Sys Tec Electronic CANopen ChipF40 User guide

CANopen ChipF40
System Manual
Edition June 2012
System House for Distributed Automation

© SYS TEC electronic GmbH 2010 L-1062e_9
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L-1062e_9 © SYS TEC electronic GmbH 2010
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9th Edition June 2012

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Table of Content
L-1062e_9 © SYS TEC electronic GmbH 2010
Table of Content
1Preface..................................................................................................1
2Introduction to the CANopen ChipF40............................................3
2.1Features ........................................................................................4
3Hardware Overview............................................................................5
3.1Pin Layout....................................................................................5
3.2Pin Description Of The Board......................................................6
3.3Board Configuration.....................................................................7
3.3.1DIP-Switch......................................................................7
3.3.2CAN Transceiver ............................................................8
3.4Reset.............................................................................................8
3.5Configuration of Communication Parameters .............................9
3.6Default Configuration ................................................................13
3.7Pin Assignments for Selected I/O Configurations F40..............13
3.8Pin Assignments for Selected I/O Configurations F40 V3........15
3.9Technical Data............................................................................17
4Setting up the CANopen ChipF40...................................................19
4.1Power Supply .............................................................................19
4.2CAN Interface ............................................................................19
5QuickStart..........................................................................................21
5.1Start-Up of the CANopen ChipF40 ...........................................21
5.2Shut-Down of the CANopen ChipF40.......................................21
5.3CAN Message and Identifier......................................................22
5.4PDO Mapping for I/O’s .............................................................22
5.4.1Default Mapping CANopen ChipF40...........................23
5.4.2Default Mapping CANopen ChipF40 V3.....................23
5.5Board Reset ................................................................................24
5.6Node-Guarding...........................................................................24
6Controller Area Network – CAN.....................................................27
6.1Communication with CANopen.................................................27
6.2CAN Application Layer.............................................................29
6.3CANopen – Open Industrial Communication............................30
7CANopen Communication...............................................................33
7.1CANopen Fundamentals............................................................33
7.2CANopen Device Profiles..........................................................34
7.3Communication Profile..............................................................35
7.4Service Data Objects..................................................................35
7.5Process Data Objects..................................................................36
7.6PDO-Mapping............................................................................38
7.7Error Handling............................................................................39
7.8Network Services .......................................................................39

© SYS TEC electronic GmbH 2010 L-1062e_9
7.8.1Life-Guarding ...............................................................40
7.8.2Heartbeat....................................................................... 40
7.8.3Heartbeat Producer........................................................ 40
7.8.4Heartbeat Consumer...................................................... 41
7.9Network Boot-Up....................................................................... 42
7.10Object Dictionary Entries ..........................................................44
7.11PDO Mapping Example............................................................. 45
7.12Input/Output Assignment to Object Dictionary Entries ............47
8CANopen ChipF40 Operation.........................................................49
8.1CANopen State Transitions ....................................................... 49
8.2Power On.................................................................................... 50
8.3PRE-OPERATIONAL............................................................... 50
8.4OPERATIONAL........................................................................ 50
8.5STOPPED .................................................................................. 50
8.6Restart Following Reset / Power-On ......................................... 50
8.7NMT-Boot-Configuration..........................................................52
8.8Analog Input Operation ............................................................. 53
8.8.1Handling Analog Values............................................... 53
8.8.2Formula for Calculating the Analog Input Value......... 53
8.8.3Selecting the Interrupt Trigger...................................... 54
8.8.4Interrupt Source ............................................................ 55
8.8.5Interrupt Enable ............................................................55
8.8.6Interrupt Upper and Lower Limit ................................. 55
8.8.7Delta Function...............................................................56
8.8.8Example for Trigger Conditions................................... 57
8.9Functionality of PWM Outputs.................................................. 58
8.10Emergency Message .................................................................. 58
8.10.1Error Code..................................................................... 59
8.10.2Error Register................................................................ 59
8.11Display State at Run and Error LED ........................................60
8.11.1Run LED.......................................................................60
8.11.2Error LED ..................................................................... 61
9Operation in the Event of Errors....................................................63
9.1State of the CANopen ChipF40 in the Event of Errors............. 63
9.2Output Handling in the Event of Errors..................................... 63
9.2.1Digital Outputs.............................................................. 63
9.2.2PWM Outputs ............................................................... 64
9.3Changing from Error State to Normal Operation ...................... 65
10Object Dictionary CANopen ChipF40............................................67
11Object Dictionary CANopen ChipF40 V3......................................69
12Revision History of this Document.................................................. 71

Table of Content
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Index............................................................................................................73

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Index of Figures
L-1062e_9 © SYS TEC electronic GmbH 2010
Index of Figures
Figure 1:Pin Layout..................................................................................5
Figure 2:DIP-switch Pinout and Functions ..............................................7
Figure 3:DIP-switch Pinout and Functions, version 3301002 only.........8
Figure 4:structure of /RESIN Line ...........................................................8
Figure 5:State Diagram of a CANopen Device......................................43
Figure 6:Example Trigger Conditions....................................................57

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