1.7 SDO Services).Bit Definition (if bit value = 1)2 CAN Bus-Off Timer started0-1 NMT Condition of Sensor%11 stopped%10 operational%01 pro-operational%00 initialisation1.11 Non-Volatile Storage and Data RestorationDefault values for all data objects are stored in the non-volatile program memory.Data encryption to the non-volatile memory is only admitted in the pre-operational status.• Storage via LSS:Data must be stored through the LSS Service Configuration/Store while in LSS Configuration Mode (see chapter 1.6 LSS / Layer Setting Service)• Storage via SDO:Object 0x1010:Data is stored in the non-volatile memory during encryption of object 0x1010 with …save“ signature (0x65766173).Object 0x1011:Encryption of object 0x1011 with the sig nature …load“ (0x64616F6C) will upload data from the non-volatile memory. Default settings are being restored (see chapter 1.7 SDO Services).CAUTION: In case of custom programmed parameters like node-ID, averaging, bit rate etc. these will be reset to default in case of the corresponding reset command below (default values see chapter 1.4 Object Library).Object 0x1010 Object 0x1011 Subindex /1AllSubindex /2CommunicationSubindex /3ApplicationSubindex /4ManufacturerCOB-ID SyncGuard Time X XLife Time Factor X XHeartbeat Timer X XTPDO COB-ID D XTPDO Trans Typ X XTPDA Inhibit Time X XTPDO Event Timer X XTPDO Mapping X XNMT Startup X XNode-ID X (TP1/TH1) X (TF1) BitRate X (TP1/TH1) X (TF1) Number of position markers (only TP1 / TH1) XCustom (only TP1 / TH1) X Operating Parameters X XLinear Encoder Measuring Step Settings X XPreset Value X XCAM Enable X XCAM Polarity X XCAM Low Limit X XCAM High Limit X XCAM Hysterese XWork Area Low Limit XWork Area High Limit XX: data saved or restoredD: data set to default value• Delete via SDO Object 0x1010:Additionally to the functionality defined in CiA standard DS-301, CANopen library offers the possibility to delete data inthe non-volatile memory. Del ete process is initiated by sending the signature “kill” (0x6C6C696B) to object 0x1010.• Manufacturing Mode Object 0x1010▪Only TM1 series:If the sensor is out of function and the signature “boot” 0x746F6F62 in object 0x1000 (device type) is active, the sensor is in manufacturing mode. This mode can be left by power off-on or via the operationalcommand.1.12 AbbreviationsCAN Controller Area Networkch channelCOB-ID Communication Object Identifierconst constant parameter, only readableDLC Data Length CodeDS Draft StandardEMCY Emergency ServiceNMT Network-ManagementPDO Process Data ObjectPos Position (value)ro read only, parameter can changerw read/writeRx Novotechnik sensor is consumer of the CAN data frameRTR Remote Transmission RequestSDO Service Data ObjectSYNC Synchronisation messageTPDO Transmit Process Data ObjectTx Novotechnik sensor is producer of the CAN data frame1.13 Document ChangesRevision Changes Date WhoV00 First edition 16.07.14 VM/mm V07 1.2.5 / 1.3.1 object 1801x2: event driven transmission deleted for TPDO2. 1.3.1 objects:TPDO1 and TPDO2: name modified. 1.3.object 1800/2 and 1801/2 comment: synchronous1...240 instead 1...239, TPDO off: 0 added01.04.20 VM/mmV08 1.3.1 object 1010/4 user parameter data instead of manufacturer defined parameters.1.3.1 1010/5 added (Manufacturer data parameter). 1.10. signature kill 6C6C696B insteadof 6B696C6C, comment regarding manufacturing mode added21.01.21 VM/mmV09 1.2 Support added, all further chapter numbers changed1.8.3 Textual modifications 07.09.2117.11.22VM/mm。

CANopen使用手册_V1.01_.

