CANopen应用层与通信配置规范DS301书签版

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"DS301(带书签)" 是一本关于CANopen协议的重要手册，由CANinAutomatione.V.编制。这本书包含了CANopen应用层和通信配置的详细信息，是学习和理解CANopen协议的必备资料。书签的添加是为了方便读者更有效地查阅和学习。 CANopen是一种在控制器局域网（Controller Area Network，CAN）基础上建立的高层通信协议，广泛应用于工业自动化领域。CiA（CAN in Automation）是一个国际组织，负责制定和维护CANopen的相关标准。DS301是CiA发布的草案标准，版本为4.02，日期为2002年2月13日。该文档的历史更新记录了自1999年以来的重大变化： 1. 对象字典结构进行了审查，这是CANopen协议中存储设备参数和状态的核心部分。 2. 添加了对象服务和网络管理（NMT）服务，这些服务允许设备进行初始化、控制和状态报告。 3. 定义并扩展了数据类型，使得数据传输更加灵活。 4. 规定了Boot Up Message，即设备启动时发送的信息，用于设备识别和配置。 5. 引入了可选的心跳机制，用于检测网络中设备的在线状态。 6. 增加了特定的紧急错误代码，以更好地表示设备或网络出现的问题。 7. 定义了额外的SDO（服务数据对象）中止代码，以处理传输错误。 8. 描述了定时驱动的PDO（过程数据对象）传输，允许预定义的数据在特定时间间隔自动传输。 9. 改进了PDO通信参数，优化了数据映射过程。 10. 清晰化了PDO映射程序，使设备间的数据交换更为准确。 11. 规范了SDO块传输，允许大块数据的快速传输。 12. 扩展了预定义的标识符集，以支持更多种类的设备。后续的更新，如2000年和2002年的修订，主要涉及错误修正、描述澄清以及增加了多个附录，包括设备配置、操作系统命令和提示、复用PDOs、模块化CANopen设备以及错误行为的详细说明。通过这份DS301手册，读者可以深入理解CANopen协议的工作原理、配置方法和错误处理机制，对于开发和调试CANopen设备的工程师来说是非常有价值的参考资料。

MODELING CANopen CiA

Thus the Object Dictionary serves as an interface between the communication and the application.

The complete description of a device’s application with respect to the data items in the Object

Dictionary is named device profile.

Figure 3: Device Model

6.2.2 The Object Dictionary

The most important part of a device profile is the Object Dictionary description. The Object Dictionary

is essentially a grouping of objects accessible via the network in an ordered pre-defined fashion. Each

object within the dictionary is addressed using a 16-bit index.

The overall layout of the standard Object Dictionary is shown below. This layout closely conforms with

other industrial serial bus system concepts:

Table 1: Object Dictionary Structure

Index (hex) Object

0000 not used

0001-001F Static Data Types

0020-003F Complex Data Types

0040-005F Manufacturer Specific Complex Data Types

0060-007F Device Profile Specific Static Data Types

0080-009F Device Profile Specific Complex Data Types

00A0-0FFF Reserved for further use

1000-1FFF Communication Profile Area

2000-5FFF Manufacturer Specific Profile Area

6000-9FFF Standardised Device Profile Area

A000-BFFF Standardised Interface Profile Area

C000-FFFF Reserved for further use

The Object Dictionary may contain a maximum of 65536 entries which are addressed through a 16-bit

index.

Application

Object

Dictionary

Communication

State machine

Comm.

object

Comm.

object

Comm.

object

Comm.

object

Application

object

Entry 1

Entry 2

Entry n

Application

object

Application

object

Application

object

ProcessBus system

MODELING CANopen CiA

The Static Data Types at indices 0001h through 001Fh contain type definitions for standard data types

like BOOLEAN, INTEGER, floating point, string, etc. These entries are included for reference only,

they cannot be read or written.

Complex Data Types at indices 0020h through 003Fh are pre-defined structures that are composed of

standard data types and are common to all devices.

Manufacturer Specific Complex Data Types at indices 0040h through 005Fh are structures composed

of standard data types but are specific to a particular device.

Device Profiles may define additional data types specific to their device type. The static data types

defined by the device profile are listed at indices 0060h - 007Fh, the complex ones at indices 0080h -

009Fh.

A device may optionally provide the structure of the supported complex data types (indices 0020h -

005Fh and 0080h - 009Fh) at read access to the corresponding index. Sub-index 0 then provides the

number of entries at this index, and the following sub-indices contain the data type encoded as

UNSIGNED16 according to Table 39.

The Communication Profile Area at indices 1000h through 1FFFh contains the communication specific

parameters for the CAN network. These entries are common to all devices.

The standardised device profile area at indices 6000h through 9FFFh contains all data objects

common to a class of devices that can be read or written via the network. The device profiles may use

entries from 6000h to 9FFFh to describe the device parameters and the device functionality. Within

this range up to 8 different devices can be described. In such a case the devices are denominated

Multiple Device Modules. Multiple Device Modules are composed of up to 8 device profile segments.

By this feature it is possible to build devices with multiple functionality. The different device profile

entries are shifted with 800h.

