1. Protocol Configuration in Horner OCS

2. Agenda CANOpen features supported in Horner OCS.
Horner CANOpen Configurator.
Configuration of Simple CANOpen Network (Master) with Single slave.
Setting up node ID, Baud rate and other master options.
Brief on EDS file.
Brief on Device type and status.
Configuration of Special functions Objects.
Selecting Error Control Protocol for the given network and its configuration.
Configuration of SDOs.
Configuration of PDOs.
Configuration of slave information.
Configuration for simple CANOpen Master.
Configuration for CANOpen Manager.
Configuration of Single slave.
CANOpen Network Status Register details (Specific to Horner OCS)
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3. features supported in Horner OCS
Supported Baud Rate: 125K, 250K, 500K, 1M bps
Only 11bit length COB-IDs are supported
Network Management (NMT) : Master and Slave Modes.
Error Control Protocols
Node Guard Protocol : 127 (16 XLe/t) Nodes
Heart Beat Protocol : 127 (16 XLe/t) Nodes
Process Data Objects (PDO):
RPDO Supported : 64
TPDO Supported : 64
PDO Mapping: Dynamic PDO mapping (i.e. Run time mapping information's are reconfigured by CANOpen manager) supported for only 16 PDOs. Static PDO mapping supported for all 64 PDOs.
PDO Modes:
Asynchronous: On change of Data, On Event Time, On Trigger Bit and Remote requested.
Synchronous: On change of Data, On Sync count and Remote requested
Inhibit time supported in case of Asynchronous PDOs.
PDO communication parameters( COB-ID ,Transmission Type, Timing Parameters) can be dynamically modified (using SDO transfer) for all 128 (64 TPDO and 64 RPDO) PDOs.
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4. features supported in Horner OCS (Continued)
Service Data Objects (SDO):
SDO Modes:
Server:128 (16 in case of XLe/t).
Client :128 (16 in case of XLe/t) Supported only in Master
SDO Services:
Expedited Upload.
Expedited Download.
Segmented Upload.
Emergency Message: Supported (only Generic Error).
Sync Message Generation: Supported (only in QX and NX systems).
NMT Manager: Supports up to 127 slaves (Supported only in QX and NX systems).
Supported Application Layer: CiA 301 v 4.02
Supported Profiles: CiA 405 v 2.00
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5. Horner
Horner Configurator
CANOpen configurator is tool integrated with Cscape used for configuration of CANOpen protocol in Horner OCS.
Supports Configuration of the CANOpen Network (Master Node) or individual slave node.
Launching Configurator from the Cscape.
Program -> Network Configuration will launch CANOpen configurator.
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6. Configuration of Simple Network (Master)
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Configuration of Simple Network (Master)
CANOpen Network ID :
CANOpen Network Baud Rate
Additional Master Settings
CANOpen Network status register
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7. Setting Node ID, Baud Rate and Other master node settings
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Setting Node ID, Baud Rate and Other master node settings
CANOpen Network ID : Unique ID provided to each node, no two nodes can have same ID.
CANOpen Baud Rate: User can select any of the 4 supported baud rate, for the given network each slave node has to be set to same baud as that of Master node. Different nodes at different baud rate cannot communicate with each other.
Additional Master Settings:
Perform NMT Start Node all: Checking this option Master will send a single start command over the CANOpen Network to start all the slaves.
Do Not Enter My self Operational Automatically: Checking this option will ask for trigger bit to start Master node, which will intern start all other slave nodes in the network.
Do not send NMT start command: Checking this option master node does not send any start command over the network, each slave must be configured for self start.
On error Control event of mandatory slave, NMT reset all nodes: Checking this option master node resets CANOpen communication (it self and all nodes on the network) in case of error in any of the mandatory slave.
On error Control event of mandatory slave NMT stop command: Checking this option master node sends stop command over the network to stop the CANOpen communication in case of error in any of the mandatory slave.
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8. Horner
EDS Files
CANOpen EDS (Electronic Data Sheet) file serves as template for different configurations for one device type.
EDS file describes
- Communication functionality and objects as defined in /CiA301/ and Application Frameworks.
- Device specific objects as defined in the device profiles
Loading EDS file : Right click on node -> Load From EDS, will open EDS Loader.
Load specific EDS file using EDS loader.
Note: All EDS files for different devices are stored under Cscape-> EDS folder
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9. Device Type and Status Information
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Device Type and Status Information
Displays the device type information loaded from EDS file
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10. Special Function Object Configuration
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Special Function Object Configuration
Sync Object
configuration field
Time Stamp Object
configuration field
Emergency Object
field
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11. Special Function Object Configuration (Continued)
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Special Function Object Configuration (Continued)
Sync Protocol Parameter Configuration: The Synchronization Object is broadcasted periodically by the SYNC producer. This SYNC provides the basic network clock
SYNC COB-ID: Default COB-ID for Sync message is 0x80, user can change as per his requirement.