ProNet 伺服驱动器ESTUNCANopen 使用手册修订记录日期修订版本描述作者初稿完成移振华增加第8章移振华1、第3,3,1章“PDO 参数”，修正PDO 默认表格中的COB-ID 和default 值；易健2、增加第9章“通讯例程”——目录——1、概述............................................................................................................................................ . (5)1.1 CAN 主要相关文档 (5)1.2 本手册使用的术语和缩语 (5)1.3 CAN OPEN 概述 (6)2、接线和连接 (7)3、CANOPEN 通讯 (8)3.1 CAN 标识符分配表 (9)3.2 服务数据对象SDO (10)3.3 过程数据对象PDO (12)3.3.1 PDO参数 (14)3.4 SYNC 报文 (20)3.5 E MERGENCY 报文 (21)3.6 HEARTBEAT 报文 (23)3.7网络管理（NMT ） (24)4、单位换算单元（FACTOR GROUP） (26)4.1 单位换算相关参数 (27)4.1.1 position factor (27)4.1.2 velocity factor (29)4.1.3 acceleration factor (30)5、位置控制功能 (31)5.1 位置控制相关参数 (33)6、设备控制 (35)6.1 控制状态机 (35)6.2 设备控制相关参数 (36)6.2.1 controlword (37)6.2.2 statusword (38)6.2.3shutdown_option_code (3)96.2.4disable_operation_option_code (40)6.2.5quick_stop_option_code (4)6.2.6halt_option_code (41)6.2.7fault_reaction_option_code (41)7、控制模式 (42)7.1 控制模式相关参数 (42)7.1.1modes_of_operation (42)7.1.2modes_of_operation_display (43)7.2 回零模式（HOMINGMODE ） (44)7.2.1 回零模式的控制字 (44)7.2.2 回零模式的状态字 (44)7.2.3 回零模式相关参数 (45)7.2.4 回零方法 (47)7.3 速度控制模式（PROFILE VELOCITYMODE ） (49)7.3.1速度模式的控制字 (49)7.3.2 速度模式的状态字 (49)7.3.3 速度控制模式相关参数 (49)7.4 位置控制模式（PROFILE POSITIONMODE ） (53)7.4.1 位置模式的控制字 (53)7.4.2 位置模式的状态字 (53)7.4.3 位置控制相关参数 (54)7.4.4 功能描述 (56)8、CAN 通讯相关参数 (58)9、CANOPEN 通讯例程 (59)9.1 SDO 操作； (59)9.2 PDO 配置 (59)9.3 位置控制例子（P ROFILE P OSITON MODE ） (60)9.4 位置插补控制（I NTERPLATE P OSITION MODE ） (61)9.5 速度控制（P ROFILE V ELOCITY MODE ） (62)9.6 回零 (6)2对象字典表 (64)1、概述1.1 CAN 主要相关文档 CiA DS 301 V 4.01: CiA CANopen Communication Profilefor Industrial Systems - based on CALCiA DSP 402 V 2.0: CiA CANopen Device Profile1.2 本手册使用的术语和缩语CANCiACOBEDSLMTNMTOD参数PDORORWSDO控制器局域网在自动化国际用户和制造商协会中的 CAN。

CANopen用户手册V1.30

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、TrustPLC、CoPanel 均为合信自动化技术有限公司的商标。

对于本文件中出现的其它商标，由各自的所有人拥有。

为了便于说明，本文中使用部分软件截图，对于这些软件版权，由各自的所有人拥有。

由于产品版本升级或其它原因，本文件内容会不定期进行更新。

除非另有约定，本文件仅作为使用参考，本文件中的所有陈述、信息和建议不构成任何明示或暗示的担保。

免责声明CTSC-200 CANopen系列产品的安装、操作、维护工作仅限于合格人员执行。

对于使用本资料所引发的任何后果，合信概不负责。

安全注意事项在开始使用之前，请认真阅读用户手册的注意事项，以避免意外事故的发生。

所负责产品安装、操作的人员必须经过严格培训，遵守相关行业的安全规范，严格遵守该手册提供的相关设备注意事项和特殊安全指示，按正确的操作方法进行设备的各项操作。

本手册中，将安全注意事项分为“警告”、“注意”与“提示”三个等级：使用中的注意事项使用中必须有安全电路，保证当外部电源掉电或可编程控制器故障时，可编程控制器的应用系统能安全工作。

在使用的设计中应考虑的方面包括：必须在可编程控制器的外部电路中加设紧急制动电路、保护电路、正反转操作互锁电路和防止机器损坏的位置上限、下限互锁开关。

为确保使设备能安全运行，对重大事故相关的输出信号，请务必设计外部保护电路和安全机构。

可编程控制器的CPU 检测到系统异常可能会导致所有输出关闭；当控制器的部分电路故障时，可能导致其输出不受控制，为保证设备正常运转，需加设合适的外部控制电路。

可编程控制器的继电器、晶体管等输出单元损坏时，会使其输出无法控制为ON 或OFF 状态。

【用户手册】CANOpen主站卡用户手册

左侧设备栏中的绿色箭头表示从站在线。如果需要重新配置从站的 PDO 映射、修改 PDO
通讯参数，可以点击
按钮，打开“配置从站”对话框：
产品用户手册
©2013 Guangzhou ZHIYUAN Electronics Stock Co., Ltd. 5
广州致远电子股份有限公司
CANopen 主站卡用户手册
广州致远电子股份有限公司
CANopen 主站卡用户手册
选择相应的 CANopen 通讯卡和波特率。如果您的网络上大部分从站支持节点守护／心跳包，您可以设置“从站在线检查方式”为“节点守护”或者“心跳包检测”，这时“从站在线检查周期”将作为主站轮循周期或从站的心跳包发送周期。
EDS 文件导入后点击工具条上的
如果有从站因为超时而没有搜索到或者您想取消对某个从站的管理时，您还可以点击
／
进行手动添加或删除。
接着点击
，这时会再次弹出以下窗口提示设置系统参数：
产品用户手册
©2013 Guangzhou ZHIYUAN Electronics Stock Co., Ltd. 3
广州致远电子股份有限公司
CANopen 主站卡用户手册
2
闪一下
停止
器件处于停止状态
3
Blinking（闪烁）预操作
器件处于预操作状态
4
亮
工作
器件处于工作状态
2.3 CANopen 状态
有关 ERR 指示灯与 RUN 指示灯的更详细说明，请查阅 DS303 中的 CANopen 指示灯规范。例如，RUN 指示灯表示协议正常运行，ERR 指示灯表示协议运行中出现错误。
按钮开始对网络上的从站进行搜索，当获取到