For Multiple Device Modules the object range 6000

to 67FF

is shifted as follows:

6000h to 67FFh device 0

6800h to 6FFFh device 1

7000h to 77FFh device 2

7800h to 7FFFh device 3

8000h to 87FFh device 4

8800h to 8FFFh device 5

9000h to 97FFh device 6

9800h to 9FFFh device 7

The PDO distribution shall be used for every segment of a Multiple Device Module with an offset of 64,

e.g. the first PDO of the second segment gets the number 65. In this way a system with a maximum of

8 segments is supported.

The Object Dictionary concept caters for optional device features which means a manufacturer does

not have to provide certain extended functionality on his devices but if he wishes to do so he must do

it in a pre-defined fashion.

Space is left in the Object Dictionary at indices 2000h through 5FFFh for truly manufacturer-specific

functionality.

6.2.2.1 Index and Sub-Index Usage

A 16-bit index is used to address all entries within the Object Dictionary. In case of a simple variable

the index references the value of this variable directly. In case of records and arrays however, the

index addresses the whole data structure.

To allow individual elements of structures of data to be accessed via the network a sub-index is

defined. For single Object Dictionary entries such as an UNSIGNED8, BOOLEAN, INTEGER32 etc.

the value for the sub-index is always zero. For complex Object Dictionary entries such as arrays or

records with multiple data fields the sub-index references fields within a data-structure pointed to by

the main index. The fields accessed by the sub-index can be of differing data types.

6.3 Communication Model

The communication model specifies the different communication objects and services and the

available modes of message transmission triggering.

The communication model supports the transmission of synchronous and asynchronous messages.

By means of synchronous message transmission a network wide coordinated data acquisition and

actuation is possible. The synchronous transmission of messages is supported by pre-defined

communication objects (Sync message, time stamp message). Synchronous messages are

transmitted with respect to a pre-defined synchronization message, asynchronous message may be

transmitted at any time.

PHYSICAL LAYER CANopen CiA

7 PHYSICAL LAYER

The physical medium for devices is a differentially driven two-wire bus line with common return

according to high-speed transmission specification in ISO 11898.

7.1 Transceiver

Using the high-speed transceiver according to ISO 11898 the maximum rating for V

CAN_H

and V

CAN_L

shall be +16V. Galvanic isolation between bus nodes is optional. It is recommended to use a

transceiver that is capable of sustaining mis-connection of any of the wires of the connector including

the optional V+ voltages of up to 30V.

7.2 Bit rates and timing

The recommended bit rates and corresponding bit timing recommendations

(4)

are listed in Table 2.

One of these bit rates has to be supported.

Table 2: Recommended Bit Timing Settings

Bit rate

Bus length

(1)

Nominal

bit time

Number of

time quanta

per bit

Length of

time

quantum t

Location of

sample

point

1 Mbit/s

25 m

1 µs 8 125 ns 6 t

(750 ns)

800 kbit/s

50 m

1,25 µs 10 125 ns 8 t

(1 µs)

500 kbit/s

100 m

2 µs 16 125 ns 14 t

(1,75 µs)

250 kbit/s

250 m

(2)

4 µs 16 250 ns 14 t

(3,5 µs)

125 kbit/s

500 m

(2)

8 µs 16 500 ns 14 t

(7 µs)

50 kbit/s

1000 m

(3)

20 µs 16 1,25 µs 14 t

(17,5 µs)

20 kbit/s

2500 m

(3)

50 µs 16 3,125 µs 14 t

(43,75 µs)

10 kbit/s

5000 m

(3)

100 µs 16 6,25 µs 14 t

(87,5 µs)

The table entries are an example based on the follow acceptance:

Oscillator frequency 16 MHz +/-0.1% (1000 ppm)

Sampling mode Single sampling SAM = 0

Synchronisation mode Recessive to dominant edges only SYNC = 0

Synchronisation jump width 1 * t

SJW = 0

Phase Segment 2 2 * t

TSEG2 = 1

Note 1: Rounded bus length estimation (worst case) on basis 5 ns/m propagation delay

and a total effective device internal in-out delay as follows:

1M - 800 kbit/s: 210 ns

500 - 250 kbit/s: 300 ns (includes 2 * 40 ns for optocouplers)

125 kbit/s: 450 ns (includes 2 * 100 ns for optocouplers)

50 - 10 kbit/s: 1,5 t

; Effective delay = delay recessive to dominant plus

dominant to recessive divided by two.

Note 2: For bus length greater than about 200 m the use of optocouplers is

recommended. If optocouplers are placed between CAN controller and

transceiver this affects the maximum bus length depending upon the propagation

delay of the optocouplers i.e. -4m per 10 ns propagation delay of employed

optocoupler type.

Note 3: For bus length greater than about 1 km bridge or repeater devices may be

needed.

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CANopen应用层与通信配置规范DS301书签版

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在CANopen标准中，如何依据DS301规范开发设备的电子数据表（EDS）？请提供EDS文件结构和对象字典创建的详细步骤。

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如何根据DS301标准创建CANopen设备的电子数据表（EDS）？请详细说明EDS文件的基本结构和对象字典的构建方法。

在基于STM32-F0/F1/F2等嵌入式系统的CANopen网络中，如何配置对象字典以生成符合DS301标准的EDS文件，并确保网络管理与PDO传输的正确实施？

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