ICP DAS USA PISO-CPM100U-D User manual

PISO-CPM100(U) / PCM-CPM100 user manual (ver. 2.02) Dec/03/2012 ----------------- 1
PISO-CPM100U-D/T
PCM-CPM100-D
CANopen Master PCI/ PCI-104 Card
User’s Manual
Warranty
All products manufactured by ICP DAS are warranted
against defective materials for a period of one year from
the date of delivery to the original purchaser.
Warning
ICP DAS assume no liability for damages consequent
to the use of this product. ICP DAS reserves the right to
change this manual at any time without notice. The
information furnished by ICP DAS is believed to be
accurate and reliable. However, no responsibility is
assumed by ICP DAS for its use, nor for any infringements
of patents or other rights of third parties resulting from its
use.
Copyright
Copyright 2008 by ICP DAS. All rights are reserved.
Trademark
The names used for identification only maybe registered
trademarks of their respective companies.

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Tables of Content
1. General Information................................................................................6
1.1. CANopen Introduction.................................................................6
1.2. CANopen Applications ................................................................7
1.3. CPM100 Library Characteristics.................................................8
2. Hardware Configuration.......................................................................12
2.1. Board Layout..............................................................................12
2.1.1. 5-pin screw terminal connector....................................................15
2.1.2. 9-pin D-sub male connector.........................................................16
2.1.3. Wire Connection ..........................................................................17
2.2. Green LED ..................................................................................18
2.3. Red LED......................................................................................18
2.4. Hardware Installation.................................................................18
3. Software Installation.............................................................................19
3.1. Software Structure.....................................................................19
3.2. Installation Driver Step by Step ................................................20
4. CPM100 Function Library.....................................................................24
4.1. Function List ..............................................................................24
4.2. Function Return Code ...............................................................27
4.3. CANopen Master Library Application Flowchart.....................29
4.4. Communication Services Introduction ....................................31
4.5. Function Description.................................................................34
4.5.1. CPM100_GetVersion...................................................................34
4.5.2. CPM100_TotalBoard...................................................................35
4.5.3. CPM100_GetBoardSwitchNo......................................................36
4.5.4. CPM100_GetBoardInf.................................................................37
4.5.5. CPM100_GetCANStatus .............................................................38
4.5.6. CPM100_SetFunctionTimeout ....................................................39
4.5.7. CPM100_InitMaster ....................................................................40
4.5.8. CPM100_ShutdownMaster..........................................................41
4.5.9. CPM100_ MasterSendBootupMsg..............................................42
4.5.10. CPM100_SetMasterMode............................................................43
4.5.11. CPM100_GetMasterMode...........................................................44
4.5.12. CPM100_GetFirmwareVersion....................................................45
4.5.13. CPM100_EDS_Load ...................................................................46
4.5.14. CPM100_AddNode......................................................................47
4.5.15. CPM100_RemoveNode...............................................................49

