ICPDAS CAN-8123, CAN-8223, CAN-8423 User Manual

CAN-8123/ CAN-8223/CAN-8423

CANopen Slave Device

User Manual

Warranty

All products manufactured by ICP DAS are warranted against defective materials for a period of one year from the date of delivery to the original purchaser.

Warning

ICP DAS assume no liability for damages consequent to the use of this product. ICP DAS reserves the right to change this manual at any time without notice. The information furnished by ICP DAS is believed to be accurate and reliable. However, no responsibility is assumed by ICP DAS for its use, nor for any infringements of patents or other rights of third parties resulting from its use.

Trademark

The names used for identification only maybe

registered trademarks of their respective companies.

CAN-8123/CAN-8223/CAN- 8423 user manual (ver. 2.00, July/26/2007) ------1

Tables of Content

1 Introduction.............................................................................................4

1.1 Overview.........................................................................................4

1.2 Hardware Features ........................................................................6

1.3 CAN-8123/CAN-8223/CAN-8423 Features ....................................7

1.4 Utility Features...............................................................................8

2 Hardware Specification..........................................................................9

2.1 CAN-8123/CAN-8223 Hardware Structure....................................9

2.2 CAN-8423 Hardware Structure....................................................11

2.3 Wire Connection ..........................................................................12

2.4 Power LED....................................................................................15

2.5 CANopen Status LED...................................................................16

2.5.1 RUN LED ..........................................................................16

2.5.2 ERR LED ..........................................................................17

2.6 Node ID and Baud rate Rotary Switch........................................19

2.7 Module Support ...........................................................................21

3 CANopen System..................................................................................22

3.1 CANopen Introduction.................................................................22

3.2 SDO Introduction.........................................................................30

3.3 PDO Introduction.........................................................................32

3.4 EMCY Introduction.......................................................................44

3.5 NMT Introduction.........................................................................45

3.5.1 Module Control Protocols...............................................46

3.5.2 Error Control Protocols ..................................................47

4 Configuration & Getting Start..............................................................49

4.1 CAN-8123/CAN-8223 Configuration Flowchart..........................49

4.2 CAN-8423 Configuration Flowchart............................................51

4.3 CAN Slave Utility Overview.........................................................53

4.4 Configuration with the CAN Slave Utility...................................54

4.5 CAN-8123/CAN-8223 Configuration (Off-line mode).................59

4.6 CAN-8423 Configuration (On-line mode)...................................66

5 CANopen Communication Set.............................................................69

5.1 SDO Communication Set ............................................................70

5.1.1 Upload SDO Protocol......................................................70

5.1.2 SDO Block Upload...........................................................79

5.1.3 Download.........................................................................90

5.1.4 SDO Block Download......................................................95

CAN-8123/CAN-8223/CAN- 8423 user manual (ver. 2.00, July/26/2007) ------2

5.1.5 Abort SDO Transfer Protocol.......................................103

5.2 PDO Communication Set ..........................................................106

5.2.1 PDO COB-ID Parameters ..............................................106

5.2.2 Transmission Type........................................................108

5.2.3 PDO Communication Rule............................................109

5.3 EMCY Communication Set........................................................151

5.3.1 EMCY COB-ID Parameter..............................................151

5.3.2 EMCY Communication..................................................152

5.4 NMT Communication Set ..........................................................162

5.4.1 Module Control Protocol .............................................. 162

5.4.2 Error Control Protocol ..................................................166

5.5 Special Functions for CAN-8123/CAN-8223/CAN-8423...........171

6 Object Dictionary of CAN-8123/CAN-8223/CAN-8423......................179

6.1 Communication Profile Area.....................................................179

6.2 Manufacturer Specific Profile Area ..........................................189

6.3 Standardized Device Profile Area.............................................190

Appendix A: Dimensions...........................................................................194

Appendix B: Analog I/O Transformation Table........................................196

CAN-8123/CAN-8223/CAN- 8423 user manual (ver. 2.00, July/26/2007) ------3

1 Introduction

1.1 Overview

CANopen, a kind of communication protocol, is based on an intelligent

field bus (CAN bus). It was developed as a standardized embedded network

with highly flexible configuration capabilities. It provides standardized

communication objects for real-time data (Process Data Objects, PDO), configuration data (Service Data Objects, SDO), network management data

(NMT message, and Error Control), and special functions (Time Stamp, Sync

message, and Emergency message). Nowadays, CANopen is used in many

various application fields, such as medical equipment, off-road vehicles,

maritime electronics, public transportation, building automation and so on.

CAN-8123/CAN-8223/CAN-8423 main control units are specially

designed for the slave device of CANopen protocols. In order to expand the I/O

channel to make it more flexible, the CAN-8123/CAN-8223/CAN-8423

supports up to 8 expansion slots for the user to expand their I/O channel

numbers in various applications. Users can choose either the I-87K or the

I-8000 series DI/DO/AI/AO slot modules to fit their customized practice

applications. An CAN-8123/CAN-8223 has one and two expansion slots

respectively, and an CAN-8423 supports four expansion slots respectively.

Each expansion slot can plug in one I-87K or I-8000 series I/O module. For

example, only one slot module can plug in the CAN-8123, and an CAN-8423

can have at most 4 slot modules plugged in it. All of these main control units

follow the CANopen Spec DS-301 V4.01 and DSP-401 V2.1, and supplies

many features for users, such as dynamic PDO, EMCY object, error output

value, SYNC cyclic and acyclic and so forth. In addition, we also provide the

CAN Slave Utility to allow users to create EDS files dynamically. EDS files are

based on the CANopen DSP-306 and can be compatible with each CANopen

master interface from different manufacturers if the CANopen master interface

supports EDS files. The general application for the

CAN-8123/CAN-8223/CAN-8423 CANopen slave device architecture is as

follows.

CAN-8123/CAN-8223/CAN- 8423 user manual (ver. 2.00, July/26/2007) ------4

CAN-8123/CAN-8223/CAN- 8423 user manual (ver. 2.00, July/26/2007) ------5

1.2 Hardware Features

z CPU:80186, 80MHz

z Philip SJA1000 CAN controller

z Philip 82C250 CAN transceiver

z SRAM:512K bytes

z Flash Memory:512K bytes

z EEPROM:2k bytes

z NVRAM: 32 bytes

z Real Time Clock

z Built-in Watchdog Timer

z 16-bit Timer

z Power LED, RUN LED, and ERR LED

z Support 1/2/4/8 expansion I/O slots

z 2500 Vrms isolation on CAN side z 120Ω terminal resister selected by jumper

z CAN bus interface: ISO/IS 11898-2, 5-pin screw terminal with

on-board optical isolators protection.

z Power Supply:20W, Unregulated +10VDC to +30VDC

z Operating Temperature:-25°C to +75°C

z Storage Temperature:-30°C to +85°C

z Humidity:5%~95%

COM1

z RS-232: TXD,RXD,RTS,CTS,GND

z Communication speed: 115200 bps.

z Configure tool connection

CAN-8123/CAN-8223/CAN- 8423 user manual (ver. 2.00, July/26/2007) ------6

1.3 CAN-8123/CAN-8223/CAN-8423 Features

z NMT: Slave

z Error Control: Node Guarding

z Node ID: Setting by Rotary Switch

z No. of PDOs: 16 Rx, 16Tx

z PDO Modes: Event-triggered, remotely requested, cyclic and acyclic

SYNC

z PDO Mapping: variable

z No of SDOs: 1 server, 0 client

z Emergency Message: Yes

z CANopen Version: DS-301 v4.01

z Device Profile: DSP-401 v2.0

z Produce EDS file dynamically

z Baud Rate setting by Utility : 10K, 20K, 50K, 125K, 250K, 500K, 800K

and 1M bps

z Power LED, RUN LED, and ERR LED indicators

z Support max 4 I-8000 and I-87K series modules for CAN-8423

z Provide a friendly Utility to configure the I-8000 and I-87K series

modules

CAN-8123/CAN-8223/CAN- 8423 user manual (ver. 2.00, July/26/2007) ------7

1.4 Utility Features

z Set the I-8000 and I-87K AI/AO modules parameters

z Show I-8000 and I-87K modules configuration

z Show Application and assembly object configurations

z Support IO connection path settings

z Support EDS file creation

CAN-8123/CAN-8223/CAN- 8423 user manual (ver. 2.00, July/26/2007) ------8

2 Hardware Specification

2.1 CAN-8123/CAN-8223 Hardware Structure

CAN Bus Connector

CANopen

Status LED Power LED

1 I/O Expansion Slot

Node ID and Baud

rate rotary switch

CAN-8123/CAN-8223/CAN- 8423 user manual (ver. 2.00, July/26/2007) ------9

2 I/O Expansion Slots

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------10

2.2 CAN-8423 Hardware Structure

CAN Bus Connector

CANopen

Status LED

Power LED

RS-232 Port

(

connect to PC)

4 I/O Expansion Slots

Power Pin

Node ID and Baud

rate rotary switch

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------11

2.3 Wire Connection

In order to minimize the reflection effects on the CAN bus line, the CAN bus line has to be terminated at both ends by two terminal resistances as in the following figure. According to the ISO 11898-2 spec, each terminal resistance is 120Ω (or between 108Ω~132Ω). The length related resistance should have 70 mΩ/m. Users should check the resistances of the CAN bus, before they install a new CAN network.

...

CAN_H

Device NDevice 2Device 1

120Ω

CAN_L

Moreover, to minimize the voltage drop over long distances, the terminal resistance should be higher than the value defined in the ISO 11898-2. The following table can be used as a good reference.

Bus Cable Parameters

Bus Length

(meter)

0~40 70 0.25(23AWG)~

40~300 < 60 0.34(22AWG)~

300~600 < 40 0.5~0.6mm

600~1K < 20 0.75~0.8mm

Length Related

Resistance

(mΩ/m)

Cross Section

(Type)

0.34mm

0.6mm

(22AWG)

(20AWG)

(18AWG)

Terminal

Resistance

(Ω)

124 (0.1%)

127 (0.1%)

150~300

CAN-8123/CAN-8223/CAN- 84 2 3 user manual (ver. 2.0 0, Jul y / 26/2007) ------12

In the CAN-8123/CAN-8223/CAN-8423, the 120Ω terminal resistance is supplied. The JP2 for the CAN-8123/CAN-8223 is for terminal resistance. The JP2 location is shown in the following figure.

