Phytec SYS TEC ELECTRONIC CANopen Chip164 Programming manual

Development Kit
CANopen Chip164
Quickstart Instructions
Edition February 2003
A company of the PHYTEC Technologie Holding AG

Development Kit CANopen Chip164
© SYS TEC electronic GmbH 2003 L-1006e_2
In this manual are descriptions for copyrighted products which are not explicitly
indicated as such. The absence of the trademark () symbol does not infer that a
product is not protected. Additionally, registered patents and trademarks are
similarly not expressly indicated in this manual
The information in this document has been carefully checked and is believed to be
entirely reliable. However, SYS TEC electronic GmbH assumes no responsibility
for any inaccuracies. SYS TEC electronic GmbH neither gives any guarantee nor
accepts any liability whatsoever for consequential damages resulting from the use
of this manual or its associated product. SYS TEC electronic GmbH reserves the
right to alter the information contained herein without prior notification and
accepts no responsibility for any damages which might result.
Additionally, SYS TEC electronic GmbH offers no guarantee nor accepts any
liability for damages arising from the improper usage or improper installation of
the hardware or software. SYS TEC electronic GmbH further reserves the right to
alter the layout and/or design of the hardware without prior notification and
accepts no liability for doing so.
Copyright 2003 SYS TEC electronic GmbH. rights – including those of
translation, reprint, broadcast, photomechanical or similar reproduction and
storage or processing in computer systems, in whole or in part – are reserved. No
reproduction may occur without the express written consent from SYS TEC
electronic GmbH.
EUROPE NORTH AMERICA
Address: SYS TEC electronic GmbH
August-Bebel-Str. 29
D-07973 Greiz
GERMANY
PHYTEC America LLC
203 Parfitt Way SW, Suite G100
Bainbridge Island, WA 98110
USA
Ordering
Information:
+49 (0) 36 61 / 62 79-0
[e-mail]
[phone]
[email protected]
Technical Support: +49 (0) 36 61 / 62 79-0
[e-mail]
[phone]
[email protected]
Fax: [phone] / 6 32 48 [phone]
Web Site: http://www.systec-electronic.de http://www.phytec.com
2nd Edition February 2003

Contents
SYS TEC electronic GmbH 2003 L-1006e_2
Table of Contents
1 Introduction to the Development Kit.................................................1
1.1 Contents of the Development Kit CANopen Chip164 .................1
1.2 Documentation..............................................................................2
1.3 Software........................................................................................2
2 Hardware Installation.........................................................................3
2.1 Installing the CANopen Chip164 on the Developmentboard.......3
2.2 Selecting the Power Supply..........................................................4
2.3 The Physical Connection of the CAN Interface ...........................5
2.4 Installing the PCAN-Dongle.........................................................6
2.5 Installing the USB-CANmodul.....................................................7
2.6 Connecting the CAN Cable ..........................................................7
3 Software Installation ...........................................................................9
3.1 Installation of ProCANopen Demo ..............................................9
3.2 Installation of the PCAN-Dongle driver.......................................9
3.3 Installation of the USB-CANmodul driver.................................10
3.4 Installation of the SYS TEC driver for ProCANopen ................11
4 ProCANopen Demo ...........................................................................13
4.1 Operating the Configuration Tool ..............................................13
5 Accessing the Object Dictionary Entries.........................................17
5.1 Access to Digital Outputs ...........................................................17
5.2 Reading Digital Inputs................................................................18
6 Installation PCANView.....................................................................19

Development Kit CANopen Chip164
© SYS TEC electronic GmbH 2003 L-1006e_2
Figures
Figure 1: Developmentboard Overview....................................................... 3
Figure 2: Suitable Developmentboard Jumper Settings............................... 4
Figure 3: Power Connector .......................................................................... 4
Figure 4: Developmentboard DB-9 CAN Plug Pinout ................................ 5
Figure 5: Recommended Parameters of the CAN Cable ............................. 5
Figure 6: CAN Bus Connection Circuitry.................................................... 6

