1. Henk Boterenbrood
Benjamin Farnham
Vyacheslav Filimonov
Sebastien Franz
Piotr Nikiel
Jolanta Olszowska
Stefan Schlenker
OpcUaCanOpenServer
Program interface between CANopen device and SCADA system OPC UA client

2. Overview Readout Platform Field Distributed SCADA SCADA WinCC OA
CANopen Device node_id=k
CANopen Device node_id=2
ELMB node_id=n
ELMB node_id=2
ELMB node_id=1
Readout Platform
SCADA
WinCC OA
CAN Hardware Interface Type X
CAN Hardware Interface Type Y
CANopen Device node_id=1
CAN Hardware Interface Type Z
OPC UA CANopen Server
Standalone
OPC UA Client
Component-Specific Messages via e.g.
USB, Ethernet, PCIe
CANopen Messages
via CAN Bus
OS Function Calls
OPC UA Protocol via TCP/IP
Distributed SCADA
CAN Driver Type X
CAN Driver Type Y
CAN Driver Type Z
HW Component
Overview

3. Support all general CANopen protocol objects and operations (NMT,SDO,PDO,NG, Emergency, Sync…)
Segmented SDO
ELMB extensions
Event-driven processing of calculation items
Hardware driver plugins
Linux and Windows
Main Features

4. Unified Automation C++ OPC UA Toolkit
Support most of OPC UA features
Data Access
Alarm & Event
Historical trend
Security
SOAP interface is absent (in C++ version)
Windows & Linux
Good Documentation
Source code
WINCC OA OpcUaClient was written using this toolkit
Toolkit and UA stack – same developers (Ascolab)
Unified Automation C++ OPC UA Toolkit

5. Address Space Interface
OPC UA Server
Can Interface
CAN
Interface
Driver
Component
OPC UA
Address
Space
OPC UA Client
Node
Manager
read/write data
notifications
Configuration
Address Space Interface
CANopen
commands
send/receive messages
OPC UA Stack
Architecture
HW-specific
Custom
XSD Configuration
OPC UA toolkit
Codebase:

6. Configuration Schema document predefined Code Synthesis XSD tool
Linux, Windows
Open Source
Utility to create the parser code
Very simple configuration C++ classes for parsing XML file
Automatic syntax checking
<xs:complexType name="CanOpenOpcServerConfig">
<xs:sequence>
<xs:element name="NODETYPE“ type="NODETYPE"
minOccurs="0” maxOccurs="unbounded"/>
<xs:element name="CANBUS" type="CANBUS"
minOccurs="0“ maxOccurs="unbounded"/>
<xs:element name="REGEXPR" type="REGEXPR"
<xs:element name="ITEM" type="ITEM"
</xs:sequence>
</xs:complexType>
Configuration

7. XML Configuration – Example
<?xml version="1.0" encoding="UTF-8" ?> <!DOCTYPE CanOpenOpcServerConfig [<!ENTITY ELMB SYSTEM ".\OPCUA_nodeType_ELMB.xml">]> <CanOpenOpcServerConfig xmlns:xsi=" xsi:noNamespaceSchemaLocation="..\Configuration\CANOpenServerConfig.xsd"> &ELMB; <CANBUS speed="125000" port="14" type="st" name="Bus_1” nmt = “start"> <NODEGUARD interval="0"/> <SYNC interval="0"/> <NODE type="ELMB" name="ELMB_1" nodeid="1"> <REGEXPR name ="$VAL1" value="TPDO3\.Value\_\d*[13579]"/> <REGEXPR name ="$VAL2" value="TPDO3\.Value\_\d*[02468]"/> <ITEM name="Temp" value="($VAL1+$VAL2)/2" when="$VAL1"/> </NODE> <NODE type="ELMB" name="ELMB_11" nodeid="11"/> </CANBUS> </CanOpenOpcServerConfig>
Include file
Check syntax
Node types
Calculation items
XML Configuration – Example

8. XML Configuration – Node Type Example
<?xml version="1.0" encoding="UTF-8" ?>
<NODETYPE name="ELMB" >
<SDOITEM subindex="0" access="R" type="byte" index="1001" name="NodeError" />
<SDO index="100A" name="elmbSw" >
<SDOITEM subindex="0" access="R" type="UInt32" name="swVersion" />
<SDOITEM subindex="1" access="R" type="UInt32" name="swMinorVersion" />
</SDO>
<TPDO1 access="R" name="TPDO1" cobid="180" rtr = "init">
<PDOITEM bit="0" type="bit" name="di_F_0" byteindex="0" />
<PDOITEM bit="1" type="bit" name="di_F_1" byteindex="0" />
</TPDO1>
<TPDO3 access="R" numch="64" name="TPDO3" cobid="380" >
<PDOITEM type="byte" name="Flag" byteindex="1" />
<PDOITEM type="UInt32" name="Value" byteindex="2" />
</TPDO3>
</NODETYPE>
XML Configuration – Node Type Example

9. Client-Server-Interaction
Possible Client Operations
Read (Single query)
WinCCOA: Polling (read periodically set of Items)
Write (dpSet)
Subscription
OpcUa Server Operations
Read
Callback – PDO, Emergency… UaVariable_Value_CacheIsSource
IOManagerSDO: one thread per node, allows to send/receive data in parallel to/from different nodes UaVariable_Value_Cache
Write
IOManager SDO: one thread per node .
IOManagerPDO: one thread per bus
Monitoring
PDO, Calculation Item … (Default IOManager)
Client-Server-Interaction
OpcUa Server Operation
Read
Callback - PDO, Emergency… UaVariable_Value_CacheIsSource)
IOManagerSDO
SDO, one thread per node, allows to send/receive data in parallel to/from different nodes
(UaVariable_Value_Cache)
Write
IOManager SDO
SDO one thread per node .
IOManagerPDO
PDO one thread per bus
Monitoring
PDO, Calculation Item … (Default IOManager)

10. Readout Interface Plugins
Linux
Windows
SocketCan – used in production
Native Kvaser driver
Systec
Peak PCAN
Kvaser
class CCanAccess {
public:
CCanAccess() {};
virtual bool createBUS(const char *, const char *) = 0 ;
virtual bool sendRemoteRequest(short ) = 0;
virtual bool sendMessage(short, unsigned char, unsigned char *) = 0;
char *getBusName() { return busName; }
virtual ~CCanAccess() {};
boost::signals2::signal<void (const canMessage &)>
canMessageCame;
boost::signals2::signal<void (const int, const char *, timeval &)> canMessageError;
protected:
char *busName; }
Readout Interface Plugins

11. Status Current version 2.0.2-1 Production: Documentation: doxygen
OpcUaCanOpenServer working on >15 ATLAS projects
CIC ~40 busses, 300 ELMBs
TGC & MDT ~100 busses, 3000 ELMBs
Until end of 2014 to be installed on all ATLAS projects with ELMB readout
All under Linux with SocketCAN interface and SYSTEC hardware
Documentation: doxygen
Status