CAN Connector

Rotary Swtich

E D

JP2

CAN

Transciver

CAN Controller

I-8KCPS1/I-8KCPS2 Connector

JP4

JP3

186 CPU

The JP1 on the CAN-8423 is used for adjusting terminal resistance, and its location is shown in the following figure.

L E D

Rotary Switch

186 CPU

CAN Connector

JP1

CAN

Transciver

The following connection statuses are presented for the condition if the terminal resister is enabled or disabled.

CAN-8123/CAN-8223/CAN- 84 2 3 user manual (ver. 2.0 0, Jul y / 26/2007) ------13

CAN Controller

I-8421/I-8821 Connector

Disable Enable

The CAN bus baud rate has the high relationship with the bus length. The following table indicates the corresponding bus length for every kind of baud rate.

Baud rate (bit/s) Max. Bus length (m)

1 M 25

800 K 50 500 K 100 250 K 250 125 K 500

50 K 1000 20 K 2500 10 K 5000

Note: When the bus length is greater than 1000m, the bridge

or repeater devices may be needed.

The pin assignment of both the CAN-8123/CAN-8223 and CAN-8423 CAN

bus connectors are shown below.

CAN_GND

CAN_L

CAN_Shield

CAN_H

CAN_V+

Pin 1

Pin 2

Pin 3

Pin 4

Pin 5

Pin No. Signal Description

1 CAN_GND Ground (0V) 2 CAN_L CAN_L bus line (dominant low) 3 CAN_SHLD Optional CAN Shield 4 CAN_H CAN_H bus line (dominant high) 5 CAN_V+ CAN external positive supply (CAN-8123/CAN-8223

power)

CAN-8123/CAN-8223 CAN bus connector pin assignments

CAN-8123/CAN-8223/CAN- 84 2 3 user manual (ver. 2.0 0, Jul y / 26/2007) ------14

NO USE

CAN_H

CAN_Shield

CAN_L

NO USE

Pin No. Signal Description

1 NO USE No use 2 CAN_H CAN_H bus line (dominant high) 3 CAN_SHLD Optional CAN Shield 4 CAN_L CAN_L bus line (dominant low) 5 NO USE No use

CAN-8423 CAN bus connectors ping assignment

Pin 1

Pin 2

Pin 3

Pin 4

Pin 5

2.4 Power LED

Power LED is yellow one. An CAN-8123/CAN-8223/CAN-8423 needs 10~30 VDC power input. The power consumption for an CAN-8123/CAN-8223/ CAN-8423 will correlate with the number of slot modules plugged into them. If the electronic power is enough, the Power LED will be turned on. If the Power LED can’t be turned on after applying the power supplier, users need to check the power and voltage for this power supply.

CAN-8123/CAN-8223/CAN- 84 2 3 user manual (ver. 2.0 0, Jul y / 26/2007) ------15

2.5 CANopen Status LED

CAN-8123/CAN-8223/CAN-8423 provides two CANopen LED indicators.

They are the Error LED (red) and the RUN LED (green). The Error LED and

Run LED are defined in the CANopen specs. When the CANopen

communication events occur, these indicators will be triggered to glitter with

different periods. The following descriptions interpret the twinkling signal

meanings when these indicators are triggered.

2.5.1 RUN LED

The RUN LED indicates the condition of the CANopen network state

mechanism. About the information of CANopen state mechanism, please refer

to section 3.5.1. The different signal periods and related meanings are

displayed respectively in the following figure and table.

OFF

Blanking

Single Flash

400

200 600

800

1000

1200

1400

1600

1800

2000

Time (ms)

No. CAN RUN LED State Description

1 Single Flash Stopped The device is in Stopped state

2 Blinking Pre-operational The device is in the

pre-operational state

3 On Operational The device is in the operational

state

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------16

2.5.2 ERR LED

The ERR LED indicates the status of the CAN physical layer and indicates

errors due to missing CAN messages (These messages may be SYNC or

Guard messages). Each error event has different twinkling signal periods, and

the signal periods and related meanings are displayed respectively in the

following figure and table.

OFF

Single Flash

Double Flash

Triple Flash

400

200 600

800

1000

1200

1400

1600

1800

2000

Time (ms)

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------17

No. Error LED State Description

1 Off No error The device is in working

condition.

2 Single Flash Warning limit

reached

At least one of the error counters

of the CAN controller has

reached or exceeded the warning

level (too many error frames).

3 Double Flash Error Control

Event

A guard event (NMT-Slave or

NMT-master) or a heartbeat

event (Heartbeat consumer) has

occurred.

4 Triple Flash SYNC Error The SYNC message has not

been received within the

configured communication cycle

period time out (see Object

Dictionary Entry 0x1006).

5 On Bus Off The CAN controller is in a bus off

condition.

Note: If several errors are present at the same time, the error with the highest

number will be indicated first. For example, if NMT Error (No. =3) and

Sync Error (No. =4) occur, the SYNC error is indicated.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------18

2.6 Node ID and Baud rate Rotary Switch

(MSB)

(LSB)

BAUD

The upper two rotary switches control the CAN-8123/CAN-8223/

CAN-8423 node ID. MSB means the high nibble of the node ID, and LSB

represent the low nibble of the node ID. The CAN-8123/CAN-8223/

CAN-8423node ID is useless when the value exceeds the 0x7F (127 for

decimal format) because of the CANopen specification definition. Therefore, if

the node ID is set to exceed 127, the CANopen firmware will set the node ID to

1 automatically. For example, if the MSB rotary switch is turned to 3 and the

LSB rotary switch is turned to 2, the CAN-8123/CAN-8223/CAN-8423 node ID

is 0x32 and the decimal value is 50 (3*16+2=50).

The lower rotary switch handles the CAN-8123/CAN-8223/CAN-8423

baud rate. The relationship between the rotary switch value and the practical

baud rate is presented in the following table.

Rotary Switch Value Baud rate (K BPS)

0 10

1 20

2 50

3 125

4 250

5 500

6 800

7 1000

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------19

If the “BAUD” rotary switch for the CAN-8423 is turned to ‘9’, the

CAN-8423 will get into its initial mode. In the meanwhile, the CANopen

firmware built in the CAN-8423 will not be executed. Before users use the

utility tool to configure the CAN-8423, the initial mode is needed. For the detail

configuration process, please refer to the cheaper 4. Since the

CAN-8123/CAN-8223 has no RS-232 COM Port, it is necessary to run the

utility tool in the off-line mode if users want to get the EDS file of the

CAN-8123/CAN-8223.

Furthermore, when the CAN-8123/CAN-8223/CAN-8423 is started up, the

CANopen firmware will check these rotary switches. Any illegal value for these

rotary switches will cause the CAN-8123/CAN-8223/CAN-8423 to have a

boot-up failure.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------20

2.7 Module Support

The CAN-8123/CAN-8223/CAN-8423 supports many kinds of DI, DO, AI

and AO modules for the I-8000/I-87K series modules. When users want to

apply these modules on the CANopen network, they only need to plug these

modules into the CAN-8123/CAN-8223/CAN-8423 I/O expansion slots. Then,

the CANopen firmware built in the CAN-8123/CAN-8223/CAN-8423 will search

for them by organizing the corresponding CANopen entries automatically. The

following table shows the module name and basic information supported by

the CAN-8123/CAN-8223/CAN-8423.

IO Type Module Name IO Type Module Name

( NOTE )

I-87013/ I-87016/ I-87017/ I-87018/

I-8024

I-87022/ I-87024/ I-87026

I-8037/ I-8041/ I-8056/ I-8057/ I-8060/ I-8064/ I-8065/ I-8066/ I-8068/ I-8069

I-87041/ I-87056/ I-87057/ I-87060/ I-87064/ I-87065/ I-87066/ I-87068/ I-87069

I-8040/ I-8051/ I-8052/ I-8053/ I-8058/

I-87040/ I-87051/ I-87052/ I-87053/ I-87058/

DO&DI

I-8042/ I-8054/ I-8055/ I-8063

I-87042/ I-87054/ I-87055 I-87063/

NOTE : CANopen remote I/O ( CAN-8423/CAN-8223/CAN-8123 ) do

not support I-8017H

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------21

3 CANopen System

3.1 CANopen Introduction

CANopen is a kind of network protocol based on the CAN bus and has

been used in various applications, such as vehicles, industrial machines,

building automation, medical devices, maritime applications, restaurant

appliances, laboratory equipment & research. It allows for not only

broadcasting but also peer-to-peer data exchange between every CANopen

node. The network management functions specified in CANopen simplify the

project design. In addition to this, users can also implement and diagnose the

CANopen network by standard mechanisms for network start-up and error

management. By the device model, any CANopen device can effectively

access or get the conditions relating to the I/O values and node states of other

devices in the same network. Generally, a CANopen device can be modeled

into three parts.

z Communication

z Object Dictionary

z Application program

The functions and general concepts for each part are shown as follows.

Communication

Object

Dicitionary

Application

Comm.

objcet

Comm.

objcet

Comm.

objcet

Application

objcet

Application

objcet

Application

objcet

Entry 1

Entry 2

Entry n

State

mechanism

Bus System

Process

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------22

Communication

The communication part provides several communication objects and

appropriate functionalities to transmit CANopen messages via the underlying

network structure. These objects may be PDO (Process Data Object), SDO

(Service Data Object), NMT (Network Management Objects), SYNC

(Synchronous Objects)…etc. Each communication object has its

communication model and functionality. Take the PDO, SDO, and NMT for

examples, the communication objects for accessing the device object

dictionary entries is SDO, and SDO uses the Client/Server structure for its

communication model (section 3.2). Real-time data or I/O values can be

transmitted or received quickly without any protocol overhead by means of

PDO communication objects. The PDO’s communication model follows the

Producer/Consumer structure. It is also named the Push/Pull model (section

3.3). NMT communication objects are used for controlling and supervising the

state of the nodes in the CANopen network, and it follows a Master/Slave

structure (section 3.5). No matter which kind of communication object is used,

the transmitted message must obey the data frame defined in the CAN 2.0A

spec. Generally, it looks like the following figure.