广州致远电子股份有限公司 PCI-5010-P CANOpen 主站卡产品用户手册说明书

广州致远电子股份有限公司类别内容关键词 CAN-bus ，CANopen ，主站卡摘要说明CANopen 协议通讯卡用作为CANopen 主站设备时的具体操作步骤。

修订历史版本日期原因V1.00 2015/01/15 创建文档目录1. 功能简介 (1)1.1主要性能 (1)1.2产品外观 (1)2. 硬件说明 (3)2.1硬件结构 (3)2.2机械尺寸 (3)2.3电气特性 (4)2.4接口定义 (4)2.5CAN-bus连接器 (4)2.6指示灯状态说明 (5)2.7终端电阻 (7)3. 设备安装 (8)3.1硬件安装 (8)3.2驱动安装 (8)3.3卸载设备驱动 (12)4. 测试软件使用说明 (14)5. 二次开发说明 (22)5.1API开发 (22)5.2组态应用 (22)6. 免责声明 (23)1. 功能简介PCI-5010-P 主站卡是集成1路CAN通道，可以连接CAN总线并实现CANopen协议的数据通讯。

接口卡的CAN通道都集成完全的电气隔离保护、防浪涌保护，抗干扰能力强，是性能稳定、通讯可靠的。

并且提供强大的软件支持，包括CANopen函数库、CANopen测试软件、EDS配置软件、OPC服务器等。

为CANopen网络提供了可靠性、高效率的解决方案。

已经大量应用于风力发电、轨道交通、变频器等CANopen网络领域中的数据采集与数据处理。

本产品配有可在Win2000/XP/WIN7/WIN8、等操作系统下工作的驱动程序，并包含详细的应用例程。

并且提供个性化定制服务。

1.1 主要性能●通用PCI或者USB接口，适用于5V系统；●CAN通道数：1路；●电气隔离：DC 2500V 或者AC 1700V；●CANopen接口支持DS301V 4.02、DS303-3等，通过CIA一致性测试；●最大32个从站、可注册最多128个RPDO、512个TPDO，支持PDO、SDO发送；●支持所有NMT网络管理功能；●主站卡硬件自动存储紧急报文；●支持所有PDO通讯类型，并可实现对每个PDO 的监控；●运行环境：Win9X/Me、Win2000/XP、Vista、win2003、Win7、Win8等操作系统；●ESD（静电放电）保护：IEC 61000-4-2 Level 3（接触放电6KV，空气放电15KV）；●CAN通信接口支持2KV、5/100Hz浪涌保护；●工作温度与存储温度：-40℃～+85℃；●物理尺寸：114mm*90mm；●安装方式：便携式或者PCI固定方式；●CAN波特率：符合CANopen规范的波特率——10kbps 20kbps 50kbps 100kbps125kbps 250kbps 500kbps 800kbps 1000kbps；1.2 产品外观PCI-5010-P 产品外观如图1. 1所示：图1. 1 PCI-5010-P产品外观2. 硬件说明2.1 硬件结构PCI-5010-P CANOpen协议通讯卡的硬件由32bit PCI桥、ARM7协议处理器、隔离CAN 接口等单元组成，如图2. 1所示：图2. 1 PCI-5010-P通讯卡的硬件框图2.2 机械尺寸PCI-5010-P通讯卡机械尺寸如图2. 2：图2. 2 PCI-5010-P通讯卡的机械尺寸2.3 电气特性PCI-5010-P CANOpen协议通讯卡具有良好的电气性能，主要参数如表2. 1所示。

CANopen的程序员手册2

第二章7：您当前的位置，速度和转矩模式下操作本章介绍了操作的放大器配置文件的位置，轮廓速度，轮廓转矩模式。

内容包括：7.1：您当前的位置模式操作 (164)7.2：速度曲线模式操作 (172)7.3：个人转矩模式操作 (173)7.4：个人模式对象 (174)7.1：您当前的位置模式操作点至点的运动曲线在轮廓位置模式中，一个放大器接收从该轨迹发生器的设定点来定义一个目标位置，并在指定的速度和加速度的轴移动到该位置。

这被称为一个点至点移动。

放大器进行配置文件的位置移动配置文件中的位置模式（操作模式[索引0x6060，第59页] = 1）。

过冲在点至点的移动，被称为过冲的加速度变化率。

在某些应用中，高速率的过冲可能会导致过度的机械磨损或材料损坏。

梯形和S形曲线的运动曲线为了支持不同级别的混蛋性，轮廓位置模式支持两种运动模式：梯形的个人主页上，有无限的混蛋，冲击有限的S-曲线（正弦）资料。

在梯形配置，过冲是无限的档案（开始的移动，当达到目标速度时，开始减速时，并在端部的举动）在角部。

S-曲线分析限制猛拉或“平滑”的议案。

需要注意的是S型曲线移动不支持独立的减速率。

相反，被施加的加速度率的加速和减速的举动。

此外，梯形和配置文件的位置特殊速度模式下的配置文件都支持改变当前移动的参数，而S型曲线不。

在处理一系列的点至点的移动，对这种差异进行了讨论。

165。

运动曲线类型的对象（索引0x6086，第178页）控制使用的是哪种类型的配置文件。

选择梯形或S曲线的指导，请阅读以下章节，然后梯形与S曲线的一些设计注意事项，P。

171。

（科普利控制，CANopen总线放大器还支持配置文件位置的特殊速度模式。

此配置文件类型类似于梯形的轮廓，但没有指定目标位置。

运动服从加速，减速和速度的限制，但继续移动，仿佛目标位置是无限的。

）相对与绝对运动在相对的移动目标位置被添加到的瞬时指令位置，其结果是在移动目的地。

以绝对移动，目标位置的偏移量从起始位置处理一系列的点至点移动一系列的点至点的移动处理的方法有两种：•作为一系列离散的配置文件（支持梯形和S型曲线移动）•作为一个连续的轮廓（梯形剖面支持移动）按照这两种方法的一般描述。