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4.5.16. CPM100_RemoveAndResetNode ...............................................50
4.5.17. CPM100_DelayAndResponseTimeout........................................51
4.5.18. CPM100_ScanNode.....................................................................52
4.5.19. CPM100_GetNodeList ................................................................53
4.5.20. CPM100_NMTChangeState........................................................54
4.5.21. CPM100_NMTGetState...............................................................55
4.5.22. CPM100_NMTGuarding.............................................................56
4.5.23. CPM100_NMTHeartbeat.............................................................57
4.5.24. CPM100_SDOReadData .............................................................58
4.5.25. CPM100_SDOReadFile...............................................................59
4.5.26. CPM100_SDOWriteData.............................................................60
4.5.27. CPM100_SDOAbortTransmit .....................................................61
4.5.28. CPM100_PDOWrite....................................................................62
4.5.29. CPM100_PDOWrite_Fast ...........................................................63
4.5.30. CPM100_PDORemote.................................................................64
4.5.31. CPM100_PDORemote_Fast........................................................65
4.5.32. CPM100_SetPDORemotePolling................................................66
4.5.33. CPM100_GetPDOLastData.........................................................67
4.5.34. CPM100_GetPDOLastData_Fast................................................68
4.5.35. CPM100_GetMultiPDOData.......................................................69
4.5.36. CPM100_GetMultiPDOData_Fast..............................................70
4.5.37. CPM100_GetRxPDOID ..............................................................71
4.5.38. CPM100_GetTxPDOID...............................................................72
4.5.39. CPM100_InstallPDO...................................................................73
4.5.40. CPM100_DynamicPDO ..............................................................74
4.5.41. CPM100_RemovePDO................................................................75
4.5.42. CPM100_ChangePDOID.............................................................76
4.5.43. CPM100_GetPDOMapInfo .........................................................77
4.5.44. CPM100_InstallPDO_List...........................................................78
4.5.45. CPM100_RemovePDO_List........................................................80
4.5.46. CPM100_PDOUseEntry..............................................................81
4.5.47. CPM100_PDOTxType.................................................................82
4.5.48. CPM100_PDOEventTimer..........................................................83
4.5.49. CPM100_PDOInhibitTime..........................................................84
4.5.50. CPM100_ChangeSYNCID..........................................................85
4.5.51. CPM100_SetSYNC_List.............................................................86
4.5.52. CPM100_GetSYNCID ................................................................87
4.5.53. CPM100_SendSYNCMsg ...........................................................88

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4.5.54. CPM100_GetCyclicSYNCInfo....................................................89
4.5.55. CPM100_ChangeEMCYID.........................................................90
4.5.56. CPM100_SetEMCY_List............................................................91
4.5.57. CPM100_GetEMCYID................................................................92
4.5.58. CPM100_ReadLastEMCY ..........................................................93
4.5.59. CPM100_GetBootUpNodeAfterAdd...........................................94
4.5.60. CPM100_GetEMCYData............................................................95
4.5.61. CPM100_GetNMTError..............................................................96
4.5.62. CPM100_InstallBootUpISR........................................................97
4.5.63. CPM100_RemoveBootUpISR.....................................................98
4.5.64. CPM100_InstallEMCYISR .........................................................99
4.5.65. CPM100_RemoveEMCYISR....................................................100
4.5.66. CPM100_InstallNMTErrISR.....................................................101
4.5.67. CPM100_RemoveNMTErrISR..................................................102
4.5.68. CPM100_GetMasterReadSDOEvent.........................................103
4.5.69. CPM100_GetMasterWriteSDOEvent........................................104
4.5.70. CPM100_ResponseMasterSDO.................................................105
4.5.71. CPM100_InstallReadSDOISR...................................................106
4.5.72. CPM100_RemoveReadSDOISR ...............................................107
4.5.73. CPM100_InstallWriteSDOISR..................................................108
4.5.74. CPM100_RemoveWriteSDOISR...............................................109
4.5.75. CPM100_GetMasterRemotePDOEvent ....................................110
4.5.76. CPM100_GetMasterRxPDOEvent ............................................111
4.5.77. CPM100_ResponseMasterPDO.................................................112
4.5.78. CPM100_InstallRxPDOISR......................................................113
4.5.79. CPM100_RemoveRxPDOISR...................................................114
4.5.80. CPM100_InstallRemotePDOISR ..............................................115
4.5.81. CPM100_RemoveRemotePDOISR...........................................116
5. Demo Programs..................................................................................117
5.1. Brief of the demo programs....................................................117
5.1.1. Listen_Mode..............................................................................118
5.1.2. NMT_Protocol...........................................................................119
5.1.3. PDO_Parameter .........................................................................120
5.1.4. PDO_Protocol............................................................................121
5.1.5. Scan_Node.................................................................................122
5.1.6. SDO_PDO_ISR .........................................................................123
5.1.7. SDO_Read .................................................................................124
5.1.8. SDO_Write.................................................................................125

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5.1.9. SYNC_Protocol .........................................................................126
5.1.10. PDO_MultiData.........................................................................127
6. Update Firmware.................................................................................128

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1. General Information
1.1. CANopen Introduction
The CAN (Controller Area Network) is a kind of serial communication
protocols, which efficiently supports distributed real-time control with a very
high level of security. It is an especially suited for networking intelligent devices
as well as sensors and actuators within a system or sub-system. In CAN
networks, there is no addressing of subscribers or stations in the conventional
sense, but instead, prioritized messages are transmitted. CANopen is one kind
of the network protocols based on the CAN bus and it is applied in a low level
network that provides the connections between simple industrial devices
(sensors, actuators) and higher-level devices (controllers), as shown in the
Figure 1.1.
Figure 1.1 Example of the CANopen network
CANopen was developed as a standardized embedded network with
highly flexible configuration capabilities. It provides standardized
communication objects for real-time data (Process Data Objects, PDO),
configuration data (Service Data Objects, SDO), network management data
(NMT message, and Error Control), and special functions (Time Stamp, Sync
message, and Emergency message). Nowadays, CANopen is used for many
various application fields, such as medical equipment, off-road vehicles,
maritime electronics, public transportation, building automation and so on.

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1.2. CANopen Applications
CANopen is the standardized network application layer optimized for
embedded networks. Its specifications cover the standardized application layer,
frameworks for the various applications (e.g. general I/O, motion control
system, maritime electronics and so forth) as well as device, interface, and
application profiles.
The main CANopen protocol and products are generally applied in the
low-volume and mid-volume embedded systems. The following examples
show some parts of the CANopen application fields. (For more information,
please refer to the web site, http://www.can-cia.org):
Truck-based superstructure control systems
Off-highway and off-road vehicles
Passenger and cargo trains
Maritime electronics
Factory automation
Industrial machine control
Lifts and escalators
Building automation
Medical equipment and devices
Non-industrial control
Non-industrial equipment

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1.3. CPM100 Library Characteristics
In order to use the PCI CAN board of PISO-CPM100(U) and the PCI-104
CAN board of PCM-CPM100, we provide CPM100 library for VC, VB.net and
C# development, and users can use it to establish the CANopen
communication network rapidly. Most of the CANopen communication
protocols, such as PDO, SDO and NMT, would be handled by the library
automatically. Therefore, it is helpful to reduce the complexity of developing a
CANopen master interface, and let users ignore the detail CANopen protocol
technology. This library mainly supports connection sets of master-slave
architecture, which include some useful functions to control the CANopen
slave device in the CANopen network. The following figure describes the
general application architecture of CPM100 series.
Figure 1.2 Example of application architecture
The CPM100 series follows the CiA CANopen specification DS-301 V4.02,
and supports the several CANopen features. The CANopen communication
general concept is shown as Figure 1.3.

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Figure 1.3 CANopen communication general concept
Node Manager (NMT Master)
- Functions for changing the slave device state
- Node Guarding and Heartbeat Protocol for error control
- Support Emergency (EMCY) messages
SDO Manager
- Expedited, segmented and block methods for SDO download and
upload
PDO Manager
- Support all transmission types and event timer
SYNC Manager
- SYNC message production
- SYNC cycles of 0.1ms resolution
EMCY Manager
- EMCY message consumer
For more information about the CANopen functions described above,
please refer to the function descriptions and demo programs shown in the
chapter 3 and chapter 4.

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Specifications
PISO-CPM100-D/T:
33 MHz 32bit 5 V PCI bus (V2.1) plug and play technology.
Connector: 5-pin screw terminal or 9-pin D-sub male connector.
PISO-CPM100U-D/T:
Universal PCI card supports both 5 V and 3.3 V PCI bus.
Connector: 5-pin screw terminal or 9-pin D-sub male connector.
PCM-CPM100-D:
PCI-104 card supports both 5 V and 3.3 V PCI bus.
Connector: 9-pin D-sub male connector.
CPU: 80186 compactable CPU, 80 MHz.
CAN controller: NXP SJA1000T with 16 MHz.
CAN transceiver: NXP 82C250.
CAN bus interface: Follow ISO 11898-2 specification.
Isolation voltage: 2500 Vrms photo-isolation protection on CAN side.
Power requirements: 5 V@ 400 mA.
Operating Temperature: 0 ~+60 ℃.
Storage Temperature: -20 ~+80 ℃.
Humidity: 0 ~ 90% non-condensing.
Dimensions: please refer to section 2.1.
Features
One CAN communication port.
Follow CiA DS-301 V4.02.
Support 8 kinds baud: 10 kbps, 20 kbps, 50 kbps, 125 kbps, 250 kbps, 500
kbps, 800 kbps, and 1 Mbps.
Support the node id range from 1 ~ 127.
Support upload and download SDO Segment.
Support Node Guarding protocol and Heartbeat protocol.
Provide 5 sets of SYNC cyclic transmission.
Support EDS file.
Support EMCY protocol.
Timestamp of CAN message with at least ±1ms precision.
Jumper select 120Ω terminator resistor for CANopen network.
Support firmware update.
Two indication LEDs (Tx/Rx and Err LEDs).

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Provide Listen Mode to listen the slave status of the CANopen network.
Block-function and non-block-function selected.
Demos and utility are provided.
Library provides VC++, C#.Net2005, and VB.Net2005 developments.

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2. Hardware Configuration
This section would describe the hardware setting of the
PISO-CPM100(U) and PCM-CPM100. This information includes the wire
connection and terminal resistance configuration for the CAN network.
2.1. Board Layout
Figure 2.1 PISO-CPM100 board layout

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Figure 2.2 PISO-CPM100U board layout
Figure 2.3 PCM-CPM100 board layout

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Jumper Selection
The following table shows the definition of jumpers and DIP switch. Users
need to refer to this table to configure the CPM100 series hardware.
Name Jumper Status Description
PISO-CPM100U JP3
Enable Disable
PCM-CPM100 JP5
Enable Disable
The Flash protection
jumper. If users would
like to protect the data of
the Flash. Enable this
jumper. In this case, the
firmware can’t be
updated from the utility.
PISO-CPM100 JP1
Enable Disable
PISO-CPM100U JP4
Enable Disable
PCM-CPM100 JP6
Enable Disable
The 120Ωterminal
resistance of the CAN
bus.
PISO-CPM100 JP3
Enable Disable
PISO-CPM100U SW2
PCM-CPM100 SW1
Reset button / pin for
download error. If users
want to update firmware
but the process is fail,
users can enable this
jumper to reset CPM100
into download mode.
PISO-CPM100
PISO-CPM100U
PCM-CPM100
DIP
switch
The situation
indicates the board
No. 1.
The DIP switch is for the
PISO-CM100U board
No. If the left-hand-side
switch (bit No. 1) is ON,
the board No. is set to 1.
The range of the board
No. is from 0 to 15.
Table 2.1 Jumper or DIP switch selections

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Connector Pin Assignment
The CPM100 series have two kinds of connector. One is 5-pin screw
terminal connector and the other is 9-pin D-sub male connector for wire
connection of the CANopen network. The connector’s pin assignment is
specified as follows:
2.1.1. 5-pin screw terminal connector
The 5-pin screw terminal connector of the CAN bus interface is shown in
figure 2.2. The details for the pin assignment are presented in the following
table.
Figure 2.2 5-pin screw terminal connector
Pin No. Signal Description
1 N/A No use
2 CAN_L CAN_L bus line (dominant low)
3 CAN_SHLD Optional CAN shield
4 CAN_H CAN_H bus line (dominant high)
5 N/A No use
Table 2.2 Pin assignment of 5-pin screw terminal connector

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2.1.2. 9-pin D-sub male connector
The 9-pin D-sub male connector of the CAN bus interface is shown in
figure 2.3 and the corresponding pin assignments are given in following table.
Figure 2.3 9-pin D-sub male connector
Pin No. Signal Description
1 N/A No use
2 CAN_L CAN_L bus line (dominant low)
3 N/A No use
4 N/A No use
5 CAN_SHLD Optional CAN Shield
6 N/A No use
7 CAN_H CAN_H bus line (dominant high)
8 N/A No use
9 N/A No use
Table 2.3 Pin assignment of the 9-pin D-sub male connector

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2.1.3. Wire Connection
In order to minimize the reflection effects on the CAN bus line, the CAN
bus line has to be terminated at both ends by two terminal resistances as in the
following figure. According to the ISO 11898-2 spec, each terminal resistance
is 120Ω(or between 108Ω~132Ω). The length related resistance should have
70mΩ/m. Users should check the resistances of the CAN bus, before they
install a new CAN network.
Figure 2.4 CANopen network topology
Moreover, to minimize the voltage drop over long distances, the terminal
resistance should be higher than the value defined in the ISO 11898-2. The
following table can be used as a good reference.
Bus Cable Parameters
Bus Length
(meter)
Length Related
Resistance
(mΩ/m)
Cross Section
(Type)
Terminal
Resistance
(Ω)
0~40 70
0.25(23AWG)~0.34
mm2(22AWG) 124 (0.1%)
40~300 <60
0.34(22AWG)~0.6
mm2(20AWG) 127 (0.1%)
300~600 <40 0.5~0.6mm2
(20AWG) 150~300
600~1K <20 0.75~0.8mm2
(18AWG) 150~300
Table 2.4 Relationship between cable feature and terminal resistance

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2.2. Green LED
After CPM100 has been activated, the greed LED would be flashed once
when CPM100 receives or transmits one message to CAN bus successfully. If
the bus loading is heavy, the green LED would turn on always.
2.3. Red LED
When some error occurs, the red LED would turn on until the error has
been solved. Users can use CPM100_GetCANStatus function to get the
situation except buffer status.
2.4. Hardware Installation
When users want to use CPM100, the hardware installation needs to be
finished as following steps.
1. Shutdown your personal computer.
2. Configure the DIP switch for the board No. and the terminal
resistance. The more detail information could be found on the
section 2.1.
3. Find an empty PCI / PCI-104 slot for the CPM100 on the mother
board of the personal computer and plug the configured CPM100
into this empty PCI / PCI-104 slot.
4. Plug the CAN bus cable(s) into the 5-pin screw terminal
connector or the 9-pin D-sub connector.
When the procedure described above is completed, turn on the PC.

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3. Software Installation
3.1.Software Structure
The CPM DLL driver is the CANopen specification function collections for
the CPM100 cards used in Windows 2000/XP/Vista/7 with 32-bit systems. The
application structure is presented in the following figure. The users’ CANopen
master application programs can be developed by the following program
development tools: VC++, VB.net, and C#. The driver architecture is shown in
the following Figure.
CPM100
Function Library
Users’ Programs
CM100
Function Library
CM100
Kernel Driver
CPM100
Firmware
Application
User Mode
Kernel Mode
Windows
Operation
MiniOS7
O
p
eration
PCI Bus & DPR
A
M
KP_CM100.sys
CPM10XXX.exe
Firmware
CM100.dll
CPM100.dll
Figure 3.1 Driver concept of CPM100

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3.2.Installation Driver Step by Step
When users want to use the CPM100 CAN card, the CPM100 driver must
be installed firstly. After finishing the installation process, the CPM_Utility and
the demo programs would also be installed to the PC. The demo programs
may be a good reference for users to build their CANopen master interface by
using VC++, C# and VB.net. The demo programs also give a simple interface
to show the basic functions of master/slave connection and CANopen master
program architectures. It is very helpful for users to understand how to use
these functions and develop their CANopen master application. If users do not
want to develop this application by themselves, the CPM_Utility can be used to
be an easily CANopen master program. The following description displays the
step-by-step procedures about how to install the CPM100 driver.
Install the CPM100 CAN card driver
Step 1: Insert the product CD into the CD-ROM and find the path
\CANopen\Master\PISO-CPM100\Install\. Then execute the
PISO-CPM100.exe to install the CPM100 CAN card driver.
Step 2: Wait until the install wizard has prepared.
Step 3: Click “Next” to start the CPM100 installation.