ID RTR

Data

Length

8-byte Data

The ID field has 11-bit data. It is useful in the arbitration mechanism. The

RTR filed has a one-bit value. If the RTR is set to 1, this message is used for

remote-transmit requests. In this case, the 8-byte data is useless. The data

length field contains 4-bit data. It indicates that the valid data number stored in

the 8-byte data field. The last field, 8-byte data, is applied to store the message

data.

CANopen specification uses the 4-bit function code and 7-bit node ID to

combine the 11-bit ID of CAN message, and name it as communication object

ID (COB-ID). The COB-ID structure is displayed below.

Function Code Node ID

bit 10 bit 0

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------23

The COB-IDs are defined for recognizing where the message comes from

or where the message must be sent. Also, they are used to distinguish the

functionality of the transmitted or received messages, and decide the priority of

the message transmission for each node on the network. According to the

arbitration mechanism of the CAN bus, the CAN message with the lower value

COB-ID has the higher priority to be transmitted into the CAN bus. In the

CANopen specification, some COB-IDs are reversed for specific

communication objects and can't be defined arbitrarily by users. The following

list shows these reversed COB-IDs.

Reversed COB-ID (Hex) Used by object

0 NMT

1 Reserved

80 SYNC

81~FF EMERGENCY

100 TIME STAMP

101~180 reversed

581~5FF Default Transmit-SDO

601~67F Default Receive-SDO

6E0 reversed

701~77F NMT Error Control

780~7FF reversed

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------24

Beside the COB-IDs described above, users can apply the other COB-IDs

if needed. All of the default COB-IDs used in the CANopen protocol is shown in

the following table.

(Bit10~Bit7)

(Function Code)

(Bit6~Bit0) Communication object Name

0000 0000000 NMT

0001 0000000 SYNC

0010 0000000 TIME STAMP

0001 Node ID EMERGENCY

0011/0101/0111/1001 Node ID TxPDO1/2/3/4

0100/0110/1000/1010 Node ID RxPDO1/2/3/4

1011 Node ID SDO for transmission (TxSDO)

1100 Node ID SDO for reception (RxSDO)

1110 Node ID NMT Error Control

Note: For the CAN-8123/CAN-8223/CAN-8423, we provide all communication

objects except for the TIME STAMP.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------25

Object Dictionary

The object dictionary collects a lot of important information. This

information has an influence on the device’s behavior, such as the data in the

I/O channels, the communication parameters and the network states. The

object dictionary is essentially a group of objects. It consists of a lot of object

entries, and these entries can be accessible via the network in a pre-defined

method. Each object entry within the object dictionary has their own

functionality (ex. communication parameters, device profile …), data type (ex.

8-bit Integer, 8-bit unsigned…), and access type (read only, write only …). All

of them are addressed by a 16-bit index and an 8-bit sub-index. The overall

profile of the standard object dictionary is shown below.

Index (hex) Object

0000 Reserved

0001-001F Static Data Types

0020-003F Complex Data Types

0040-005F Manufacturer Specific Data Types

0060-007F Device Profile Specific Static Data Types

0080-009F Device Profile Specific Complex Data Types

00A0-0FFF Reserved for further use

1000-1FFF Communication Profile Area

2000-5FFF Manufacturer Specific Profile Area

6000-9FFF Standardized Device Profile Area

A000-BFFF Standardized Interface Profile Area

C000-FFFF Reserved for further use

Take the standardized device profile area for an example. Assume that a

CANopen device has 16 DI, 8 DO, 2AI and 1AO channels. The values of these

channels will be stored into several entries in the standardized device

dictionary, such as the entries with indexes 0x6000, 0x6200, 0x6401, and

0x6411. When the CANopen device obtains the input value, these values are

stored in the 0x6000 and 0x6401 indexes. Furthermore, the values stored in

the 0x6200 and 0x6411 indexes also output to the DO and AO channels. The

basic concept is depicted as follows.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------26

Subindex1 : DI Channel 0~7

Subindex2 : DI Channel 8~15

Subindex1 : DO Channel 0~7

Subindex1 : AI Channel 0 Subindex2 : AI Channel 1

Subindex1 : AO Channel 0

DI Standardized Device

Dictionary Object (0x6000)

DO Standardized Device

Dictionary Object (0x6200)

AI Standardized Device

Dictionary Object (0x6401)

AO Standardized Device

Dictionary Object (0x6411)

Practical DI

Channel 0~15

Practical DO Channel 0~7

Practical AI

Channel 0~1

Practical AO

Channel 0

Hardware

Standardized Device

Profile Area

Take the CAN-8423 for example. There are some I-8000 or I-87K series

modules plugged in the CAN-8423 I/O expansion slots. The related

information for each module is shown below.

Module Name Slot No DO (ch) AO (ch) DI (ch) AI (ch)

I-8063 0 4 0 4 0

I-87053 1 0 0 16 0

I-8053 3 0 0 16 0

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------27

When the CAN-8423 boots up, all the channels of the modules plugged in

the CAN-8423 will be scanned. Also, the I/O values of these channels are

arranged into proper object entries one by one. So the minimum data unit is

one byte, the DI and DO channels, which are not enough to fill up one byte, will

be regarded as one byte length automatically. The CAN-8423 uses objects

with the index 0x6000 to store the input values of the DI channels. The I/O

values of the DO, AI, and AO channels are put into the object with the indexes

0x6200, 0x6401, and 0x6411 respectively. When data come through these I/O

values to the corresponding object, the device will follow the rules below.

z The I/O channel values of the I-8000/I-87K series modules with lower

slot numbers are first placed into the object dictionary. After the

CAN-8423 has filled the all I/O channels in one module, then the

CAN-8423 will go to the next slot number to continue.

z Each analog channel is stored by using 2 bytes.

z The number of digital channels of one module, which can’t be divided

by 8 with no remainder, is stored with 1 byte.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------28

After using the rule described above, the result of the object format is as

follows.

Index

sub-index

0x6000

(for DI)

0x6200

(for DO)

0x6401

(for AI)

0x6411

(for AO)

0x00 9 1 9 4

0x01 DI0~DI3

(Slot:0)

DO0~DO3

(Slot:0)

0x02 DI0~DI7

(Slot:1)

0x03 DI8~DI15

(Slot:1)

0x04 DI0~DI7

(Slot:3)

0x05 DI8~DI15

(Slot:3)

The information described above can also be viewed by using the CAN

Slave Utility. For more details about the object dictionary and how to use the

CAN Slave Utility, refer to both chapter 5 and chapter 6.

Application

The application objects handle all of the device functionalities, which

respect to the interaction with the process environment. It is the bridge

between the object dictionary and practical process, such as the analog I/O,

digital I/O….

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------29

3.2 SDO Introduction

In order to access the entries in a device object dictionary, service data

objects (SDOs) are provided. By means of the SDO communication method, a

peer-to-peer communication bridge between two devices is established. The

SDO transmission follows the client-server relationship. The general concept is

shown in the figure below.

Client Server

confirmation

response

data

request indication

The SDO has two kinds of the COB-IDs, which are RxSDOs and TxSDOs.

They are viewed at point in the CANopen device. For example, from the view

of the CAN-8123/CAN-8223/CAN-8423, if users want to send a SDO message,

then the CAN-8123/CAN-8223/CAN-8423 needs to receive the SDO message

transmitted from users. Hence, the receive SDO (RxSDO) COB-ID of the

CAN-8123/CAN-8223/CAN-8423 will be used.

If the CAN-8123/CAN-8223/CAN-8423 wants to transmit a SDO message,

then the TxSDO COB-ID of the CAN-8123/CAN-8223/CAN-8423 will need to

be utilized. Before the SDO has been used, only the client can take the active

requirement for a SDO transmission. When the SDO client starts to transmit a

SDO, it is necessary to choose the proper protocol to transmit the SDO.

If the SDO client has to get the information from the device object

dictionary and from the SDO server, the segment upload protocol or block

upload protocol will be applied. The former protocol is used for transmitting

fewer data; the latter protocol is used for transmitting larger data. Both the

segment download protocol and block download protocol will be implemented

when the SDO client wants to modify the object dictionary to the SDO server.

The differences between the segment download protocol and the block

download protocol are similar to the differences between the segment upload

protocol and the block upload protocol. Because of the different access types

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------30

in the object dictionary, not all-accessing action of the object dictionary via the

SDO transmission is allowed. If the SDO client trends to modify the entries of

the SDO server object dictionary which uses the read-only access type, then

the abort SDO transfer protocol will be given and the SDO transmission will

also stop.

The CAN-8123/CAN-8223/CAN-8423 only supports the SDO server.

Therefore, it can only be passive and wait for the client requirements. The

general concept of the upload and download protocol with the

CAN-8123/CAN-8223/CAN-8423 indicated in the following figure.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------31

3.3 PDO Introduction

Communication Modes For The PDO

Based on the transmission data format of the CAN bus, the PDO can

transmit eight bytes of process data at one time. Because of the PDO

messages without overheads, it is more efficient than other communication

objects within CANopen and is therefore used for real-time data transferring,

such as DI, DO, AI, AO, etc.

PDO reception or transmission is implemented via the producer/consumer

communication model (also called the push/pull model). When starting to

communicate in the PDO push mode, it needs one CANopen device to play

the role of PDO producer and zero or more than one device to play the role of

PDO consumer.