Introduction to the Development Kit
SYS TEC electronic GmbH 2003 L-1006e_2 1
1Introduction to the Development Kit
The Quickstartmanual for Development Kit CANopen Chip164 is a
low-cost entry into the development of your own CANopen products
and gives an overview of the possibilities and features of the
CANopen software and the CAN hardware. The Kit includes all
components of a CANopen network, such as microcontroller module,
the PC-to-CAN interface and a CANopen configuration tool.
The demo software components are fully operational with limited
functions. Other than these restrictions, the user interface functions
exactly as the full version.
System Requirements
Use of this CANopen Chip164 Development Kit requires:
•an IBM-compatible host-PC (486 or higher running at
Windows9x/ME/NT/2000/XP) for use with PCAN-Dongle or
•an IBM-compatible host-PC (486 or higher running at
Windows98/ME/2000/XP) for use with USB-CANmodul
•one free parallel interface (LPT) for the PCAN-Dongle or
•one free USB port for the USB-CANmodul
1.1 Contents of the Development Kit CANopen Chip164
1x MM-215-Y CANopen Chip164
1x MM-993 Developmentboard Dipmodul
1x PK-003 PCAN-Dongle (PC LPT interface), with either DIN
or PK-004 or PS/2 power supply connector
or GW-002 USB-CANmodul
1x WK045 CAN cableset
1x SV007 Power Supply 9V/500mA

Development Kit CANopen Chip164
2© SYS TEC electronic GmbH 2003 L-1006e_2
1.2 Documentation
1x L-1006 QuickStart Manual Development Kit CANopen
Chip164
in Products\KMM-215-Y\/Quickst (this document)
1x L-1000 Hardware Manual Developmentboard Dipmodul
in Products\MM-993\Manual
1x L-589 System Manual CANopen Chip164
in Products\MM-215-Y\Manual
1x L-518 Software Manual CANdriver for Vector-Products
in Products\SO-807\Manual
1x L-487 Manual USB-CANmodul
in Products\GW-002\Manual
1x Manual ProCANopen Demo
in Products\SO-1013\
1.3 Software
1x SO-841 CANopen Chip164, .eds and .bmp files
1x SO-840 PCAN-Dongle Driver 32bit
1x SO-807 CANdriver for Vector-Products
1x SO-1013 ProCANopen and CANsetter, Demo version
1x SO-387 USB-CANmodul drivers and tools
All documentation and software is included on your CANopen
Development Kit CD-ROM in the corresponding folders.
For more information and example updates, please refer to the
following sources:
http://www.systec-electronic.de or http://www.phytec.com
[e-mail] or [email protected]

Hardware Installation
SYS TEC electronic GmbH 2003 L-1006e_2 3
2Hardware Installation
2.1 Installing the CANopen Chip164 on the
Developmentboard
Before installing the CANopen Chip164 on the Developmentboard,
check the configuration of dip-switch on the top side of the CANopen
Chip164. The dips 1..8 must be on position OFF. This configuration
results in the following:
•a NodeID of 40h
•a bitrate of 125kBit/s (refer to CANopen Chip164 System-Manual,
L-589).
•the I/O configuration 0 (see L589 for more information; only this
configuration is used from the peripheral components on the
Developmentboard)
If the CANopen Chip164 is not already pre-installed, mount it pins-
down onto the Developmentboard’s receptacle footprint (X101) for
DIPmodules as shown in Figure 1 below. Ensure that pin 1 on the
module matches pin 1 of the receptacle on the Developmentboard.
Figure 1: Developmentboard Overview
160 mm
100 mm
DO0-DO3
RUNERROR
AI 0
AI 1
DI 0-DI 3
RUN/Stop
RS232CAN
ResetBoot
JP112
Spg.-
Buchse
Spg.-
Klemme
Netzteil
JP100 – JP111
DIPmodul-505
DIPmodul-164
Wra
p
-Feld
GPIO-Steckverbinder
JP200 - JP211
X202
X201
X204
X203

Development Kit CANopen Chip164
4© SYS TEC electronic GmbH 2003 L-1006e_2
Configure the Jumpers on the Developmentboard as indicated below.
This correctly routes the CAN signals to the DB-9 connector (P2) and
connects the onboard peripheral devices to the CANopen Chip164.
Figure 2: Suitable Developmentboard Jumper Settings
2.2 Selecting the Power Supply
There are two ways to connect a power supply to the
Developmentboard:
•Connection via the low voltage socket at (8 - 13VDC), X102
•Connection via the low voltage terminal block (8 - 13VDC), X103
Note: Please avoid changing jumpers or modules while the
Developmentboard is powered on!
Connection via the Low Voltage Socket X102
An unregulated power supply ranging from 8V to 13V can be
connected to the Developmentboard at low voltage socket X102.
+8..13VDC
GND
300mA
center hole
2,0mm 5,5mm
-+
polarity:
Figure 3: Power Connector
JP102
JP 104 JP 108 JP 100
JP 101 JP 103 JP 105 JP 106 JP 107 JP 109 JP 110 JP 111

Hardware Installation
SYS TEC electronic GmbH 2003 L-1006e_2 5
Connection via the Low Voltage Terminal Block X103
The low voltage terminal block is located next to the voltage socket at
X102.
Ensure that the correct polarity is applied to the terminal block. The
GND-Connection is near X102.
The configuration of the Developmentboard is now complete.
2.3 The Physical Connection of the CAN Interface
The Developmentboard provides a DB-9 connector for the physical
CAN bus connection. The pin definition for the CAN plug P2 is
shown in the table below:
Pin Pin description
2 CAN_L (dominant low)
3 CAN_GND
7 CAN_H (dominant high)
Figure 4: Developmentboard DB-9 CAN Plug Pinout
The CAN bus cable can be either a twisted pair or a ribbon cable. A
120 Ohm termination resistor has to be connected to the cable
between CAN_H and CAN_L at both ends of the bus cable. The
Jumper JP112 on the Developmentboard must be open. The wave
resistance of the cable should be 120 Ohm. The wire diameter
depends on the cable length as shown in Figure 5:
For cable extensions of more than 200 meters, it is recommended to
optically isolate the CAN nodes.
Cable length
[m]
Maximum
Bitrate
[kbit/s]
Specific
resistance
[mΩ
ΩΩ
Ω]
Wire diameter
[mm²]
0...40 1000 70 0,25...0,34
40...100 500 < 60 0,34...0,60
100...500 100 < 40 0,50...0,60
500...1000 20 < 26 0,75...0,80
Figure 5: Recommended Parameters of the CAN Cable

Development Kit CANopen Chip164
6© SYS TEC electronic GmbH 2003 L-1006e_2
Figure 6 shows the general CAN bus connection circuitry. The
galvanic isolation is not included in the Development Kit.
Figure 6: CAN Bus Connection Circuitry
2.4 Installing the PCAN-Dongle
Connecting the PCAN-Dongle to your host-PC should only be done
when the computer or laptop is powered off.
•First connect the PCAN-Dongle, using its DB-25 plug, to the
parallel printer port of a host-PC (desktop or laptop).
•Power for the PCAN-Dongle is supplied via the keyboard
connector.
•Insert either the PS/2 or DIN plug into the keyboard socket on the
host PC.
•Connect your keyboard cable to the PCAN-Dongle power supply
socket.
•Turn on your host-PC.
•The red LED on the PCAN-Dongle lights if power is supplied to
the device.
MC
(C50 5C)
VCC
5V DC
galvaniiche
so l at iung
VCC
5V DC
Transceiver
120 Ohm 120 Ohm
CAN_High
CAN_Low
MC
(C50 5C)
Pin 2
Pin 2 Pin 2
Pin 7
Pin 7
galvanic
Isolation

Hardware Installation
SYS TEC electronic GmbH 2003 L-1006e_2 7
2.5 Installing the USB-CANmodul
Note: Install the software before connecting the
USB-CANmodul to the host-PC.
For software installation see chapter 3.3.
For more information see the manual L-478.
You find the manual on the Development Kit CD-ROM under
“\products\GW-002\manual\”.
2.6 Connecting the CAN Cable
The CANopen Chip164 Development Kit includes the cable set
WK054. This set contains a 10 foot 9-pin ribbon cable with 5 DB-9
sockets and 2 DB-9 plugs with 120 Ohm termination resistors. One of
these plugs has a red and a black wire for externel supply of the CAN-
bus, but it is not used in the Development Kit!
This cable set is intended for rapid setup and demonstration purposes
only. For continuous operation use of a CAN cable as described in
section 2.3 Physical Connection is recommended.
Connect the DB-9 plugs with the built in 120 Ohm termination
resistors to each end of the CAN cable. Connect the remaining DB-9
sockets of the cable to the Developmentboard and the PC to CAN
interface.
All hardware components of the CANopen Chip164 Development Kit
should now be properly configured and connected to the CAN bus
cable. You are now ready to turn on the power supply to the
Developmentboard.
Note: Modifications to the hardware configuration and cables
should only be carried out while all devices are powered
off!

Development Kit CANopen Chip164
8© SYS TEC electronic GmbH 2003 L-1006e_2

Software Installation
SYS TEC electronic GmbH 2003 L-1006e_2 9
3Software Installation
For software installation you need the following:
•SO-1013 (ProCANopen and CANsetter Demo)
•SO-840 (PCAN-Dongle Driver) or
•SO-387 (USB-CANmodul Driver)
•SO-807 (CANdriver for Vector-Products).
3.1 Installation of ProCANopen Demo
a) Insert the Development Kit CD-ROM in your CD-ROM drive.
b) Click on the "Start" button and choose "Run... "
c) In the dialog field "Run... ", enter
"<CD-ROM>:\products\SO-1013\pcocs40.exe"
Click on "OK" to start the program.
d) Follow the instructions on the screen to install the ProCANopen
software.
e) On the window “Select option CAN Hardware” choose: SYS TEC
CAN driver.
Next step is the software installation of the PC to CAN interface
PCAN-Dongle or USB-CANmodul depending on which is delivered
with the Kit.
3.2 Installation of the PCAN-Dongle driver
a) Click on the "Start" button and choose "Run... "
b) In the dialog field "Run... ", enter
"<CD-ROM>:\ products\SO-840\pcan_dng.exe "
Click on "OK" to start the program.
c) Follow the instructions on the screen to install the PCAN-Dongle
driver software.
Note: For use of the PCAN-Dongle with the ProCANopen Tool
the PCAN-Dongle must be configured by using the
program PCANView. This is installed together with the
driver.

Development Kit CANopen Chip164
10 © SYS TEC electronic GmbH 2003 L-1006e_2
a) Click on the “Start” button and select from the folder
programs\PCAN Dongle\ the program PCAN View.
b) The window “connect to hardware” appears. Click on “Add”.
c) At the next window choose PEAK Dongle-CAN SJA, I/O_address
378 and interrupt 7. These are the default values for using the
PCAN-Dongle on the parallel interface LPT1. This setting is the
base for the SYS TEC driver, see chapter 3.4.
d) After clicking “OK” the main window of PCANView appears.
Close it. Now the driver installation for PCAN-Dongle is finished.
3.3 Installation of the USB-CANmodul driver
Note: Install the software before connecting the
USB-CANmodul to the host-PC. Installation under
Windows2000 and XP requires to have administrator
rights during the installation process!
Installation and operation of the USB-CANmodul requires a host-PC
with a USB port that is running Microsoft Windows 98, ME, 2000
and XP. The USB-CANmodul will not work under Windows 95 and
NT because there is no USB support in these operating systems.
a) Click on the "Start" button and choose "Run... "
b) In the dialog field "Run... ", enter either
"<CD-ROM>:\products\GW-002\SO-387\win98\setup.exe" if
you are using a PC or laptop with Windows 98 or ME or
"<CD-ROM>:\products\GW-002\SO-387\win2k\setup.exe" if
you are using a PC or laptop with Windows 2000 or XP.
Click on "OK" to start the setup program.
c) Follow the setup instructions to install the USB-CANmodul
software.
Note: You will need to restart your PC at the end of the
installation procedure.
Make sure that the PC has finished boot before
connecting the USB-CANmodul.

Software Installation
SYS TEC electronic GmbH 2003 L-1006e_2 11
After installing the software you connect the USB cable with one free
USB port on the PC and the other side to the USB-CANmodul. Now
the USB-CANmodul installation will finish and the red LED will after
some flickering stay on.
For more information see the manual L-478.
3.4 Installation of the SYS TEC driver for ProCANopen
You find the install-instructions in the document CANdriver for
Vector-Products, Software-Manual L-518 in the directory
/Products/SO-807/Manuals.
a) Click on the "Start" button and choose "Run... "
b) In the dialog field "Run... ", enter
"<CD-ROM>:\ products\SO-807\setup.exe "
Click on "OK" to start the program.
c) Follow the instructions on the screen to install the driver.
d) Select on the last install screen “View readme” and “launch the
program”
Choose your hardware with HwSetup:
-PCANDongle with PCANDongle driver (with the settings from
chapter 2.4) or
-USB-CANmodul with USB2.x driver.
After finish of installation you can start ProCANopen Demoversion in
the folder ProCANopenDEMO\ProCANopen.
The ProCANopen includes an Online-Help.
The Manual for ProCANopen you find in directory /Products/SO-
1013/pco40_e.pdf.
Also installed is the CANSetter Demo Version. But CANSetter has
not the comfortable functions like ProCANopen.
Important for WindowsNT/2000/XP-users:
•You should be logged in with rights of Administrator.

Development Kit CANopen Chip164
12 © SYS TEC electronic GmbH 2003 L-1006e_2
•Make sure that you have enabled the use of the interrupt in the
device-manager, properties of LPT1 (parallel interface). Otherwise
the PCAN-Dongle can not work.
•The USB-CANmodul will not work under Windows95 and NT
because there is no USB support in these operating systems.

ProCANopen Demo
SYS TEC electronic GmbH 2003 L-1006e_2 13
4ProCANopen Demo
4.1 Operating the Configuration Tool
Start the ProCANopen Demo by selecting ProCANopen from within
the Programs|ProCANopenDEMO program group.
•The ProCANopen Demo main window will now appear:
Before accessing the devices, please verify the value of the baudrate
in the menu Project
Æ
Global configuration. The standard setting is
125 kbit/s. Do not modify this default value.
Make the setting for the SYS TEC driver under
Options\Environment\CAN Hardware:
“hard disk drive:\windows-directory\system32\SYSTEC candrv.dll”
(for example: C:\winnt\system32\ SYSTEC candrv.dll).
If you are using Windows98 or ME the driver is in the directory
“system”, for example: C:\Windows\System\ SYSTEC candrv.dll.

Development Kit CANopen Chip164
14 © SYS TEC electronic GmbH 2003 L-1006e_2
The ProCANopen Demo supports only the nodes 1, 2, 4, 5, 64, 65, 78,
102 for the first 30 days. In the next 30 days the access to the objects
is limited to the index 1000, 1004, 1008, 1009, 14xx, 18xx, 6000,
6200, 6401 (sub index 0..2). After 60 days the program will not start.
To prepare access to a device follow the next steps:
•Move the cursor to the node you want to access.
•Click the right mouse button and choose Configuration. A new
window Node configuration will appear:
•Enter a name and the value 64 for the node address.

ProCANopen Demo
SYS TEC electronic GmbH 2003 L-1006e_2 15
•Click on Device type. A new window Select EDS will appear.
•Choose SYS TEC electronic GmbH and COP164_0.EDS, then
click on OK (The EDS-files for the CANopen Chip164 are also
available on the SO-841 on the CD-ROM). You are back in the
Node configuration window to finish the configuration process.
•The following will appear:

Development Kit CANopen Chip164
16 © SYS TEC electronic GmbH 2003 L-1006e_2
Before accessing the I/Os on the CANopen Chip164 the device needs
to be rendered into Operational state.
•On the CANopen Chip164 icon, click the right mouse button and
choose Device Access with the left mouse button.
•To establish connection to the CANopen Chip164 click on the
Connect button. (If an error or warning message: SDO Manager
not found, is displayed, you can ignore it and continue).
•Click OK to exit this message window.
•In the tab Device State click on Enter Operational and exit this
window with OK.
•The CANopen Chip164 full access to the device is established.
Section 5 describes how to access the inputs and outputs of the
CANopen Chip164.
For detailed description of all capabilities of the ProCANopen Demo
program, please refer to the online help or the ProCANopen Demo
User’s Guide on the CD under SO-1013.
For further use of CANopen protocol it is very helpful to receive the
help from ProCANopen for connecting some nodes graphically. This
means you can very easy connect inputs from one node to the outputs
of a second node and configure it.
For testing this functionality you need a second node. Such a node
you can easily get from SYS TEC electronic GmbH, e.g. a second
Developmentboard with a CANopen Chip164.
Do not hesitate to contact us for further information.