CANopen Add-on Modules

This add-on module provides Multiplexed PDO services according to CiA 301.

Multiplexed PDO (MPDO) is a special type od PDO that is used wherever more process data are to be transmitted, as "normal" PDO are available. Within a MPDO message, the source address (Source Address Mode) or destination address (Destination Address Mode) of the data are transmitted by its index and subindex. Thus, 4 byte per MPDO-message remain for the data itself.

This add-on module provides all services and functionality compliant to CiA 304 V1.0 - CANopen Framework for safety relevant communication. It allows for design of safety relevant CANopen devices based on SRDOs (Safety Relevant Data Objects). This safety implementation has proven to be successful in various industry applications.

SRDO allow for a safe transmission of process data just as PDO do. To fulfill safety requirements, SRDO have special features and transmission behavior. A SRDO consist of two CAN messages (redundancy), which are transmitted cyclically, with inverted data content, different CAN-identifier and a strict transmission timing. On consumer side, SRDO are monitored and checked towards their transmission timing, sequence-order and data consistency. The SRDO communication and mapping parameters are checksum protected and additional safety measures are taken during runtime.

The SRDO add-on module includes a special plug-in for the CANopen Device Monitor (part of the CANopen Configuration Suite), which provides an interface for consistent configuration of Safety Relevant Data Objects of a CANopen device.

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This  add-on module implements the CANopen device profile for drives and motion control according to CiA 402, as it is used for digital controlled motion products like servo controllers, frequency converters and servo motors.

A comprehensive set of API functions allows for the control the device state and operation mode. The implementation can handle up to 8 axes and supports the Homing Mode, Profile Position Mode, Profile Velocity Mode, Velocity Mode, and Profile Torque Mode.

With the CiA402 add-on comes a special DS402 plug-in for the CANopen Device Monitor (part of the CANopen Configuration Suite). This plug-in provides components to ease work, test and commissioning of CiA 402 compliant multi-axis CANopen devices:

• State Machine tab-sheet: Graphically visualizes the drive's state within the CiA 402 state machine and continuously displays the status word of the drive
• Profile Position tab-sheet: Simplifies test and commissioning of a drive by providing a comfortable user interface for easy configuration and execution of position profiles.
• Object extensions: Special pop-up menus attached to object entries in the object dictionary, providing instant access to the status and control word of a CANopen drive via mouse-click.

The Dynamic OD Add-on implements a Dynamic Object Dictionary as specified in CiA 302 and provides functionality to replace, extend or modify parts of an existing object dictionary at runtime (e.g. PDOs, process data). It uses a special kind of compressed binary DCF, called "Concise configuration storage".

The add-on module also includes a PC tool to generate the needed binary format from standard DCF source files. This tool is available as executable and library (DLL), which allows for incorporation of DCF conversion into own applications without additional effort.