The PDO producer sends out the PDO message after it has won the CAN

bus arbitration. Afterwards, each PDO consumer receives this PDO message

respectively, and therefore message is processed by each device to check

whether it is needed or not (be dropped). In the PDO pull mode, one of the

PDO consumers need to send out a remote transmit request to the PDO

producer. According to this remote request message, the PDO producer

responds the corresponding PDO message for each PDO consumer in the

CAN bus. The PDO communication structure figure is shown below.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------32

Producer Consumers

request indication

indication

data

Push model

response confirmation

indication

data

Pull model

request

Producer Consumers

indication

request

Remote Transmit Request

From the view of the CANopen device, the TxPDO is used to transmit data

from the CANopen device. Therefore, it is usually applied on DI/AI channels.

The COB-ID of the PDO for receiving data is RxPDO COB-ID, and it is usually

applied on DO/AO channels. Take the CAN-8123/CAN-8223/CAN-8423 for an

example. If a PDO producer sends a PDO message to the

CAN-8123/CAN-8223/CAN-8423, it needs to use the RxPDO COB-ID of the

CAN-8123/CAN-8223/CAN-8423 because it is a PDO reception action viewed

from the CAN-8123/CAN-8223/CAN-8423. Inversely, when some PDO

consumers send remote transmit requests to the CAN-8123/CAN-8223/

CAN-8423, it must use the TxPDO COB-ID of the CAN-8123/CAN-8223/

CAN-8423 because it is a PDO transmission action viewed from the

CAN-8123/CAN-8223/CAN-8423.

Trigger Modes Of PDO

For PDO producers, PDO transmission messages can be trigged by three

conditions. They are the event driven, timer driven and remote request

conditions. All of them are described below.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------33

Event Driven

PDO transmission can be triggered by the occurrence of an object specific

event. For PDOs of the cyclic synchronous transmission type, this is the

expiration of the specified transmission period, which is synchronized by the

exception of the SYNC message.

For PDOs of the acyclic synchronous or asynchronous transmission type,

the triggering of a PDO transmission is device-specified in the CANopen

specification DSP-401 v2.1. By following this spec, the PDO will be triggered

by any change in the DI-channel states when the transmission type of this

PDO is set to acyclic synchronous or asynchronous.

Timer Driven

PDO transmissions are also triggered by the occurrence of a specific

event for the device or if a specified time has elapsed without the occurrence

of an event. For example, the PDO transmission of the CAN-8123/CAN-8223/

CAN-8423 can be triggered by the event timer of the PDO communication

parameters, which is set by the user.

Remote Request

If the PDO transmission type is set to asynchronous or RTR only, the PDO

transmission can only be triggered after receiving a remote transmit request

from any other PDO consumer.

PDO Transmission Types

Generally speaking, there are two kinds of PDO transmission modes,

synchronous and asynchronous. For the PDO in a synchronous mode, it must

be triggered by the reception of a SYNC message. The synchronous mode

can then be distinguished with more detail into three kinds of transmission.

These are the acyclic synchronous, cyclic synchronous and RTR-only

synchronous. The acyclic synchronous can be triggered by both the reception

of a SYNC message and the occurrence of an event defined by an event driver

mentioned above. For the TxPDO object, after receiving a SYNC object from

SYNC producer, the CAN-8123/CAN-8223/CAN-8423 will respond with a

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------34

predefined TxPDO message to the CANopen PDO consumers. For the

RxPDO object, the CAN-8123/CAN-8223/CAN-8423 needs to receive the

SYNC objects to actuate the RxPDO object, which is received before the

SYNC object. The following figures indicate how the acyclic synchronous

transmission type works on the RxPDO and the TxPDO.

The cyclic synchronous transmission mode is triggered by the reception of

an expected number of SYNC objects, and the max number of expected

SYNC objects can be 240. For example, if the TxPDO is set to response when

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------35

receiving 3 SYNC objects, the CAN-8123/CAN-8223/CAN-8423 will feed back

the TxPDO object after receiving 3 SYNC object. For the RxPDO, actuating

the DO/AO channels by the RxPDO is independent of the number of SYNC

objects. These concepts are shown in the figures below.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------36

The RTR-only synchronous mode is activated when receiving a

remote-transmit-request message and SYNC objects. This transmission type

is only useful for TxPDO. In this situation, the CAN-8123/CAN-8223/CAN-8423

will update the DI/AI value when receiving the SYNC object. And, if the RTR

object is received, the CAN-8123/CAN-8223/CAN-8423 will respond to the

TxPDO object. The following figure shows the mechanism of this transmission

type.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------37

The asynchronous mode is independent with the SYNC object. This mode

can also be divided into two parts for more detail. There are RTR-only

asynchronous transmission type and asynchronous transmission type. The

RTR-only transmission type is only for supporting TxPDO transmissions. For

this transmission type, the TxPDO is only triggered by receiving the RTR

object from the PDO consumer. This action is depicted below.

The other part of the asynchronous mode is the asynchronous

transmission type. Under this transmission type, the TxPDO message can be

triggered not only by receiving the RTR object but also by the occurrence of

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------38

TxPDO events described in the event driver paragraph described above.

Furthermore, the DO/AO channels can act directly by receiving the RxPDO

object. This transmission type is the default value when the

CAN-8123/CAN-8223/CAN-8423 boots up. The concept of the asynchronous

type is illustrated as follows.

Inhibit Time

Because of the arbitration mechanism of the CAN bus, the smaller

CANopen communication object ID has a higher transmission priority than the

bigger one. For example, there are two nodes on the CAN bus, the one needs

to transmit the CAN message with the COB-ID 0x181, and the other has to

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------39

transmit the message with COB-ID 0x182. When these two nodes transmit the

CAN message to the CAN bus simultaneously, only the message containing

COB- ID 0x181 can be sent to the CAN bus successfully because of the higher

transmission priority. The message with COB-ID 0x182 needs to hold the

transmission until the message with COB-ID 0x181 is transmitted successfully.

This arbitration mechanism can guarantee the successful transmission for one

node when a transmission conflict occurs.

However, if the message with COB-ID 0x181 is transmitted again and

again, the message with COB-ID 0x182 will never get a chance to be

transmitted. Therefore, the disadvantage of this arbitration mechanism is that

the lower priority of a CAN message is never transmitted successfully if the

higher priority message is sent continuously. In order to avoid the occupation

of the transmission privilege by the message with a lower COB-ID, the inhibit

time parameters for each of the PDO objects define a minimum time interval

between each PDO message transmission, which has a multiple of 100us.

During this time interval, the PDO message will be inhibited from transmission.

Event Timer

This parameter is only used for TxPDO. If the value of the event timer is

not equal to 0 and the transmission type is in asynchronous mode, the

expiration of this time value is considered to be an event. This event will cause

the transmission of the TxPDO message. The event timer parameter is defined

as a multiple of 1ms.

PDO Mapping Objects

The PDO mapping objects provide the interface between PDO messages

and real I/O data in the CANopen device. They define the meanings for each

byte in the PDO message, and may be changed by using a SDO message. All

of the PDO mapping objects are arranged in the Communication Profile Area.

In the CANopen spec (CiA DS401), RxPDO and TxPDO default mapping

objects may be specified as follows:

z There shall be up to 4 enabled TxPDO mapping objects and up to 4

RxPDO mapping objects with default mappings.

z 1st RxPDO and TxPDO mappings are used for digital outputs and

inputs to each other.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------40

z 2nd, 3rd, and 4th RxPDO and TxPDO mapping objects are assigned

to record the value of analog outputs and inputs respectively.

z If a device supports too many digital input or output channels which

exceed the 8 channels, the related analog default PDO mapping

objects shall remain unused and the additional digital I/Os may use

additional PDO mapping objects. This rule shall also be obeyed for

the additional analog channels. Take the RxPDO for example; there

are 11 DO object entries and 13 AI object entries in the object

dictionary. In the default situation for the

CAN-8123/CAN-8223/CAN-8423, the first 8 DO object entries will be

mapped to the first RxPDO mapping object because one DO object

entry needs one byte space. The last 3 DO object entries will be

assigned into the 5th

RxPDO because of the 2nd and 3rd rule

described above. One AO object entry needs 2 bytes of space.

Therefore, the second RxPDO mapping object loads the first 4 AO

object entries. The following 4 AO object entries are packed into the

third RxPDO mapping object, and so is the 4th RxPDO mapping

object. Because the 5th RxPDO mapping object has been occupied

by the DO object entries, the last AO object entry shall be assigned

into the 6th RxPDO mapping object.

Before applying the PDO communications, the PDO producer and the

PDO consumers need to have their PDO mapping information for each other.

On the one hand, the PDO producers need PDO mapping information to

decide how to assign the expected practical I/O data into PDO messages.

Besides, PDO consumers need the PDO mapping information to know the

meaning of each byte of received PDO message. That is to say that when a

PDO producer transmits a PDO object to PDO consumers, the consumers

contrast this PDO message with PDO mapping entries which are previously

obtained from the PDO producer. Then, interpret the meanings of these values

from the received PDO object. For example, if a CANopen device has 16 DI, 8

DO, 2 AI, and 1 AO channels. The input or output values of these channels will

be stored into several specific entries for each other. If the user-defined PDO

mapping objects have been used, then general concept for these PDO

mapping objects which have been depicted may be very useful.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------41

Subindex1 : DI Channel 0~7

Subindex2 : DI Channel 8~15

Subindex1 : DO Channel 0~7

Subindex1 : AI Channel 0 Subindex2 : AI Channel 1

Subindex1 : AO Channel 0

DI Standardized Device

Dictionary Object (0x6000)

DO Standardized Device

Dictionary Object (0x6200)

AI Standardized Device

Dictionary Object (0x6401)

AO Standardized Device

Dictionary Object (0x6411)

1 2 3 4 5 6 70 1 2 3 4 5 6 70

RxPDO Mapping Object TxPDO Mapping Object

According to the PDO mapping objects in the figure above, if this

CANopen device gets the RxPDO message including three bytes, the first byte

is interpreted as the output value of the DO channels 0~7 and the following two

bytes are the analog output value. After interpreting the data of the RxPDO

message, the device will actuate the DO and AO channels with the received

RxPDO message. Take a note that TxPDO also operate in the same

procedure as RxPDO message. When the TxPDO trigger events occur, the

CANopen device will send the TxPDO message to the PDO consumers. The

values of the bytes assigned in the TxPDO message follow the TxPDO

mapping object as in the above figure. The first two bytes of the TxPDO

message are the values for the DI channels 0~7 and channel 8~15. The third

and forth bytes of the TxPDO message refer to the AI channel 0 value. The

fifth and sixth bytes are the values link to AI channel 1. The relationships

among the object dictionary, the PDO mapping object and the PDO message

are given below.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------42

. . .