Generate SYNC Message: Selecting this option will produce SYNC messages i.e. Node will act as SYNC producer. Available only in QX and NX series. In the given network only one node can be SYNC producer and other nodes will act as SYNC consumer.
Communication Cycle Period : Enter required SYNC object cycle period in microseconds.0 if not used
Synchronous Window Length : Enter the length of the time window for synchronous PDOs in microseconds. It is 0 if not used.
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12. Special Function Object Configuration (Continued)
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Special Function Object Configuration (Continued)
Time Stamp Configuration: Currently not supported in the firmware.
Emergency Protocol Parameter Configuration: Emergency objects are triggered by the occurrence of a device internal error situation and are transmitted from an emergency producer on the device. Master node will consume Emergency Messages generated form several nodes.
EMCY COB-ID: Default COB-ID for EMCY message is 0x80 + NODE ID, user can change as per his requirement.
Disable EMCY : Selecting this option will disable generation of Emergency messages.
Inhibit Time EMCY : Enter required inhibit time for the EMCY message.
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13. Error Control Protocol Configuration
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Error Control Protocol Configuration
Node Guard Protocol
configuration field
Heartbeat consumer
configuration field
Heartbeat Producer
configuration field
Horner OCS supports both Node Guarding and Heart beat type of error control protocol.
User can select any one of the Error control protocol for the given network.
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14. Error Control Protocol Configuration (Continued)
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Error Control Protocol Configuration (Continued)
Configuring Node Guarding Protocol:
Select ‘Use Node Guard Protocol Error Control’ .
Configure Guard time and Life time factor for individual slave. Master node does not require configuration of Guard time and Life time factor.
Configuring Heart Beat Protocol:
Select ‘Use Heart Beat Protocol Error Control’ .
Configure Producer Heartbeat Time if given node is Heartbeat producer.
Configure Consumer Heartbeat time for individual node if node is Heartbeat consumer.
Note:
Master node by default will act as heartbeat consumer.
Given Node can be both producer and consumer.
The consumer time configured must be greater than or equal to producer time.
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15. SDO Configuration Service Data Objects:
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SDO Configuration
Service Data Objects:
Service data objects are designed to access entries in device object dictionary .
By default SDOs are configured automatically.
Each node will support single Server SDO and additional server SDOs can be configured.
Client SDOs are supported only in Master.
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16. Click to add new PDO Entry Click to Delete selected entry
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PDO Configuration
The real-time data transfer is performed by means of "Process Data Objects (PDO)".
PDO Communication Parameter Configuration:
Configured PDO list
Click to add new PDO Entry
Click to Delete selected entry
Click to take default information for a given entry from EDS.
Click to apply changes made in configuration
PDO configuration field
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17. PDO Configuration (Continued)
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PDO Configuration (Continued)
Receive PDO Communication Parameter Configuration (RPDO ):
PDO COB-ID Entry
PDO COB-ID: Configure required 11 bit COB-ID in this field, click on ‘Set default’ to read from EDS file
Disable PDO: Select this option to disable configured PDO.
Use 29 Bit ID: Select this if COB-ID length is 29 bit.
PDO Transmission Type : Select type of PDO receive method (Depends upon actual transmission type)
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18. PDO Configuration (Continued)
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PDO Configuration (Continued)
Transmit PDO Communication Parameter Configuration (TPDO ):
PDO COB-ID Entry
PDO COB-ID: Configure required 11 bit COB-ID in this field, click on ‘Set default’ to read from EDS file
Disable PDO: Select this option to disable configured PDO.
Use 29 Bit ID: Select this if COB-ID length is 29 bit.
Allow RTR: Select this option if PDO needs to be transmitted on Remote request.
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19. PDO Configuration (Continued)
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PDO Configuration (Continued)
Transmit PDO Communication Parameter Configuration (TPDO ):
PDO Transmission Type : Select type of PDO transmission method, select On change, On trigger or On RTR type. Trigger type requires trigger bit to be configured
Asynchronous On change configuration.
Asynchronous On trigger configuration.
Asynchronous On RTR configuration.
Synchronous On change configuration.
Synchronous On Sync count configuration.
Synchronous On RTR configuration.
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20. PDO Configuration (Continued)
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PDO Configuration (Continued)
Transmit PDO Communication Parameter Configuration (TPDO ):
PDO Timing Parameter :
Event Time : Configure event time for asynchronous messages in ms. 0 if not used
Inhibit Time : Configure inhibit time for asynchronous messages in ms. 0 if not used
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21. PDO Configuration (Continued)
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PDO Configuration (Continued)
PDO Mapping Parameter Configuration: Applicable to RPDO and TPDO
Configured PDO Mapping list
List box displaying mapped object for given PDO
To view and edit mapped object
Characteristics
Click to delete selected mapped objects
Click to view map able objects
Supported by device (Information read from EDS)
Click to apply changed characteristics of selected object.