CANOpen主站卡安装配置详解说明

CANopen主站卡管理软件安装详解
CANopen主站卡管理软件是一个专门CANopen连接测试的软件工具，该软件操作简单，运用该软件可以方便的对CANopen从站功能模块进行测试。

其软件安装步骤如下：第一步：找到相应的软件路径：
CANopen教学实验开发平台产品光盘\软件安装\ CANopen主站管理软件
第二步：双击CANMgr_CANopen_Setup，进入安装步骤，如下图0-1;
图0-1 点击“Next”
第三步：选择软件安装路径，如下图0-2所示；
图0-2 软件安装路径第四步：软件安装完成，如下图0-3所示；
图0-3 软件安装完成CANopen主站管理软件其主界面如下图0-4所示。

图0-4 CANManager for CANopen软件界面。

GSF-CANopen操作手册说明书

Code 85204 Edition 12-20151 Safety Instruction2 Introduction3 Electrical Connections4 Network Management (NMT)5 Baude Rate6 Node-ID7 Parameter Settings 8 Restore Default Parameter 9 Heartbeat 10 Error Handling 11 SDO Communication12 PDO Communication and Length Calculation 13 CANopen Features SummaryCANopen GSFdigital outputIf total failure or malfunction of the sensor can cause danger or injury to the operator or damage to the machinery or equipment it is recommended that additional safety measures should be incorporated into the system.Any alteration, reconstruction or extension of the sensor is not allowed. Sensor must be operated only within values specified in the datasheet.Connection to power supply must be performed in accordance with safety instructions for electrical facil-ities and performed only by trained staff.Disregard of this advice can lead to malfunctions, damage to property or personal injury and releases the manufacturer from product liability.Do not open sensorRelease of spring under tension can result in injury!Do not snap cableUncontrolled cable retraction can break off cable fixing. Broken fixing and cable can result in injury. Also sensor will be damaged!Do not travel over rangeUncontrolled cable retraction can result in injury. Also sensor will be damaged!Special attention during mounting and operation of metal cable sensorsRisk of injury by the measuring cable!Sensors without cover / housing (OEM sensors)Risk of injury by moving parts. Mounting and operation of the sensor only with appropriate safety equipment that an injury is impossible!Do not exceed maximum operating voltage listed in the catalogRisk of injury. Sensor will be damage●Before connecting the sensor to the CANbus the devices have to be checked for correct bitrateand unique node-IDs. Both parameters are configurable by Layer-Setting-Service (LSS) or by Service Data Object (SDO).●After power-on the sensor will enter pre-operational state and send a bootup message being re-ady for configuration by Service Data Objects. Parameters configured by the user can be stored nonvolatile by SAVE command.●On receiving… …NMT-Node-Start“the sensor transits to operational state and starts process datatransmission.●When …Auto-Start“is configured the sensor will automatically transit to operational after boot-up without a need for the Node-Start message. Node monitoring is supported by Heartbeat protocol.The Heartbeat protocol provides automatic transmission of the node status (heartbeat messa-ge) by the slave within producer heartbeat time window.●Following the CAN example protocols included in this manual the sensor may be used withoutCANopen master device.●Do not damage cable!●Cable must not be oiled or lubricated!●Do not snap cable!●Do not travel over range!●Do not crack cable!.●Cable travel should be axial to the cable outlet (no misalignment allowed!)●Do not drag cable along objects!PrecautionsDo not let snap the cableUncontrolled retraction of cable may damage sensor.No warranty will be granted for snapped cables.Mounting hints for unfavorable conditionsIf possible fasten cable fixing with cable in retracted position.For example, fit a mounting loop and put it around your wrist.Do not remove the mounting loop before the cable ist fastened.The cable clip may be opened for easy attachment.MountingTo ensure proper operation, install the sensor only as described in this manual.The purpose of GSF position sensors is to transform position of a linear and guided movement into an electrical signal. Specifications of measuring range, environment, handling and connections as specified in the catalog, must be followed. The catalog is part of this instruction manual. If the catalog is not available it may be requested by stating the respec-tive model number. Linear motion of the measuring cable (flexible stainless steel) is converted into rotation by means of a precision cable drum. A spring motor provides torque for the cable retraction. Special design assures precise and reproducible winding of the measuring cable. Cable extraction or retraction is transformed into an electrical signal. The sensor is based on state-of-the-art multiturn potentiometric technology implementing the functions of a CAN BUS network slave device conforming to standard CANopen protocol proposed by C.i.A. (Can in Automation) and described in the document entitled “CANOpen Application Layer and Communication Profile DS 301 v. 4.2” and in other documents mentioned below. Other reference documents used are C.i.A. DS-410 Device Profile for inclinometer and C.i.A. DSP-305 Layer Setting Services and Protocol V1.1.1.This document describes the standard CANopen implementations created. It is addressed to CANopen network system integrators and to CANopen device designers who already know the content of the above-mentioned standards defined by C.i.A... The details of aspects defined by CANopen do not pertain to the purpose of this text.For further information on the protocol you can also contact us via e-mail: at or contact the GEFRAN office nearest to you.Definition and ShorteningCAN: Controller Area Network.Describes a serial communication bus that implements the “physical” level 1 and the “data link” level 2 of the ISO/OSI reference model.CAL: CAN Application Layer.Describes implementation of the CAN in the level 7 “application” of the ISO/OSI reference model from which CANopen derives.CMS: CAN Message Specification.CAL service element. Defines the CAN Application Layer for the various industrial applications.COB: Communication Object.Unit of transport of data in a CAN network (a CAN message). A maximum of 2048 COBs may be present in a CAN net-work, each of which may transport from 0 to a maximum of 8 bytes.COB-ID: COB Identifier.Identifying element of a CAN message. The identifier determines the priority of a COB in case of multiple messages in the network.D1 – D8: Data from 1 to 8.Number of bytes in the data field of a CAN message.DLC: Data Length code.Number of data bytes transmitted in a single frame.ISO: International Standard