TxPDO

TxPDO mapping objects

RxPDO

}

Object Dictionary

Practical I/O

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Byte 6

Byte 7

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Byte 6

Byte 7

RxPDO mapping objects

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------43

3.4 EMCY Introduction

EMCY messages are triggered by the occurrence of a device internal error.

It follows the producer/consumer relationship. After a CANopen device detects

the internal error, an emergency message is transmitted to the EMCY

consumers only once per error event. No further emergency objects must be

transmitted if no new errors occur on a device. Zero or more emergency

consumers may receive the EMCY object. The CAN-8123/CAN-8223/

CAN-8423 only supports the function of the emergency producer. The

general concept behind the EMCY communications is shown below.

An emergency message contains 8-byte of data called emergency object

data, and follows the structure provided bellow.

Byte 0 1 2 3 4 5 6 7

Content Emergency Error Code Error register Manufacturer specific Error Field

All the fields in the emergency object data will be described in section 5.3.

Take the CAN-8123/CAN-8223/CAN-8423 for an example, if any errors occur

in the CAN-8123/CAN-8223/CAN-8423, the EMCY message will be sent out

from the CAN-8123/CAN-8223/CAN-8423. Afterwards, the EMCY message

will not be transmitted again if the same error occurs repeatedly.

However, if any other different errors detected by the CAN-8123/

CAN-8223/CAN-8423 occur, it will trigger the transmission of the EMCY

message again. After one but not all error reasons are gone, an emergency

message containing the emergency error code “00 00” may be responded to

with the remaining errors in the error register and manufacturer specific error

fields. Hence, by means of checking the EMCY message, users can

understand what is happening in the CAN-8123/CAN-8223/CAN-8423, and

can then do something about the error event.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------44

3.5 NMT Introduction

The Network Management (NMT) follows a node-oriented structure and

also follows the master-server relationship. On the same CAN bus network,

only one CANopen device can have the power to implement the function of

NMT master. All the other CANopen nodes are regarded as NMT slaves. Each

NMT slave is unique, and identified by its node ID from 1 to 127. The NMT

service supplies two protocols, module control protocol and error control

protocol, for different purposes. Through the NMT module control protocol, the

nodes can be controlled into several kinds of status, such as installing,

pre-operational, operational, and stopped. The NMT slave in different statuses

has different privileges to implement the communication protocol. The error

control protocol gives the user the way to detect the remote error in the

network. It can confirm if the node still lives or not.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------45

3.5.1 Module Control Protocols

Before introducing the modules control protocols, let’s look at the

architecture of the NMT state mechanism. The following figure displays the

relationships among each NMT state and the mechanism for changing the

NMT state of a NMT slave.

Operational

Initialization

State Mechanism Diagram

Stop

Pre-Operational

Power on or

Hardware reset

(1)

(2)

(4)(3)

(6)

(8)

(5)

(7)

(9)

(1) At “Power on” the initialization state is entered autonomously

(2) Initialization finished enter Pre-Operational automatically

(3),(6) “Start Remote Node” indication

(4),(7) “Enter Pre-Optional State” indication

(5),(8) “Stop Remote Node” indication

(9) “Reset Node” or “Reset Communication” indication

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------46

Devices enter the Pre-Operational state directly after finishing the device

initialization. Then, the nodes can be switched into different states by receiving

an indication. Each different NMT state allows for specific communication

methods. For example, the PDO message can only transmit or receive in the

operational state. In the following table, the relationship among each NMT

state and communication objects is given.

Installing Pre-operational Operational Stopped

PDO

SDO

O O

SYNC Object

O O

Time Stamp Object

O O

EMCY Object

O O

Boot-Up Object

NMT

O O O

3.5.2 Error Control Protocols

There are two kinds of protocols defined in the error control protocol.

According to the CANopen spec, one device is not allowed to use both error

control mechanisms, Guarding Protocol and Heartbeat Protocol, at the same

time. The CAN-8123/CAN-8223/CAN-8423 provides the salve function of the

Node Guarding Protocol. Therefore, users can only use this protocol for the

CAN-8123/CAN-8223/CAN-8423 in practical application. And, only node

guarding protocols will be introduced here. The node guarding protocol of the

error protocol is described below.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------47

Node Guarding Protocol

The Node Guarding Protocol follows the Master/Slave relationship. It

provides a way to help uses monitor the node in the CAN bus. The

communication method of node guarding protocol is defined as follows.

Slave state

NMT Master NMT Slave

request

confirm

indication

Node Guarding Event Life Guarding Event

Node

Guard

Time

Node

Life

Time

Guarding error

Remote transmit request

response

The NMT master polls each NMT slave at regular time intervals. This

time-interval is called the guard time and may be different for each NMT slave.

The response of the NMT slave contains the state of that NMT slave, which

may be in a "stopped", "operational", or "pre-operational" state. The node life

time is given by the “guard time * life time factor”. The node life time factor can

also be different for each NMT slave. If the NMT slave has not been polled

during its life time, a remote node error is indicated through the "Life Guarding

Event" service.

In addition, the reported NMT slave state, which does not match the

expected state, also produces the “Life Guarding Event”. This event may

occurs in the DO and AO channels to output the error mode value recorded in

the object with index 0x6207 and index 0x6444. The object with index 0x6026

and 0x6443 can control the error mode value of the DO or AO channels to

enable or disable when the “Lift Guarding Event” has been indicated. For more

information about objects with index 0x6206, 0x6207, 0x6443, and 0x6444,

please refer to chapter 6.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------48

4 Configuration & Getting Start

4.1 CAN-8123/CAN-8223 Configuration Flowchart

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------49

The following procedure is the general concept for off-line mode. This

procedure can be applied in the both of the CAN-8123/CAN-8223 and

CAN-8423.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------50

4.2 CAN-8423 Configuration Flowchart

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------51

The following procedure is the general concept for on-line mode. This

procedure can be only applied in the CAN-8423.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------52

4.3 CAN Slave Utility Overview

The CAN Slave Utility is designed for the CAN-8123/CAN-8223/

CAN-8423. It provides following functions.

z Configure the input range of the I-8000 and I-87K AI/AO modules

plugged in the CAN-8423.

z Scan the I-8000 or I-87K modules in the CAN-8423. Then, it creates

the EDS file to match the scan result in on-line mode.

z Produce the EDS file by using off-line method for

CAN-8123/CAN-8223/CAN-8423.

z Show the important information which is useful in the CANopen

network. Such as the PDO communication objects, and the

standardized device objects and manufacturer specific objects

defined in the CAN-8123/CAN-8223/CAN-8423.

Because all I-8000/I-87K AI/AO parameters configuration can be done by

using SDO protocol of CANopen specification, the CAN-8123/CAN-8223/

CAN-8423 can work directly without using the CAN Slave Utility if users don’t

need the CAN-8423 EDS file creation with on-line mode, That is to say that

users can turn on the CAN-8123/CAN-8223/CAN-8423 and directly apply it in

the CANopen network. If the EDS file is necessary, users can get the EDS file

by using CAN Slave Utility. When the AI/AO channels configuration is needed,

use SDO protocol to modify the AI/AO parameter configurations. For more

detail information, please refer to the chapter 5.5 and 6.2.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------53

4.4 Configuration with the CAN Slave Utility

Install CAN Slave Utility

Step 1: Download the CAN Slave Utility setup file from the web site

http://www.icpdas.com/products/Remote_IO/can_bus/can-8423.htm or http://www.icpdas.com/products/Remote_IO/can_bus/can-8123.htm or

CD-ROM disk following the path of “CD:\CANopen\Slave\CAN-8x23\Utility\”.

Step 2: Execute the CAN_SL_Setup.exe file to install the CAN Slave Utility.

Step 3: A “Welcome” window pops up to prompt user to begin installation.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------54

Step 4: Click the “Next” button and the “Choose Destination Location” window

will pop up for deciding the installation path.

Step 5: Click the “Next” button and start to install the CAN Slave Utility to the

system. After finishing the process, the following figure will be displayed

prompting users to “OK” the successful completion of the installation.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------55

Step 6: After finishing the installation of the CAN Slave Utility, users can find

the CAN_SL Utility as shown in the following screenshot.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------56

Uninstall CAN Slave Utility

You can uninstall the CAN_SL Utility software by one means of any

methods described below.

Step 1: Click “Start” in the task bar, then click Setting/Control Panel as shown

in the following figure.

Step 2: Click the “Add/Remove” button Programs icon to open the dialog.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------57

Step 3: Find out the CAN_SL Utility, and click the Change/Remove button.

Step 4: Click the button “Yes” button to remove the software.

Step 5: Finally, click the button “OK” button to finish the uninstall process.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------58

4.5 CAN-8123/CAN-8223 Configuration (Off-line mode)

Step 1: Select “Application Layer” to “CANopen”. Then, select the “Setting

status” to offline.

Step 2: Here, assume that users’ CAN slave device is CAN-8223 with node ID

123 and baud rate 1000Kbps. Fill the correct value of users’ CAN-8223 node

ID and baud in the “NODE ID” and “CAN Baud rate” filed. Then, select the “Slot

Number” to “2 Slot”.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------59

Step 3: Afterwards, click one of the slot module icons shown in the “CAN Slave

Device Situation” frame. The list box will be popped up. Select the correct slot

module plugged into the CAN-8223.