Click to add new object entry in the list.
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22. Select required Object and click OK
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PDO Configuration (Continued)
PDO Mapping Parameter Configuration: Applicable to RPDO and TPDO
Mapping Objects can be selected from EDS as shown here
Click
Select required Object and click OK
Note:
Single PDO can take up to bit objects, or 8 – 8 bit Objects or 2-32 Objects and vice versa
User can directly map OCS register to PDOs, conversion of OCS native register index to CANOpen index and vice versa is taken care by configurator.
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23. Horner
Slave Configuration
Right click on Master node tree to add additional slaves (as shown)
Load Device specific EDS file (as shown)
Configure required node-ID.
Mandatory Slave: Select this option if slave node is Mandatory.
On Error, Start “Boot Sequence” : Select this option if given node has to be rebooted on error.
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24. Slave Configuration (Continued)
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Slave Configuration (Continued)
Model XLe/t will only support simple master where in it cannot reconfigure the slaves.
Do not send NMT reset if Operational: If selected Master will not send reset command on boot up if node is in operational state.
Check Node type, Profile, Vendor ID, Product Code, Revision No., Serial No.: Selecting this option master will check these information on network Boot-up. If any of information doesn’t match then master will set Error.
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25. Slave Configuration (Continued)
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Slave Configuration (Continued)
Configure Special function Objects and Error Control Object for given slave
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26. Slave Configuration (Continued)
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Slave Configuration (Continued)
NX and QX series support CANOpen manger functionality where in Master can
reconfigure slaves in the network as per configuration stored in Master on boot up.
Select ‘Check Configuration Date and Time’ option to check date and time of configuration before parameter reconfiguration
Select slave parameter type to reconfigured on boot up
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27. Slave Configuration (Continued)
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Slave Configuration (Continued)
Configure other CANOpen parameters for given slaves as shown.
Configure these parameters as explained in previous slides
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28. Single Slave Configuration
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Single Slave Configuration
Horner CANOpen configurator can be used to configure single slave.
Select ‘Configure Single Slave’
Select this option if operational state transition is controlled by Master.
Configure Network Status register address.
Configure other CANOpen network parameters
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29. Network Status Register
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Network Status Register
CANOpen status register is 64 bit long and details are as below,
Bit -1 – Object Dictionary Error.
Bit -2 – Node ID Error (Invalid Node ID).
Bit -3 – Error Control Protocol is Not configured.
Bit -4 – Tx Error.
Bit -5 – RPDO Object Mapping error.
Bit -6 – RPDO Set Data error.
Bit -7 – RPDO Invalid Object Index.
Bit -8 – RPDO DLC Error. Set/Reset.
Bit -9 – RPDO Mapped Object Count Error.
Bit -10 – TPDO Object Mapping error.
Bit -11 – TPDO Get Data error.
Bit -12 – TPDO Compose Error.
Bit -13 – TPDO Invalid Object Index.
Bit -14 – TPDO Mapped Object Count Error.
Bit -15 – SDO DLC Error.
Bit -16 – NMT DLC Error.
Bit -17 – Invalid Status Register Address.
Bit -18 – Time Out for Node Guard message from Master.
Bit -19 – Consumer heartbeat time expired.
Bit -20 – Slave Error.
Bit -21 – Mandatory slave Error.
Bit – Unused.
Bit – Failed TPDO array Index.
Bit – Failed RPDO array Index.
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30. Network Status Register
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Network Status Register
Additionally Master node will display status of each slave node configured in 16 bit field as shown
If Error code value of 0 indicates No Error.
1- The slave no longer exists in the Network list
2- No response on access to Actual Device Type (object 1000h) received
3- Actual Device Type (object 1000h) of the slave node did not match with the expected Device Type Identification in object 1F84h
4- Actual Vendor ID (object 1018h) of the slave node did not match with the expected Vendor ID
5- Slave node did not respond with its state during Check node state -process. Slave is a heartbeat producer
6- Slave node did not respond with its state during Check node state -process. Slave is a Node Guard slave (NMT slave) 7- It was requested to verify the application software version, but the expected version date and time values were not configured
8- Actual application software version Date or Time did not match with the expected date and time values. Automatic software update was not allowed
9- Actual application software version Date or Time did not match with the expected date and time values and automatic software update failed
10- Automatic configuration download failed
11- The slave node did not send its heartbeat message during Start Error Control Service although it was reported to be a heartbeat producer
12- Slave was initially operational. (CANopen manager may resume operation with other nodes)
13- Actual Product Code (object 1018h) of the slave node did not match with the expected Product Code
15- Actual Revision Number (object 1018h) of the slave node did not match with the expected Revision Number
16- Actual Serial Number (object 1018h) of the slave node did not match with the expected Serial Number in object
253 – Invalid NMT state.
254 – Received Emergency Object 15 8
Node ID
Error Code
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