Organization.International authority providing standards for various merchandise sectors.NMT: Network Management.CAL service element. Describes how to configure, initialize, manage errors in a CAN network.PDO: Process Data Object.Process data communication objects (with high priority).RXSDO: Receive SDO.SDO objects received from the remote device.SDO: Service Data Object.Service data communication objects (with low priority). The value of this data is contained in the “Objects Dictionary” of each device in the CAN network.TXPDO: Transmit PDO.PDO objects transmitted by the remote device.TXSDO: Transmit SDO.SDO objects transmitted by the remote device.N.B.: The numbers followed by the suffix “h” represent a hexadecimal value, with suffix “b” a binary value, and with suffix “d” a decimal value. The value is decimal unless specified otherwise.CONNECTIONS 1. +SUPPLY2. GROUND3. OUTPUT4. n.c.CONNECTIONS 1. + SUPPLY 2. GROUND 3. OUTPUT 14. n.c.5. + SUPPLY6. GROUND7. OUTPUT 28. n.c.CONNECTIONS 1. + SUPPLY 2. GROUND 3. CANH 14. CANL 15. + SUPPLY 6. GROUND 7. CANH 28. CANL 2CONNECTIONS 1. +SUPPLY 2. GROUND 3. CANH 4. CANLThe device supports CANopen network management functionality NMT Slave (Minimum Boot Up):Node ID can be configurable via SDO communication object 0x20F2 and 0x20F3 (see communication examples at the end of this document).The default Baud rate is 250kbit/s.Important Note:Changing this parameter can disturb the network! Use this service only if one device is connected to the network!Node ID can be configurable via SDO communication object 0x20F0 and 0x20F1 (see communication examples at the end of this document).The default Node-ID is 7F.Important Note:Changing this parameter can disturb the network! Use this service only if one device is connected to the network!All object dictionary parameters (objects with marking PARA) can be saved in a special section of the internal EEPROM and secured by checksum calculation. The special LSS parameters (objects with marking LSS-PARA), also part of the object dictionary, will be also saved in a special section of the internal EEPROM and secured by checksum calculation. Due to the internal architecture of the microcontroller the parameter write cycles are limited to 100,000 cycles.Not supported.The heartbeat mechanism for this device is established through cyclic transmission of the heartbeat message done by the heartbeat producer.One or more devices in the network are aware of this heartbeat message. If the heartbeat cycle fails from the heartbeat producer the local application on the heartbeat consumer will be informed about that event. The implementation of either guarding or heartbeat is mandatory.The device supports Heartbeat Producer functionality. The producer heartbeat time is defined in object 0x1017.Heartbeat MessagePrincipleEmergency messages (EMCY) shall be triggered by internal errors on device and they are assigned the highest possible priority to ensure that they get access to the bus without delay (EMCY Producer ). By default, the EMCY contains the error field with pre-defined error numbers and additional information.Error Behavior (object 0x4000)If a serious device failure is detected the object 0x4000 specifies, to which state the module shall be set: 0: pre-operational1: no state change (default) 2: stoppedEMCY MessageThe EMCY COB-ID is defined in object 0x1014. The EMCY message consists of 8 bytes. It contains an emergency error code, the contents of object 0x1001 and 5 byte of manufacturer specific error code. This device uses only the 1st byte as manufacturer specific error code.10. ERROR HANDLINGSupported Manufacturer Specific Error Codes (object 0x4001)The device fulfils the SDO Server functionality.Transmit PDO #0 – Length calculation GSF-xxxThis PDO transmits the length value of the position sensor. The Tx PDO #0 shall be transmitted cyclically, if the cyclic timer (object 0x1800.5) is programmed > 0. Values between 4ms and 65535 ms shall be selectable by parameter settings. The Tx PDO #0 will be transmitted by entering the "Operational" state.12.1 EXAMPLE 1: TPDO #0 length 0.0 mmIn the following figures an example of PDO mapping is reported in the case of:●Node-ID = 7Fh●Baude-rate = 250 kBaud●Linear-encoder Cia406 setting as follow:Ⅰ. Total Measuring Range (object 0x6002.0) = 8000 mm (800 steps x 10 mm)Ⅱ. Preset Value (object 0x6003.0) = 0 mm (0 steps x 103nm)Ⅲ. Measuring Step (object 0x6005.0) = 0.5 mm (500 steps x 103 nm)Ⅳ. Position Value (object 0x6004.0):8000.0 mmPosition Value:Byte 1 LSB (00h) = 00h Byte 2 = 00h Byte 3 = 00hByte 4 (MSB) = 00hPosition Value = 00000000h to decimal 0d (resolution 0.5 mm) = 0 mm12.2 EXAMPLE 2: TPDO #0 length 2000.0 mmIn the following figures an example of PDO mapping is reported in the case of:●Node-ID = 7Fh●Baude-rate = 250 kBaud ●Linear-encoder Cia406 setting as follow:Ⅰ. Total Measuring Range (object 0x6002.0) = 8000 mm (800 steps x 10 mm)Ⅱ. Preset Value (object 0x6003.0) = 0 mm (0 steps x 103 nm)Ⅲ. Measuring Step (object 0x6005.0) = 0.5 mm (500 steps x 103 nm)Ⅳ. Position Value (object 0x6004.0):Position Value:Byte 1 (LSB) = A0h Byte 2 = 0Fh Byte 3 = 00hByte 4 (MSB) = 00hPosition Value = 00000FA0h to decimal 4000d (resolution 0.5 mm) = 2000.0 mm12.3 EXAMPLE 3: TPDO #0 length 4800.0 mmIn the following figures an example of PDO mapping is reported in the case of:●Node-ID = 7Fh●Baude-rate = 250 kBaud ●Linear-encoder Cia406 setting as follow:Ⅰ. Total Measuring Range (object 0x6002.0) = 8000 mm (800 steps x 10 mm)Ⅱ. Preset Value (object 0x6003.0) = 0 mm (0 steps x 103 nm)Ⅲ. Measuring Step (object 0x6005.0) = 0.5 mm (500 steps x 103 nm)Ⅳ. Position Value (object 0x6004.0):Position Value:Byte 1 (LSB) = 80hByte 2 = 25hByte 3 = 00hByte 4 (MSB) = 00hPosition Value = 00002580h to decimal 9600d (resolution 0.5 mm) = 4800.0 mmCommunication ProfileThe parameters which are critical for communication are determined in the Communication profile. This area is common for all CANopen devices.Ro = the parameter can be read onlyRw = the parameter can be read and also writtenWo = the parameter can be written onlyManufacturer Specific Profile ObjectsIn this section you will find the manufacturer specific profile indices for the transducer.A change of the Node ID is only accepted if the entries 20F0 and 20F1 contain the same changed value.Values below 1 / above 127 are not accepted; the existing setting remains valid.After setting the new entries a reset must be made so that the new