Step 4: If the I-8024 and I-8042 modules are plugged into slot 0 and slot 1

respectively, then, select 8024 in the list box, and click button “Apply Module”

to save the configuration.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------60

Step 5: After finishing the configuration, users can slip the mouse point to the

slot module in the “CAN Slave Device Situation” frame. If configuration is

successful, users can see the correct module name on the top of the slot

module.

Step 6: Afterwards, repeat the step 4~5 to configure the slot 1 to I-8042 module.

Then, click “Save Setting” button to finish the off-line parameter settings.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------61

Step 7: Users can perform the parameter setting in the “General Setting”

windows. Also, users can check the default settings for each slot module by

clicking this module. Or move the mouse pointer on the slot module to see the

module name and module information in the “Module Information” frame.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------62

Step 8: The two fields, “description” and “create by”, can help users to do some

notes in the EDS file. If these two fields are empty, the “ICPDAS CANopen I/O

Slave Device” and “ICPDAS” will be used as the default value when creating

the EDS file.

Step 9: Users can click on the “PDO Information”, “Device Information “, and

the “Slot Module Information” button to view the PDO objects, device profile

and slot module configuration information. These information dialogs are

shown below.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------63

If everything is ok, click the “Finish” button to create the EDS file.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------64

Note: If users use off-line method to get the EDS file, the objects, which are

used to record the input/output range of the analog modules, will be described

to default value in the EDS file. However, the I-87K slot modules hold the

input/output range parameter settings in their own EEPROM. It may cause the

mismatch between real input/output range setting and EDS file. By the way,

CAN-8123/CAN-8223 needs to configure the input/output range settings by

using CANopen SDO protocol. For more detail, please refer to the section 5.5

in CAN-8123/CAN-8223/CAN-8423 user manual.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------65

4.6 CAN-8423 Configuration (On-line mode)

Before using the CAN Slave utility in the On-line mode with the CAN-8423,

please make sure that you have connected COM1 of the CAN-8423 with the

available COM port on your PC. The architecture is displayed in the following

figure. In this demo, the CAN-8423 will be used, and slot modules, I-87057,

I-87057, I-87024 and I-87017 are plugged in the slot 0, 1, 2, 3 respectively.

Step 1: Turn off the CAN-8423. Set the “Baud” rotary switch of CAN-8423 to 9.

Then turn on the CAN-8423.

BAUD

Step 2: Use the “Baud” rotary switch again to set the baud rate of CAN-8423.

Here, use baud rate 1000Kbps for the demo. Therefore, set the “Baud” rotary

switch to 7.

BAUD

Step 3: Execute the CAN_SL.exe file, and the figure will be displayed. Select a

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------66

PC COM port to connect the CAN-8423. Here, use PC COM 2 for this demo.

Click button “Connect” to get the information stored in the CAN-8423.

Step 4: Afterwards, users can move the mouse pointer to the slot of CAN-8423

shown in the “CAN Slave Device Situation” to get the information of this

module.

Step 5: Click the slot module 3 and select the output range in the list box of

“Module Configuration” frame. Here, select -10.00V~+10.00V for demo.

Because the feature of I-8024 slot module, each channel output range will be

changed together after users select the output range of one channel.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------67

Step 6: After decide the proper output range, click “Set” button to store the

parameter setting. If all of slot module configurations are finished, click “Build

EDS File” button to go on the next step.

Step 7: Afterwards, users can see the “EDS File Information” window, and fill

the “Description” and “Create by” filed for the EDS file. Also, users can see the

CANopen objects information and modules information by click the buttons.

For the detail information, please refer to the Step8 and Setp9 in section 4.5.

Note: The CAN-8423 can also create the EDS file by using off-line mode, and

set the analog input range or analog output range by using the CANopen SDO

protocol.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------68

5 CANopen Communication Set

In the following section, several CANopen communication protocols are

described. Each protocol description has one corresponding demo. Because

the communication methods in the CAN-8123/CAN-8223 are similar with the

ones in CAN-8423, therefore only the demo for CAN-8423 is given. Before

starting the demo, users must have one CAN interface to send out the CAN

command. Here, PISO-CAN200/400 CAN interface card will be used. The

PISO-CAN200/400 is a 2/4 CAN port PCI interface card. It provides an

easy-to-use utility tool to sending the CAN 2.0A or 2.0B command. The

hardware structure is shown as follows.

Please refer to the PISO-CAN200/400 user manual to know how to use

the PISO-CAN200/400 Utility Tool.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------69

5.1 SDO Communication Set

5.1.1 Upload SDO Protocol

Initiate SDO Upload Protocol

Before transferring the SDO segments, the client and server need to

communicate with each other by using the initiate SDO upload protocol. During

the initiate SDO upload protocol, the SDO client can tell the SDO server what

object the SDO client wants to get. Also, the initiate SDO upload protocol is

permitted to transfer up to four bytes of data. Therefore, if the data length of

the object, which the SDO client wants to read, is equal to or less than the

permitted data amount, the SDO communication can be finished by only using

the initial SDO upload protocol. That is to say, if the data upload is less enough

to be transmitted in the initiate SDO upload protocol, then the upload SDO

segment protocol will not be used. The communication method of this protocol

is shown as follows.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------70

ccs

: client command specifier

2: initiate upload request

scs

: server command specifier

2: initiate upload response

Only valid if e = 1 and s = 1, otherwise 0. If valid, it indicates the number of bytes in d that do not contain data. Bytes [8-n, 7] do

not contain segment data.

: transfer type

0: normal transfer

1: expedited transfer

If the e=1, it means that the data of the object are equal or less

than 4 bytes, and only initiate SDO upload protocol is needed. If

e=0, the upload SDO protocol is necessary.

: size indicator

0: Data set size is not indicated.

1: Data set size is indicated.

: multiplexer

It represents the index/sub-index of the data to be transfer by the

SDO. The first two bytes are the index value and the last byte is

the sub-index value.

: data

e=0, s=0: d is reserved for further use. e=0, s=1: d contains the number of bytes to be uploaded, and

byte 4 contains the least significant bit, and byte 7

contains the most significant bit.

e=1, s=1: d contains the data of length 4-n to be uploaded, the

encoding depends on the type of the data referenced

by index and sub-index.

e=1, s=0: d contains unspecified number of bytes to be

uploaded.

: not used, always 0

reserved

: reserved for further use , always 0

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------71

Upload SDO Segment Protocol

When the upload data length exceeds 4 bytes, the upload SDO segment

protocol is needed. After finishing the transmission of the initiate SDO upload

protocol, the SDO client starts to upload the data, and the upload segment

protocol will follow the process shown below.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------72

ccs

: client command specifier

3: upload segment request

scs

: server command specifier

0: upload segment response

: toggle bit

This bit must alternate for each subsequent segment that is

uploaded. The first segment will have the toggle bit set to 0. The

toggle bit will be equal for the request and the response

message.

: indicates whether there are still more segments to be uploaded

0: more segments to be uploaded.

1: no more segments to be uploaded.

seg-data

: It is at most 7 bytes of segment data to be uploaded. The

encoding depends on the type of the data referenced by index

and sub-index.

It indicates the number of bytes in seg-data that do not contain segment data. Bytes [8-n, 7] do not contain segment data. n = 0

if no segment size is indicated.

: not used, always 0

reserved

: reserved for further use , always 0

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------73

SDO Upload Example

The practical application of the SDO upload is illustrated as below.

In the following paragraph, both expedited transfer and normal

transfer are given according to the procedure described above. The method on

how to get the value stored in the object dictionary is also presented. By

means of the initiate SDO upload protocol, users can obtain how many

sub-indexes the object with index 0x1400 can support. This information is

located in the object with index 0x1400 with sub-index 00. Also, users can get

the string located in the object with index 0x1008 by using the initiate SDO

upload protocol and the upload SDO segment protocol.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------74

z Example for expedited transfer

Step 1. Send the SDO message to the CAN-8423 to obtain the object entry

with index 0x1400 and sub-index 00 stored in the communication profile area.

The message structure is as follows. Assume that the node ID of the

CAN-8423 is set to 1. Users can find the information about the object entry

with index 0x1400 in chapter 6.

11-bit COB-ID (bit)

Func Code Node ID

8-byte Data (byte)

10 9 8 7 6 5 4 3 2 1 0

RTR

Data

Length

0 1 2 3 4 5 6 7

1 1 0 0 0 0 0 0 0 0 1 0 8 40 00 14 00 00 00 00 00

SDO client

SDO server

(CAN-8123/CAN-8223

/CAN-8423)

ccs

: 2

: 00 14 00

Because low byte needs to transfer firstly, the first byte “00” is the low

byte of 0x1400, the second byte “0x14” is the high byte of 0x1400,

and the last byte “00” means the sub-index 00.

Step 2. The CAN-8423 will respond to the data stored in the object entry with

index 0x1400 and sub-index 00.

11-bit COB-ID (bit)

Func Code Node ID

8-byte Data (byte)

10 9 8 7 6 5 4 3 2 1 0

RTR

Data

Length

0 1 2 3 4 5 6 7

1 0 1 1 0 0 0 0 0 0 1 0 8 4F 00 14 00 02 00 00 00

SDO client

SDO server

(CAN-8123/CAN-8223

/CAN-8423)

scs

: 2

: 3

: 1

: 00 14 00

: 02 00 00 00

Because the n=3, only the 4th byte is valid. Therefore, the feedback

value is 02.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------75

z Example for normal transfer

Step 1. Send the RxSDO message to the CAN-8423 to obtain the object entry

with index 0x1008 and sub-index 00 stored in the communication profile area.

Assume that the node ID for the CAN-8423 is set to 1, and the information

about object entry with index 0x1008 is described in chapter 6.

11-bit COB-ID (bit)

Func Code Node ID

8-byte Data (byte)

10 9 8 7 6 5 4 3 2 1 0

RTR

Data

Length

0 1 2 3 4 5 6 7

1 1 0 0 0 0 0 0 0 0 1 0 8 40 08 10 00 00 00 00 00

SDO client

SDO server (CAN-8x23)

ccs

: 2

: 08 10 00

Step 2. The CAN-8423 responds to the SDO message to indicate how many

bytes users will upload from the CAN-8423.

