n cia mission statement a c
TRANSCRIPT
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CAN
© CiA
CiA mission statementThe aim of the 1992 established non-profit organization
is to promote CAN’s image and to provide a path for
future developments of the CAN technology. An
important part of the organization’s effort is spent to
develop and maintain the CANopen specifications as
well as the support of all other internationally
standardized CAN-based higher-layer protocols.
Controller Area Network is an internationally standardized serial
communication system (ISO 11898 series).
CANopen is an internationally standardized application layer (EN 50325-4),
the CANopen Safety protocol is standardized (EN 50325-5), too.
CAN
© CiA
History of CAN1986
First public announcement at SAE conference in Detroit (USA)
1988
First CAN controller chips available
1991
Bosch CAN 2.0 A/B specification
1993
ISO 11898 standard (high-speed transmission and data link layer)
2003
ISO 11898-1 (data link layer)
ISO 11898-2 (high-speed physical layer)
2004
ISO 16845 (CAN conformance test)
ISO 11898-4 (time-triggered CAN)
2006
ISO 11898-3 (fault-tolerant physical layer)
ISO 11898-5 (low-power, high-speed physical layer)
201X
ISO 11898-6 (high-speed physical layer with partial wake-up)
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CAN
© CiA
Multiple chip sources
CAN transceiver and protocol controller chips are available from many sources.
No additional active network components such as hubs, switches, etc. are required.
CAN
© CiA
History of CANopen
1993
ESPRIT project ASPIC (CAL-based communication profile)
1994
CAL-based communication profile version 1.0
1995
CAL-based communication profile version 1.1
1995
CiA 301 CANopen application layer version 2.0 (DSP)
1996
CiA 301 CANopen application layer version 3.0 (DS)
1999
CiA 301 CANopen application layer version 4.0 (DS)
2007
CiA 301 CANopen application layer version 4.2 (DSP)
DS
(P)
= d
raft
sta
nd
ard
(p
rop
osa
l)
3
CAN
© CiA
CANopen specificationsCiA301 CiA302 CiA303 CiA304 CiA305 CiA306CiA307 CiA308 CiA309 CiA310 CiA311 CiA312CiA313 CiA401 CiA402 CiA404 CiA405 CiA406CiA408 CiA410 CiA412 CiA413 CiA414 CiA415CiA416 CiA417 CiA418 CiA419 CiA420 CiA421CiA422 CiA423 CiA424 CiA425 CiA426 CiA427CiA428 CiA429 CiA430 CiA431 CiA432 CiA433CiA434 CiA435 CiA436 CiA438 CiA439 CiA440CiA441 CiA442 CiA443 CiA444 CiA445 CiA446CiA447 CiA448 CiA449 CiA450 CiA451 CiA452
1995: 60 DIN A4 pages 2010: 8000+ DIN A4 pages
CAN
© CiA
! Network Management protocols:
! NMT Message protocol
! Boot-up protocol
! Error Control protocols
- Heartbeat protocol
- (Node guarding protocol)
! Service Data Object (SDO) protocols
! Standard SDO protocols
! SDO block protocols
! Process Data Object (PDO) protocol
! Special object protocols:
! Synchronization (SYNC) protocol
! Time Stamp (TIME) protocol
! Emergency (EMCY) protocol
Communication protocols
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CAN
© CiA
Additional CANopen functions• CANopen manager
• NMT master (controls the NMT slave state machines)
• SDO manager (serves SDO requesting devices)
• Configuration manager (configures NMT slave devices)
• Flying NMT master (provides NMT master redundancy)
• Programmable device• Network variables (to be mapped in PDOs)
• IEC 61131 function blocks
• Bus-line redundancy
• Switches from Default CAN to Redundant CAN and vice versa
• Safety-related communication
• SRDO protocol (transmits process data conform to SIL3)
• Layer setting services• Node-ID or bit-timing configuration via the CANopen network
• Identifying not configured CANopen device
• CANopen bridge/router (up to 127 networks)• Remote SDO
• Remote Emergency
• System variables (to be mapped into PDOs)
CiA 302
CiA 304
CiA 305
CiA 309
CAN
© CiA
Conformance testing
Electronic
data
sheet (EDS)
Lower
profile
test
(LPT)
Device under
test (DUT)
CAN messages
Upper profile
test (UPT)
I/O lines
Test request
Test response
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CAN
© CiA
CANopen plug-fests
• CAN lower layers: Coexisting (e.g. bit-timing, CAN-IDs)
• CANopen application layer: Interconnectivity (e.g. SDO, NMT, Heartbeat)
• CANopen profile: Interoperability (e.g. PDO, EMCY, SDO)
CAN
© CiA
Sub-sea instrumentation
CANopen
manager
Sensor
Meter
Sensor
Meter
...
...
...
Top-level
controller
Ethernet-based
network
(SIIS level-3),
e.g. ModbusTCP
CiA 443 networks
(SIIS level-2)Ocean-ground
Up to 20
redundant
CANopen
networks
connecting
sensors,
meters, and
valves
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CAN
© CiA
Ethernet/CANopen gateway
Ethernet/
CANopen
gateway
Ethernet net 1
CANopen net 1
CANopen net n
Ethernet net nALLEN-BRADLEY
7 8 9
4 5 6
1 2 3
. 0 -
<-----------------'
<
-
-
F1
F6
F2
F7
F3
F8
F4
F9
F5
F1
0
PanelView 550
< >
^
v
CAN
© CiA
Gateway protocolsCommand
Answer
Request
Confir-
mation
Indication
Response
CANopenDEVICE(S) DEVICE(S)EthernetGATEWAY DEVICE
Gateway
application
Request
Confir-
mation
Command
Answer
Indication
Response
Command
Answer
Request
Confir-
mation
Indication
Response
Request
Confir-
mation
Command
Answer
Indication
Response
CiA 309
CiA 301
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CAN
© CiA
TCP/IP-to-CANopen (CiA 309)SDO access services
Upload SDO, Download SDO, Configure SDO timeout
PDO access services
Configure RPDO, Configure TPDO, Read PDO data, Write PDO data, RPDO received
CANopen NMT services
Start node, Stop node, Set node to pre-operational, Reset node, Reset communication,
Enable node guarding, Disable node guarding, Start heartbeat consumer, Disable
heartbeat consumer, Error control event received
Device failure management services
Read device error, Emergency event received
CANopen interface configuration services
Initialize gateway, Store configuration, Restore configuration, Set heartbeat producer,
Set node-ID, Start emergency consumer, Stop emergency consumer
Gateway management services
Set default network, Set default node-ID, Get version
Controller management services
Reset controller, Start controller, Stop controller
CAN
© CiA
CiA 309 protocols
43 (2Bh) 13 (0Dh)
Functioncode
MEI
type
1 to m byte n byte
Protocol
option fieldsAddress and
data fields
ASCII protocol
[[net] node] start
1 8 start
CiA
309
-4
CiA
309
-3
CiA
309
-2
Specification is in progress
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CAN
© CiA
CANopen-to-CANopen router device
Local
CANopen
IF
Local CANopen-based network
Router
functional
elements
Remote
CANopenIFs
(up to 31)
Remote
CANopen-based
network 1
Remote
CANopen-based
network 31
to
CiA 302-7 CANopen router
CANopen-based networks:
- CAN-based
- Ethercat
- Ethernet-Powerlink
- Safetynet
- Varan (Ethernet)
CAN
© CiA
Application master
CANopen-to-CANopen
router
CANopen-to-CANopen
router
CANopen-to-CANopen
routere
NMT slave NMT slave
NMT slave NMT slave
NMT slave NMT slaveNMT slave
NMT slave NMT slave
NMT slave
NMT slave
NMT slave
NMT master
NMT master
NMT master
NMT master
Hierarchical networks
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CAN
© CiA
CANopen-to-CANopenrouter
CANopen
device
CANopen-to-CANopenrouter
CANopen-to-CANopen
router
CANopen-to-CANopen
router
CANopen
device
network ID = 1
network
ID = 4
network
ID = 3
network
ID = 5
network
ID = 2
network
ID = 6
network ID = 7
Non-hierarchical networksCA
N
© CiA
CANopen-to-CANopen router device
Router functional elements
to
CANopen IF 1
(port 1)
SDO
NMT
EMCY
PDO Error
control
OD 1
CANopen IF 2
(port 2)
CANopen IF 32
(port 32)
Remote SDORemote NMT request Remote EMCYRemote error control
CANopen over CAN, Ethernet-based, or wireless networks
SDO
NMT
EMCY
PDO Error
control
OD 2
SDO
NMT
EMCY
PDO Error
control
OD 32
Router functional elements
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CAN
© CiA
Semi-distributed system
EEEEEEEE
CTRL
CTRL
M
Subsystem 1
CTRL
CANopen 2
CTRL
HMI
CANopen 1
EEEEEEEE
CTRL
CTRL
Subsystem 2
M
CANopen 3
CAN
© CiA
CiA 302-7 implementation
Vehicle controller
Sub-controller Sub-controller Sub-controllerSub-controllerSub-controller
CANopen network (CN) 1CANopen manager (CM) 1
D1 Dn
CN 2
CM 2
D1 Dn
CN 3
CM 3
D1 Dn
CN 4
CM 4
D1 Dn
CN 5
CM 5
D1 Dn
CN 6
CM 6
Sandvik
Tam
rock
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CAN
© CiA
XML device description
Parameter
Kommuni-
kation
CANopen
Kommuni-
kation
ModbusTCP
Kommuni-
kation
EthernetPowerlink
Kommuni-
kation
EtherCAT
Device<ISO15745Profile>
<ProfileHeader>
<ProfileTechnology>
EtherCAT
</ProfileTechnology>
</ProfileHeader>
<ProfileBody>
:::
</ProfileBody>
</ISO15745Profile>
<ISO15745Profile>
<ProfileHeader>
<ProfileTechnology>
Ethernet Powerlink
</ProfileTechnology>
</ProfileHeader>
<ProfileBody>
:::
</ProfileBody>
</ISO15745Profile>
:::::
CAN
© CiA
EDS for device design
Object
dictionary
CANopen device
EDS in
XML or
ASCIII
Read in
Generates CANopen protocol
stack and object dictionary
CANopen device design tool
CiA
specifi-
cations
in XML
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CAN
© CiA
Tool-chain support
! Standard CANopen network design
process serves well also the application
interface management
! Most of the required design,
manufacturing and service tools are
commercially available
! The missing conversion tools are simple
and can efficiently integrated as an integral
part of the tool-chain
! Standard CANopen network design
process can be followed even if the
application platforms are not fully CANopen
compatible
Heikki Saha, Sandvik Mining and
Construction Oy
CAN
© CiA
CANopen applications
Manufacturing: Robot and embedded machine control
Healthcare: Medical devices and laboratory automation
Construction: Lift and door control; mobile machines
Transportation: Truck body applications, car add-on devices,
rail vehicles, maritime electronics, e-bikes
Agriculture and forestry: Harvesting machines, cow-sheds
Retail and finance: Vending machines
Science: Telescopes, high-energy physics
Entertainment: Studio equipment, moving cameras, gambling
Communication: Embedded control in satellites
Domestic appliances: Coffee machine, service robots
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CAN
© CiA
Green energyCiA 437: CANopen
application profile
for photovoltaic
systems
CiA 4XX: CANopen
profile for condition
monitoring in wind
power systems
CAN
© CiA
Energy efficiency
CiA 458: CANopen device profile
for energy consumption measuring
All CANopen
profiles should
include
mechanisms to
safe energy by
means of
standardized
energy saving
modes.
SIG Lift will
introduce different
energy saving
modes and energy
measurements into
the CiA 417
CANopen
application profile
for lift control.