entries become valid (switch off the module for a shorttime).A change of the Baude rate is only accepted if the entries 20F2 and 20F3 contain the same changed value.Values above 7 are not accepted; the existing setting remains valid.After setting the new entries a reset must be made so that the new entries become valid (switch off the module for a short time).Manufacturer Specific Profile ObjectsIn this section you will find the manufacturer specific profile indices for the transducer.Manufacturer Specific Profile Objects (according to CiA DS-406)In this section you will find the manufacturer specific profile indices for the transducer as LINEAR ENCODER.Rw = the parameter can be read and also writtenIn this section you will find the manufacturer specific profile indices for the transducer as CAM (optional functions NOT )activated in standard versionRw = the parameter can be read and also written Wo = the parameter can be written only(*)Operating Parameters (Object 0x6000)SF= 0/1 Scaling Function DISABLE/ENABLEGSF Cams functionality (optional functions NOT activated in standard version)Each Cam has parameters for the minimum switch point, the maximum switch point and setting a hysteresis to the switch points.Possible usage of cam’s and switch points:1) How to change the Baud Rate Setting from 250 kbaud to 500 kbaudWith Service Data Object (S.D.O.) the access to entries of a device Object Dictionary is provided. As these entries may contain data of arbitrary size and data type SDOs can be used to transfer multiple data sets from a client to a server and vice versa.Structure of SDO-request by the MasterStructure of SDO-answer by the SlaveWrite first SDO (in the example the Node-ID = 0x7F)Write second SDO (in the example the Node-ID = 0x7F)Object:The supported baudrate are listed in the following table:The answer after successful storing you will receive is:andIMPORTANT NOTE:A change of the Baud rate is only accepted if the entries 0x20F2 and 0x20F3 contain the same changed value. Values above 7 are not accepted; the existing setting remains valid.After setting the new entries a reset must be made so that the new entries become valid (switch off the module for a short time).2) How to change the ID-Node from 0x7Fh (127d) to 0x06h (6d)With Service Data Object (S.D.O.) the access to entries of a device Object Dictionary is provided. As these entries may contain data of arbitrary size and data type SDOs can be used to transfer multiple data sets from a client to a server and vice versa.Structure of SDO-request by the MasterStructure of SDO-answer by the SlaveWrite first SDO (in the example the Node-ID = 0x7F)Write second SDO (in the example the Node-ID = 0x7F)Object:The supported Node-ID are 0x01 to 0x7FThe answers after successful storing you will receive is:IMPORTANT NOTE:A change of the Node ID is only accepted if the entries 0x20F0 and 0x20F1 contain the same changed value. Values below 1 / above 127 are not accepted; the existing setting remains valid. After setting the new entries a reset must be made so that the new entries become valid (switch off the module for a short time).3) How to change the PDO rate (time interval) from 100 ms to 20 msWith Service Data Object (S.D.O.) the access to entries of a device Object Dictionary is provided. As these entries may contain data of arbitrary size and data type SDOs can be used to transfer multiple data sets from a client to a server and vice versa.Structure of SDO-request by the MasterStructure of SDO-answer by the SlaveWrite (in the example the Node-ID = 0x7F)Object:The answer after successful storing you will receive is:With the aim to save functionality write the “save” command as below:Write (in the example the Node-ID = 0x7F)Note: save command is given by sending the code:Where:73h = ASCII code “s”61h = ASCII code “a”76h = ASCII code “v”65h = ASCII code “e”The answer after successful storing you will receive is:IMPORTANT NOTE:After setting the new entries a reset must be made so that the new entries become valid (switch off the module for a short time).4) H ow to activate an automatic NMT Start after Power ON(the PDO will be send automatically after power ON)With Service Data Object (S.D.O.) the access to entries of a device Object Dictionary is provided. As these entries may contain data of arbitrary size and data type SDOs can be used to transfer multiple data sets from a client to a server and vice versa.Structure of SDO-request by the MasterStructure of SDO-answer by the SlaveWrite (in the example the Node-ID = 0x7F)Object:The answer after successful storing you will receive is:With the aim to save functionality write the “save” command as below:Write (in the example the Node-ID = 0x7F)Note: save command is given by sending the code:Where:73h = ASCII code “s”61h = ASCII code “a”76h = ASCII code “v”65h = ASCII code “e”The answer after successful storing you will receive is:IMPORTANT NOTE:After setting the new entries a reset must be made so that the new entries become valid (switch off the module for a short time).5) H ow to Preset the Position Value (via object 0x6003.0) to 0.0 mmThe value "...Preset Value" (object 0x6003.0) affects the display of the Position Value. The value entered in "...Preset Value" immediately corrects the measured value of the sensor cell at the instant tacc. A typical application is the compen-sation of display errors due to mounting (e.g. sensor zeroing).The sensor must first be brought to a defined position.With Service Data Object (S.D.O.) the access to entries of a device Object Dictionary is provided. As these entries may contain data of arbitrary size and data type SDOs can be used to transfer multiple data sets from a client to a server and vice versa.Structure of SDO-request by the MasterStructure of SDO-answer by the SlaveWrite (in the example the Node-ID = 0x7F)Object:The answer after successful storing you will receive is:With the aim to save functionality write the “save” command as below:Write (in the example the Node-ID = 0x7F)Note: save command is given by sending the code:Where:73h = ASCII code “s”61h = ASCII code “a”76h = ASCII code “v”65h = ASCII code “e”The answer after successful storing you will receive is:IMPORTANT NOTE:After setting the new entries a reset must be made so that the new entries become valid (switch off the module for a short time).GEFRAN spavia Sebina, 74 - 25050 PROVAGLIO D’ISEO (BS) - ITALIA tel. 0309888.1 - fax. 0309839063 Internet: 。