11-bit COB-ID (bit)

Func Code Node ID

8-byte Data (byte)

10 9 8 7 6 5 4 3 2 1 0

RTR

Data

Length

0 1 2 3 4 5 6 7

1 0 1 1 0 0 0 0 0 0 1 0 8 41 08 10 00 09 00 00 00

SDO client

SDO server (CAN-8x23)

scs

: 2

: 0

: 1

: 08 10 00

: 09 00 00 00

Because the e=0 and s=1, the d means that how many data

users will upload from the CAN-8423. The byte “09” is the lowest

byte in the data length with long format. Therefore, the data “09

00 00 00” means that users will upload 9 bytes data from

CAN-8423.

Step 3. Request the CAN-8123 to start the data transmission.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------76

11-bit COB-ID (bit)

Func Code Node ID

8-byte Data (byte)

10 9 8 7 6 5 4 3 2 1 0

RTR

Data

Length

0 1 2 3 4 5 6 7

1 1 0 0 0 0 0 0 0 0 1 0 8 60 00 00 00 00 00 00 00

SDO client

SDO server (CAN-8x23)

ccs

: 3

: 0

Step 4. The CAN-8423 will respond to the first 7 bytes in the index 0x1008 and

sub-index 00 object entries.

11-bit COB-ID (bit)

Func Code Node ID

8-byte Data (byte)

10 9 8 7 6 5 4 3 2 1 0

RTR

Data

Length

0 1 2 3 4 5 6 7

1 0 1 1 0 0 0 0 0 0 1 0 8 00 43 41 4E 2D 38 34 32

SDO client

SDO server (CAN-8x23)

scs

: 0

seg-data

: 43 41 4E 2D 38 34 32

Users can check chapter 6 to see that the object entry with index

0x1008 and sub index 00 has the data type “VISIBLE_STRING”.

Therefore, users need to transfer these data values to the

corresponding ASCII character. After transformation, they are

“CAN-842”.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------77

Step 5. Request the CAN-8423 to transmit the rest of the data.

11-bit COB-ID (bit)

Func Code Node ID

8-byte Data (byte)

10 9 8 7 6 5 4 3 2 1 0

RTR

Data

Length

0 1 2 3 4 5 6 7

1 1 0 0 0 0 0 0 0 0 1 0 8 70 00 00 00 00 00 00 00

SDO client

SDO server (CAN-8x23)

ccs

: 3

: 1

Step 6. Receive the rest of the data from the SDO server.

11-bit COB-ID (bit)

Func Code Node ID

8-byte Data (byte)

10 9 8 7 6 5 4 3 2 1 0

RTR

Data

Length

0 1 2 3 4 5 6 7

1 0 1 1 0 0 0 0 0 0 1 0 8 1B 33 00 00 00 00 00 00

SDO client

SDO server (CAN-8x23)

scs

: 0

: 1

: 5

: 1

seg-data

: 33 00 00 00 00 00 00

Because the n=5, only the fisrt two bytes are valid. Transfer the

value of 0x33 and 0x00 to the corresponding ASCII character.

After transformation, it means “3 ”.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------78

5.1.2 SDO Block Upload

Initiate SDO Block Upload Protocol

The SDO Block Upload is usually used for large data transmission. At the

beginning of the SDO Block Upload, the Initiate SDO Block Upload protocol is

needed. This protocol is described below.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------79

ccs

: client command specifier

5: block upload

scs

: server command specifier

6: block upload.

: client subcommand

0: initiate upload request

3: start upload

: server subcommand

0: initiate upload response

: multiplexor

It represents the index/sub-index of the data to be transfer by the

SDO.

: client CRC support

cc=0: Client does not support generating CRC on data. cc=1: Client supports generating CRC on data.

: server CRC support

sc=0: Server does not support generating CRC on data. sc=1: Server supports generating CRC on data.

pst

: Protocol Switch Threshold in bytes to change the SDO transfer

protocol

pst=0: change of transfer protocol not allowed pst>0: If the size of the data in bytes that has to be uploaded is

less or equal pst, the server can optionally switch to the ‘SDO

Upload Protocol’ by transmitting the server response of the ‘SDO

Upload Protocol’.

: size indicator

0: Data set size is not indicated.

1: Data set size is indicated.

size

: upload size in byes

s=0: Size is reserved for further use, always 0. s=1: Size contains the number of bytes to be uploaded. Byte 4

contains the LSB and byte 7 is the MSB.

blksize

number of segments per block with 0 < blksize < 128

: not used, always 0

reserved

: reserved for further use , always 0

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------80

Upload SDO Block Segment Protocol

After finish the Initiate SDO Block protocol, the SDO server starts to

respond to the data by using the Upload SDO Block Segment protocol. Each

block contains 1 segment for minimum and 127 segments for maximum. One

segment consists of 1~7 bytes. Only one block can be transmitted during an

Upload SDO Block Segment protocol. The SDO server can send a maximum

of 127 blocks by using 127 Upload SDO Block Segment protocols. Here is the

structure of the Upload SDO Block Segment protocol.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------81

ccs

: client command specifier

5: block upload

: client subcommand

2: block upload response

: It indicates whether there are still more segments to be

uploaded.

0: more segments to be uploaded

1: no more segments to be uploaded , enter ‘End block upload’

phase

seqno

sequence number of segment, 0 < seqno < 128

seg-data

: It is at most 7 bytes of segment data to be uploaded.

ackseq

: sequence number of last segment that was received

successfully during the last block upload

If ackseq is set to 0, the client indicates the server that the

segment with the sequence number 1 was not received correctly

and all segments have to be retransmitted by the server.

blksize

: number of segments per block that has to be used by server for

the following block upload with 0 < blksize < 128

: not used, always 0

reserved

: reserved for further use , always 0

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------82

End SDO Block Upload Protocol

The End SDO Block Upload protocol is used for finishing the SDO Block

upload, and is shown in the following figure.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------83

ccs

: client command specifier

5: block upload

scs

: server command specifier

6: block upload

: client subcommand

1: end block upload request

: server subcommand

1: end block upload response

: It indicates the number of bytes in the last segment of the last

block that do not contain data. Bytes [8-n,7] do not contain

segment data.

crc

: 16 bit Cyclic Redundancy Checksum (CRC) for the whole data

set.

The algorithm for generating the CRC is as follows.

x^16+x^12+x^5+1

CRC is only valid if in Initiate Block Upload cc and sc are set to

1. Otherwise crc has to be set to 0. For

CAN-8123/CAN-8223/CAN-8423, it is not support CRC check

mechanism.

: not used, always 0

reserved

: reserved for further use , always 0

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------84

SDO Block Upload Example

The following figure indicates the general procedure for applying the SDO

Block upload.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------85

By following this procedure, we provide a demo for obtaining the value of

the index 0x1008 and sub-index 00 object entries.

Step 1. Request the CAN-8423 to transmit the data by using the SDO Block

Upload method.

11-bit COB-ID (bit)

Func Code Node ID

8-byte Data (byte)

10 9 8 7 6 5 4 3 2 1 0

RTR

Data

Length

0 1 2 3 4 5 6 7

1 1 0 0 0 0 0 0 0 0 1 0 8 A0 08 10 00 7F 00 00 00

SDO client

SDO server (CAN-8x23)

ccs

: 5

: 0

: 08 10 00

blksize

: 7F

Each block contains 127 segments.

pst

: 00

Step 2. The CAN-8423 confirms the requirement with the Initiate SDO Block

Upload protocol.

11-bit COB-ID (bit)

Func Code Node ID

8-byte Data (byte)

10 9 8 7 6 5 4 3 2 1 0

RTR

Data

Length

0 1 2 3 4 5 6 7

1 0 1 1 0 0 0 0 0 0 1 0 8 C2 08 10 00 09 00 00 00

SDO client

SDO server

(CAN-8x23)

scs

: 6

: 0

: 1

: 0

: 08 10 00

size

: 09 00 00 00

The CAN-8123 will response 9 bytes data during the SDO Block

Upload.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------86

Step 3. Send the message to finish the Initiate SDO Block Upload protocol,

and inform the CAN-8423 to start the data transmission.

11-bit COB-ID (bit)

Func Code Node ID

8-byte Data (byte)

10 9 8 7 6 5 4 3 2 1 0

RTR

Data

Length

0 1 2 3 4 5 6 7

1 1 0 0 0 0 0 0 0 0 1 0 8 A3 00 00 00 00 00 00 00

SDO client

SDO server

(CAN-8x23)

ccs

: 5

: 3

Step 4. The CAN-8123 responds to the first 7 bytes of data by using the

Upload SDO Block Segment protocol.

11-bit COB-ID (bit)

Func Code Node ID

8-byte Data (byte)

10 9 8 7 6 5 4 3 2 1 0

RTR

Data

Length

0 1 2 3 4 5 6 7

1 0 1 1 0 0 0 0 0 0 1 0 8 1 43 41 4E 2D 38 34 32

SDO client

SDO server

(CAN-8x23)

: 0

seqno

: 1

seg-data

: 43 41 4E 2D 38 34 32

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------87

Step 5. The CAN-8123 transmits the rest of the data.

11-bit COB-ID (bit)

Func Code Node ID

8-byte Data (byte)

10 9 8 7 6 5 4 3 2 1 0

RTR

Data

Length

0 1 2 3 4 5 6 7

1 0 1 1 0 0 0 0 0 0 1 0 8 82 33 00 00 00 00 00 00

SDO client

SDO server (CAN-8x23)

: 1

seqno

: 2

seg-data

: 33 00 00 00 00 00 00

Because this segment is the last one, not all of the data in the

seg-data filed is useful. The valid data length will be indicated

when the CAN-8123 send a message to finish the Block Upload

protocol. Please refer to the value of n in the step 7.

Step 6. Afterwards, users send a message to confirm the receiving data

transmitted from the CAN-8423.

