CANopen Protocol

CANOpen protocol

softMC provides a number of categories of services that allow operation of CANOpen device.

• Upload and Download service objects
  

Application can read(upload) from or write (download) to device CANopen service data objects using either segmented or expedite SDO upload/download mechanism.
Those functions are implemented in CANOPEN.LIB

• CAN_SDO_READ_STRING - segmented upload of byte array
• CAN_SDO_READ - expedite upload of 32-bit integer
• CAN_SDO_READ_REAL - expedite upload of single precision floating point number
• CAN_SDO_WRITE_STRING - segmented download of byte array
• CAN_SDO_WRITE - expedite download of 32-bit integer
• CAN_SDO_WRITE_REAL - expedite download of single precision floating point number
• Controlling device state machine
  

bus[0].phase = 0 ' put CAN device to PREOP mode
bus[0].phase = 4 ' put CAN device to OPMODE mode

• Configuration of motion objects
  
  

SoftMC requires DS402 compliment drive that supports following modes of operation and objects

• Mandatory Cyclic Synchronous Position mode (so-called opmode 8)
  
• Optional Cyclic Synchronous Torque mode mode
  

PDO map-able objects
Device shall provide following objects, object numbers may be different from standard.

• Control Word - object 0x6040.0
  
• Status Word - object 0x6041.0
  
• 32-bit Target position - object 0x607a.0
  
• 32-bit Position feedback - object 0x6064.0
  
• Optional Digital Inputs and Outputs
  

PDO mapping and association between above mentioned objects and internal data structures of softMC is shown in the example Program_Examples:CANOpen:DS402_CAN_Drive_Setup
corresponding firmware function are listed in Category:CANOpen:Firmware-Functions