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首次运行时请点击“文件”菜单，选择“导入 EDS 文件”，在弹出的对话框中选中从站的 EDS 文件并导入，以后再启动软件时如果网络上没有新类型的从站接入则可以跳过此步骤。以后要添加新类型从站时请先按相同步骤导入 EDS 文件。
点击工具栏上的
按钮设置系统参数：
产品用户手册
©2010 Guangzhou ZHIYUAN Electronics CO., LTD. 1
修订历史
版本 V１.00 V１.01
日期 2010/03/02 2010/08/20
CANopen 主站卡用户手册
原因创建文档。修改文档格式，修改联系方式。
产品用户手册
©2010 Guangzhou ZHIYUAN Electronics CO., LTD. i
广州致远电子有限公司
CANopen 主站卡用户手册
上海周立功
地址：上海市北京东路 668 号科技京城东座 7E 室电话：(021)53083452 53083453 53083496 传真：(021)53083491
西安办事处
地址：西安市长安北路 54 号太平洋大厦 1201 室电话：(029)87881296 83063000 87881295 传真：(029)87880865
销售与服务网络（一）
广州周立功单片机发展有限公司
地址：广州市天河北路 689 号光大银行大厦 12 楼 F4 邮编：510630 电话：(020)38730916 38730917 38730972 38730976 38730977 传真：(020)38730925 网址：
©2010 Guangzhou ZHIYUAN Electronics CO., LTD. iii
广州致远电子有限公司
CANopen 主站卡用户手册
目录
1. 测试软件...................................................................................................................1 2. 状态指示灯...............................................................................................................6
4. 免责声明...................................................................................................................9
产品用户手册
©2008 Guangzhou ZHIYUAN Electronics CO., LTD. 1
User Manual
CANopen 主站卡用户手册
UM04010000 V1.01 Date: 2010/08/20
产品用户手册
类别关键词
摘要
内容 CAN-bus，CANopen，主站卡说明 CANopen 协议通讯卡用作为 CANopen 主站设备时的具体操作步骤。
广州致远电子有限公司
广州致远电子有限公司
串行通讯：
电话：(020)28267800 22644385 邮箱：serial@
分析仪器：
电话：(020)22644375 邮箱：tools@
楼宇自动化：
电话：(020)22644376 22644389 28267806 邮箱：mjs.support@
点击“确定”后将启动 CANopen 主站并读取每一个从站的对象字典，分析过程中会显示以下进度条：
此步骤结束后软件主界面如下：
产品用户手册
©2010 Guangzhou ZHIYUAN Electronics CO., LTD. 4
广州致远电子有限公司
CANopen 主站卡用户手册
如果从站上传了 PDO，那么该 PDO 的数据会显示在主界面上。在右侧的属性栏中您可以看到从站的部分配置信息，如果要查看从站的对象字典，请点击属性栏下方的“高级”按钮。随后会弹出以下对话框：
广州专卖店
地址：广州市天河区新赛格电子城 203-204 室电话：(020)87578634 87569917 传真：(020)87578842
南京周立功
地址：南京市珠江路 280 号珠江大厦 1501 室电话：(025) 68123901 68123902 传真：(025) 68123900
北京周立功
杭州周立功
地址：杭州市天目山路 217 号江南电子大厦 502 室电话：(0571)89719480 89719481 89719482
89719483 89719484 89719485 传真：(0571)89719494
成都周立功
地址：成都市一环路南二段 1 号数码科技大厦 403 室电话：(028)85439836 85437446 传真：(028)85437896
按钮开始对网络上的从站进行搜索，当获取到
的从站信息跟导入的 EDS 文件一致，那么该从站会自动添加到管理列表中。搜索界面如下：
产品用户手册
©2010 Guangzhou ZHIYUAN Electronics CO., LTD. 2
广州致远电子有限公司
CANopen 主站卡用户手册
您可以跟据网络状态和从站速度修改以上搜索参数：当网络上数据量较大时，可以适当增加“设备响应超时”值；当您的网络上只有 ID 为 30~60 的从站时，可以设置“起始搜索设备地址”为 30 以加快搜索速度（此时管理工具的搜索范围是 30~126），当搜索到所需的从站后您可以随时点击“停止搜索”来关闭此对话框。搜索完成后主界面如下：
广州致远电子有限公司
CANopen 主站卡用户手册
1. 测试软件
在查阅此手册前，请确认 CANopen 通讯卡已正确连接，安装完驱动后在 Windows 设备管理器中无异常标志，然后按以下说明对 CANopen 通讯卡进行测试。
CANopen 网络管理软件主要用于测试本公司的各种 CANopen 通讯卡与 CANopen 网络上各种从站的连接状态。软件主界面如下：
网址：（嵌入式系统事业部）
（工控网络事业部）

（楼宇自动化事业部）
技术支持： CAN-bus：
电话：(020)22644381 22644382 22644253 邮箱：can.support@
mifare.support@
销售：
电话：(020)22644249 22644399 22644372 22644261 28872524 28872342 28872349 28872569 28872573 38601786
维修：
电话：(020)22644245
产品用户手册
广州致远电子有限公司
CANopen卡和波特率。如果您的网络上大部分从站支持节点守护／心跳包，您可以设置“从站在线检查方式”为“节点守护”或者“心跳包检测”，这时“从站在线检查周期”将作为主站轮循周期或从站的心跳包发送周期。
EDS 文件导入后点击工具条上的
地址：北京市海淀区知春路 113 号银网中心 A 座 1207-1208 室（中发电子市场斜对面）电话：(010)62536178 62536179 82628073 传真：(010)82614433
重庆周立功
地址：重庆市石桥铺科园一路二号大西洋国际大厦（赛格电子市场）1611 室电话：(023)68796438 68796439 传真：(023)68796439
3. 二次开发说明...........................................................................................................8
3.1 API开发 ........................................................................................................................ 8 3.2 组态开发....................................................................................................................... 8
深圳周立功
武汉周立功
地址：深圳市深南中路 2070 号电子科技大厦 C 座 4 楼D室电话：(0755)83781788（5 线）传真：(0755)83793285
地址：武汉市洪山区广埠屯珞瑜路 158 号 12128 室（华中电脑数码市场）电话：(027)87168497 87168297 87168397 传真：(027)87163755
产品用户手册
©2010 Guangzhou ZHIYUAN Electronics CO., LTD. ii
广州致远电子有限公司
CANopen 主站卡用户手册
销售与服务网络（二）
广州致远电子有限公司
地址：广州市天河区车陂路黄洲工业区 3 栋 2 楼
邮编：510660
传真：(020)38601859
MiniARM：
电话：(020)28872684 28267813 邮箱：miniarm.support@
无线通讯：
电话：(020) 22644386 邮箱：wireless@
编程器：
电话：(020)22644371 邮箱：programmer@
如果有从站因为超时而没有搜索到或者您想取消对某个从站的管理时，您还可以点击