11-bit COB-ID (bit)

Func Code Node ID

8-byte Data (byte)

10 9 8 7 6 5 4 3 2 1 0

RTR

Data

Length

0 1 2 3 4 5 6 7

1 1 0 0 0 0 0 0 0 0 1 0 8 A2 02 7F 00 00 00 00 00

SDO client

SDO server (CAN-8x23)

ccs

: 5

: 2

ackseq

: 2

blksize

: 7F

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------88

Step 7. When the reception confirmation is ok, the CAN-8423 will send a

message to enter the End SDO Block Upload protocol.

11-bit COB-ID (bit)

Func Code Node ID

8-byte Data (byte)

10 9 8 7 6 5 4 3 2 1 0

RTR

Data

Length

0 1 2 3 4 5 6 7

1 0 1 1 0 0 0 0 0 0 1 0 8 D5 00 00 00 00 00 00 00

SDO client

SDO server (CAN-8x23)

scs

: 6

: 5

This value means the useless data in the last segment are from

[8-5] to 7. That is to say that only the first 3 bytes are valid.

: 1

crc

: 00 00

Step 8. Users send a message to finish the End SDO Block Upload protocol.

11-bit COB-ID (bit)

Func Code Node ID

8-byte Data (byte)

10 9 8 7 6 5 4 3 2 1 0

RTR

Data

Length

0 1 2 3 4 5 6 7

1 1 0 0 0 0 0 0 0 0 1 0 8 A1 00 00 00 00 00 00 00

SDO client

SDO server (CAN-8x23)

ccs

: 5

: 1

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------89

5.1.3 Download

Initiate SDO Download Protocol

The download modes are similar to the upload modes, but different in

some parameters in their SDO messages. They are also separated into two

steps. If the download data length is less than 4 bytes, the download action will

finish in the download initialization protocol. Or, the download segment

protocol will be needed. These two protocols are shown below.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------90

ccs

: client command specifier

1: initiate download request

scs

: server command specifier

3: initiate download response

Only valid if e = 1 and s = 1, otherwise 0. If valid, it indicates the number of bytes in d that do not contain data. Bytes [8-n, 7] do

not contain segment data.

: transfer type

0: normal transfer

1: expedited transfer

If the e=1, it means that the data of the object are equal or less

than 4 bytes, and only initiate SDO download protocol is needed.

If e=0, the download SDO protocol is necessary.

: size indicator

0: data set size is not indicated

1: data set size is indicated

: multiplexer

It represents the index/sub-index of the data to be transfer by the

SDO.

: data

e=0,s=0: d Is reserved for further use. e=0,s=1: d contains the number of bytes to be downloaded, and

byte 4 contains the least significant bit, and byte 7

contains the most significant bit.

e=1,s=1: d contains the data of length 4-n to be downloaded, the

encoding depends on the type of the data referenced

by index and sub-index.

e=1,s=0: d contains unspecified number of bytes to be

downloaded.

: not used, always 0

reserved

: reserved for further use , always 0

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------91

Download Segment Protocol

ccs

: client command specifier

0: download segment request

scs

: server command specifier

1: download segment response

seg-data

: It is at most 7 bytes of segment data to be downloaded. The

encoding depends on the type of the data referenced by index

and sub-index.

It indicates the number of bytes in segment data that do not contain segment data. Bytes [8-n, 7] do not contain segment data. n = 0 if no segment size is indicated.

: It indicates whether there are still more segments to be

downloaded.

0 more segments to be downloaded

1: no more segments to be downloaded

: toggle bit

This bit must alternate for each subsequent segment that is

downloaded. The first segment will have the toggle-bit set to 0.

The toggle bit will be equal for the request and the response

message.

: not used, always 0

reserved

: reserved for further use , always 0

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------92

SDO Download Example

When the SDO download example has been applied, the procedure in the

below figure may be applied.

Since all of those object entries, which can be written, in the

CAN-8123/CAN-8223/CAN-8423 are equal or less than 4 bytes, we can only

provide the demo for expedited transfer.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------93

z Example for expedited transfer

Step 1. Send the Rx SDO message to the CAN-8423 to access the object

entry with index 0x1400 and sub-index 02 stored in the communication profile

area. Here, change the value of this object entry to 5. Assume that the node ID

for the CAN-8423 is set to 1.

11-bit COB-ID (bit)

Func Code Node ID

8-byte Data (byte)

10 9 8 7 6 5 4 3 2 1 0

RTR

Data

Length

0 1 2 3 4 5 6 7

1 1 0 0 0 0 0 0 0 0 1 0 8 2F 00 14 02 05 00 00 00

SDO client

SDO server

(CAN-8123/CAN-8223/

CAN-8423)

ccs

: 1

: 3

: 1

: 00 14 02

: 05 00 00 00

Because the n=3, only the 4th byte is valid. Therefore, the feedback

value is 05.

Step 2. The CAN-8423 will response the message to finish the data download.

Afterwards, users can use upload methods mentioned before to read back the

value for confirmation.

11-bit COB-ID (bit)

Func Code Node ID

8-byte Data (byte)

10 9 8 7 6 5 4 3 2 1 0

RTR

Data

Length

0 1 2 3 4 5 6 7

1 0 1 1 0 0 0 0 0 0 1 0 8 60 00 14 02 00 00 00 00

SDO client

SDO server

(CAN-8123/CAN-8223/

CAN-8423)

scs

: 3

: 00 14 00

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------94

5.1.4 SDO Block Download

The procedure of SDO Block Download is similar with the SDO Block

Upload. There are three steps during the SDO Block Download. The Initiate

SDO Block Download protocol is the beginning protocol for SDO Block

Download. In this protocol, the SDO server and SDO client communicate each

other to prepare the necessary information. Afterwards, the SDO Block

Download protocol is used. And, SDO client starts to send data to SDO server.

After finishing the data transmission, the client and server will use the End

SDO Block protocol to terminate the SDO Block Download. The following

figures are the structures for the three protocols.

Initiate SDO Block Download Protocol

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------95

ccs

: client command specifier

6: block download

scs

: server command specifier

5: block download

: size indeicator

0: Data set size is not indicated.

1: Data set size is indicated.

: client subcommand

0: initiate download request

: server subcommand

0: initiate download response

: client CRC support

cc=0: Client does not support generating CRC on data. cc=1: Client supports generating CRC on data.

: server CRC support

sc=0: Server does not support generating CRC on data. sc=1: Server supports generating CRC on data.

: multiplexor

It represents the index/sub-index of the data to be transfer by the

SDO.

size

: download size in byes

s=0: Size is reserved for further use, always 0. s=1: Size contains the number of bytes to be downloaded. Byte

4 contains the LSB and byte 7 is the MSB.

blksize

number of segments per block with 0 < blksize < 128

: not used, always 0

reserved

: reserved for further use , always 0

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------96

Download SDO Block Segment Protocol

scs

: server command specifier

5: block download

: server subcommand

0: initiate download response

: It indicates whether there are still more segments to be

downloaded.

0: more segments to be downloaded

1: no more segments to be downloaded , enter ‘End block

download’ phase

seqno

sequence number of segment, 0 < seqno < 128

seg-data

: It is at most 7 bytes of segment data to be downloaded.

ackseq

: sequence number of last segment that was received

successfully during the last block download

If ackseq is set to 0, the server indicates the client that the

segment with the sequence number 1 was not received correctly

and all segments have to be retransmitted by the client.

blksize

: number of segments per block that has to be used by client for

the following block download with 0 < blksize < 128

: not used, always 0

reserved

: reserved for further use , always 0

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------97

End SDO Block Download Protocol

ccs

: client command specifier.

6: block download

scs

: server command specifier.

5: block download

: client subcommand

1: end block download request

: server subcommand

1: end block download response

: It indicates the number of bytes in the last segment of the last

block that do not contain data. Bytes [8-n,7] do not contain

segment data.

crc

: 16 bit Cyclic Redundancy Checksum (CRC) for the whole data

set.

The algorithm for generating the CRC is as follows.

x^16+x^12+x^5+1

CRC is only valid if in Initiate Block Download cc and sc are set

to 1. Otherwise, crc has to be set to 0. For

CAN-8123/CAN-8223/CAN-8423, it is not support CRC check

mechanism.

: not used, always 0

reserved

: reserved for further use , always 0

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------98

SDO Block Download Example

In this demo, the value of the object entry with index 0x1400 and

sub-index 0x02 will be changed to 5 by using the SDO Block Download

communication method. When the SDO Block Download is running, the

procedure is as follows.

CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------99

Step 1. In order to inform the CAN-8423 that the value of the object entry with

index 0x1400 and sub-index 02 will be modified by using the SDO Block

Download method, the Initiate SDO Block Download protocol is implemented.

11-bit COB-ID (bit)

Func Code Node ID

8-byte Data (byte)

10 9 8 7 6 5 4 3 2 1 0

RTR

Data

Length

0 1 2 3 4 5 6 7

1 1 0 0 0 0 0 0 0 0 1 0 8 C0 00 14 02 00 00 00 00

SDO client

SDO server

(CAN-8123/CAN-8223/

CAN-8423)

ccs

: 6

: 0

: 00 14 02

size

: 00 00 00 00

Because the value of s is 0, the size is not used.

Step 2. The CAN-8423 responds to the message by using the Initiate SDO

Block Download protocol. Afterwards, the SDO client can start to download the

object‘s data with index 0x1400 and sub-index 02 to CAN-8423.

11-bit COB-ID (bit)

Func Code Node ID

8-byte Data (byte)

10 9 8 7 6 5 4 3 2 1 0

RTR

Data

Length

0 1 2 3 4 5 6 7

1 0 1 1 0 0 0 0 0 0 1 0 8 A0 00 14 02 7F 00 00 00

SDO client

SDO server

(CAN-8123/CAN-8223/

CAN-8423)

scs

: 5

: 0

: 00 14 02

blksize

: 7F

CAN-8123/CAN-8223/CAN-8423 user manual (ver. 2.00, July/26/2007) ------100

ICPDAS CAN-8123, CAN-8223, CAN-8423 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual