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CiA

canAnaliser




M. Farsi, M. Barbosa

Все книги

CANopen Implementation:
applications to industrial networks

Изд-во Research Studies Press Ltd., 2000, 210 стр., англ.

Оглавление

Contents

CHAPTER 1    INTRODUCTION
    1.1    Background
        1.1.1    The Factory as a Control System
        1.1.2    Just In Time
        1.1.3    Communication in a Factory Environment
        1.1.4    Typical Production Control Components
        1.1.5    Flexible Manufacturing Systems

    1.2    The ISO/OSI Reference Model
        1.2.1    The General Framework Of The OSI Reference Model
        1.2.2    Application Layer
        1.2.3    Presentation Layer
        1.2.4    Session Layer
        1.2.5    Transport Layer
        1.2.6    Network Layer
        1.2.7    Data Link Layer
        1.2.8    The Physical Layer
        1.2.9    Layer Management & Control

    1.3    Networking and its Benefits
    1.4
    Basic Networking Concepts
       
1.4.1    Data Transmission
        1.4.2    Data Synchronisation
        1.4.3    Networking Topologies
        1.4.4    Frame Concept
        1.4.5    Medium Access Control
        1.4.6    Error Checking Mechanisms
        1.4.7    Network Operational Models
        1.4.8    Network Performance

    1.5    Network Selection Catena
    1.6
    Conclusions

CHAPTER 2    CAN: CONTROLLER AREA NETWORK
    2.1    Introduction
    2.2 
    AN Physical Layer
       
2.2.1    Bit Timing Configuration
        2.2.2    Physical Connection
        2.2.3    CAN Bus Basic Operation

    2.3    CAN Data Link Layer
       
2.3.1    Frame Formats
        2.3.2    Message Filtering
        2.3.3    Bus Arbitration
        2.3.4    Error Handling

    2.4    CAN Hardware Implementations
       
2.4.1    CAN Controller Organisation
        2.4.2    Basic CAN vs Full CAN Implementations
        2.4.3    Stand-alone vs Embedded CAN Controllers
        2.4.4    Overview of the CAN Hardware Market

CHAPTER 3    INTRODUCTION TO CANOPEN
    3.1    Background
    3.2
    Origin and Structure of The CANopen Specification
    3.3
    CANopen Application Layer Functionality
       
3.3.1    Introduction
        3.3.2    Master/Slave Communication Relationships
        3.3.3    Client/Server Communication Relationships
        3.3.4    Producer/Consumer Relationships - Push/Pull Model

    3.4    CANopen Objects and the Object Dictionary
       
3.4.1    Device Modelling in CANopen
        3.4.2    CANopen Data Types and Encoding Rules
        3.4.3    Object Dictionary Structure
        3.4.4    Object Dictionary Representation
        3.4.5    Object Dictionary Implementation
        3.4.6    CANopen Communication Objects for Application Data Transfer

    3.5    Service Data Objects
       
3.5.1    General Description
        3.5.2    Segmented SDO Transfer
        3.5.3    Expedited SDO Transfers
        3.5.4    Block SDO Transfers
        3.5.5    Abort SDO Transfer Protocol
        3.5.6    SDO Configuration Through the Object Dictionary

    3.6    Process Data Objects
       
3.6.1    General Description
        3.6.2    PDO Triggering Modes
        3.6.3    PDO Transmission Types
        3.6.4    Configuration of Process Data Objects Through the Object Dictionary

    3.7    Other Pre-defined CANopen Communication Objects
       
3.7.1    Synchronisation Object (SYNC)
        3.7.2    Emergency Object

    3.8    Communication Objects for Network Management
       
3.8.1    Introduction
        3.8.2    State Diagram of a CANopen Device and NMT Module Control Services
        3.8.3    CANopen Network Management Error Control Services
        3.8.4    Pre-defined Connection Set
        3.8.5    Allocation of Identifiers by a Configuration Tool
        3.8.6    CANopen Network Boot-up Procedure
        3.8.7    Minimum Capability Device

    3.9    Electronic Data Sheets (EDS) and Device Configuration Files (DCF)
       
3.9.1    Structure of an Electronic Data Sheet
        3.9.2    DCF-specific Sections and Keywords

    3.10    Other CANopen Features
       
3.10.1    Definition of a CANopen Manager device
        3.10.2    SDO Manager and Dynamic Establishment of SDO Connections
        3.10.3    Programmable Device I/O
        3.10.4    Configuration Manager
        3.10.5    Multiplexor PDO and Node Group Addressing

CHAPTER 4    CANOPEN IMPLEMENTATION ISSUES
    4.1    Introduction
    4.2
    Using CAN Hardware in a CANopen Context
       
4.2.1    Revision of CAN Hardware Platforms
        4.2.2    Message Reception: CANopen Filtering Requirements
        4.2.3    Transmission of CANopen Data
        4.2.4    CAN Messages and Message Bursts
        4.2.5    Minimising Message Bursts on a CANopen Network

    4.3    Implementation of Multiple Device Modules
    4.4
    Other Software and Hardware Considerations
       
4.4.1    The Processor/CAN Controller Interface
        4.4.2    Hardware Access to I/O Devices
        4.4.3    Software Overheads
        4.4.4    Implementation Remarks

    4.5    Constructing a CANopen Network
    4.6
    Information for CANopen Device Developers and Manufacturers
    4.7
    An Example of CANopen-based System Integration
       
4.7.1    Constructing a CANopen Network (An Example)
        4.7.2    Usage of CANopen Communication Objects (An Example)
        4.7.3    Message Exchange in CANopen Networks (An Example)

CHAPTER 5    CANOPEN CONFORMANCE TESTING
    5.1    Introduction
    5.2
    EDS Tests
       
5.2.1    Completeness Tests
        5.2.2    Value Ranges Test
        5.2.3    Consistency Tests

    5.3    Device Tests
       
5.3.1    Protocol Verification Tests
        5.3.2    Object Dictionary Tests
        5.3.3    Parameter Storage/Restorage Test
        5.3.4    Emergency Test
        5.3.5    Error Control Tests
        5.3.6    Synchronisation Test
        5.3.7    Verification of Network States
        5.3.8    Verification of State Transitions

    5.4    The CANopen Test Interface (C.O.T.I)
 
CHAPTER 6    EXAMPLE OF A CANOPEN IMPLEMENTATION
    6.1    Introduction
    6.2
    Overview of the SAB-C167CR-LM microcontroller
    6.3
    Hardware Implementation
       
6.3.1    Introduction
        6.3.2    Circuit Schematics and Explanation

    6.4    Software Implementation
       
6.4.1    Introduction
        6.4.2    The Module Control Block
        6.4.3    The Service Data Object and Object Dictionary Block
        6.4.4    The Process Data Object Block
        6.4.5    The Emergency Object Block

APPENDIX 1 CIRCUIT SCHEMATICS

GLOSSARY

REFERENCES

INDEX

Все книги

 

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