CANopen应用层与通信配置规范DS301V401

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"CANopen DS301V401是CAN in Automation (CiA)组织发布的一个应用层和通信配置文件标准，用于定义CAN（Controller Area Network）总线上的设备如何进行通信。这个标准详细规范了CANopen网络的运作机制，包括对象字典、服务、错误处理以及数据传输方式等。版本4.01发布于2000年6月，包含了自1999年以来的主要更新和改进。" CANopen是基于CAN总线的一种开放的通信协议，它提供了一套完整的应用层和通信配置文件，使得不同制造商的设备能够在一个网络上无缝协作。CiA（CAN in Automation）是一个国际性组织，致力于推动CAN技术的发展和标准化。在DS301V401标准中，以下是一些关键知识点： 1. **对象字典**：对象字典是CANopen设备配置的核心部分，存储了设备的状态、参数和变量。结构进行了审查，以提高效率和兼容性。 2. **对象服务**：该标准包含了对象服务，使得设备可以访问和修改字典中的数据，这些服务以前分布在CiADS-201和CiADS-207中。 3. **网络管理服务(NMT)**：NMT服务用于管理网络状态，如启动、停止、心跳等功能，心跳是可选的，增强了网络监控能力。 4. **错误代码和SDO放弃代码**：增加了额外的紧急错误代码和SDO（Service Data Object）放弃代码，用于更精确地识别和报告通信问题。 5. **定时驱动的PDO传输**：过程数据对象(PDO)的传输可以通过定时器驱动，使得数据可以在预设的时间间隔自动发送。 6. **PDO通信参数**：PDO通信参数得到了增强，允许更灵活的配置和数据映射。 7. **PDO映射**：PDO映射过程被清晰化，简化了设备间的通信配置。 8. **SDO块传输**：SDO传输支持块模式，提高了大数据传输的效率。 9. **预定义的标识符集**：预定义的标识符集被扩展，提供了更多的通信选项。 10. **附录内容**：标准的附录中包含了设备配置、操作系统命令和提示、复用PDO、模块化CANopen设备以及错误行为的详细说明。这些内容对理解CANopen协议及其在实际系统中的应用至关重要，无论是开发CANopen设备还是集成CANopen网络，DS301V401都是一个重要的参考资料。它确保了设备间的一致性和互操作性，是实现可靠CANopen通信的基础。

MODELING CANopen CiA

6-3

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

The complete description of a deviceÕs 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-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

6-4

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 38.

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

7-1

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 ms 8 125 ns 6 t

(750 ns)

800 kbit/s

50 m

1,25 ms 10 125 ns 8 t

(1 ms)

500 kbit/s

100 m

2 ms 16 125 ns 14 t

(1,75 ms)

250 kbit/s

250 m

(2)

4 ms 16 250 ns 14 t

(3,5 ms)

125 kbit/s

500 m

(2)

8 ms 16 500 ns 14 t

(7 ms)

50 kbit/s

1000 m

(3)

20 ms 16 1,25 ms 14 t

(17,5 ms)

20 kbit/s

2500 m

(3)

50 ms 16 3,125 ms 14 t

(43,75 ms)

10 kbit/s

5000 m

(3)

100 ms 16 6,25 ms 14 t

(87,5 ms)

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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