<< emtas - your embedded solution partner <<

In the fields of automation technology and LEV development emtas is one of the leading providers of communication technologies.

With its product portfolio emtas is specialized in CAN, CANopen (FD), J1939, EnergyBus and EtherCAT. Besides the sale of own products its software engineers develop customized embedded software solutions. The range of services includes consulting, deveolopment, on­site commissioning as well as software maintenance. Furthermore emtas provides training courses about the communications protocols CANopen, CANopen FD EtherCAT, EnergyBus, J1939 as well as trainings based on individual required content.

<< technologies << emtas is active member of the CAN in Automation e.V. (CiA), the EtherCAT Technology Group (ETG) and development partner of the EnergyBus e.V.. The experienced team is regularly working in different groups and in the commitees for a standardization of CiA, EnergyBus e.V. and the EtherCAT Technology Group. Basing on these facts, emtas' products always do correspond to the latest state of technology.

emtas stands for: - expert advice - excellent service - high quality standard - Made in Germany << partnership << One of our major concern is to be always a reliable partner for our customers. Only together with them << sectors << we may be able to shape a successful future of our emtas products are being used by diverse national company. Customers all over the world gain from and international industries: strong service, professional consulting and high quality products.

• automation • medical technology << service << • LEV components • battery and charging technology Direct phone contact to the developers of the customers' product or project. At any time. • lifts • and more...

<< table of content of << table << << EnergyBus<< << J1939<< << << Services << Services << EtherCAT<< << << CAN/CANopen/CANopen<< FD << CAN Hardware ...... CANMulti­Protocol Stack CANopen Gateway CiA­309 ...... CANinterpreter ...... Outstanding! ­ emtas with'AURA'...... honoured CANopenUpdateManager...... CANopenBootloader ...... Partners...... About...... emtas 10 emtasreasons ...... to fordecide CANopen Process DataLinker ...... CANopenDataLinkerProcess CANopenDeviceExplorer...... CANopenNetworkDesigner ...... trainings ...... CANopenDeviceDesigner...... Supportcommissioning...... and EtherCAT...... DeviceExplorer EnergyBusTool...... EnergyBusDeviceWizard ...... EtherCAT ...... integration EtherCAT...... DeviceDesigner EnergyBus Framework ...... J1939CANinterpreter ...... J1939DeviceDesigner...... CANopenFD Protocol Stack CANopen...... ProtocolStack CANopenintroduction ...... EnergyBusintegration...... CANopenintegration...... Embedded ...... software development EtherCAT ...... Framework EtherCAT introduction ...... EnergyBusintroduction ...... J1939...... ProtocolStack ...... 38 36 34 33 31 30 29 52 51 50 49 48 47 46 44 42 41 26 23 22 20 19 18 16 14 12 10 8 6 5 56 55 54 53

Services EtherCAT EnergyBus J1939 CAN/CANopen

<< introduction to CANopen (FD)<<

CANopen (FD) is an industrial communication protocol based on CAN. Originally it stems from the automation

technology and is internationally standardized (EN 50325-4). CANopen is nowadays being used within various fields of application: in machine controls, medical devices, rail- and off-road vehicles, E-bikes or building automation as well as in the field of conventional and renewable energy supply. CAN/CANopen << Overview << << CANopen DeviceExplorer << CANopen (FD) provides very flexible communication The CANopen DeviceExplorer is a versatile tool by mechanisms defined in the CANopen communication emtas for development, testing, diagnosis and service profile CiA301 (CiA1301). Besides the CiA301 other tasks. This tool provides CANopen Master functions profiles for applications, interfaces and devices are enabling the inspection and configuration of being developed and maintained by the CAN in CANopen devices. The information about the Automation e.V. and its members respective CANopen device is being under constant consideration of taken from the electronic data sheet latest requirements. emtas is of the device or may be extracted actively engaged in the further directly from the device. By means of development of this and other the standardized DCF files (Device communication profiles. By the configuration files) device experience subsequently gained from this work we are configurations may be saved and loaded. In project continuously developing our CANopen products and files even the management of whole CANopen adapt it to customer's requirements. networks is possible. Different PlugIns extend the functional scope of the 'CDE'. << CANopen Protocol Stack << Developed in ANSI­C and MISRA­C­compliant, the << CANopen Training and Consulting << emtas CANopen (FD) Protocol Stack is a software The content of our offered trainings about CAN or library providing all communication services according CANopen (FD) are equally suitable for beginners and to the CANopen (FD) communication profile. Using pros and may even be agreed individually. The topics the CANopen (FD) software you can quickly and easily range from CAN and CANopen (FD) basics to device develop CANopen (FD)­compliant devices or expand and application profiles or specific issues related to devices by CANopen (FD). The emtas protocol stack is your scope of application. The trainings addresses to available in the configuration levels Slave, development engineers and decision­makers who Master/Slave and Manager. want to get acquainted with the technologies or intend to create themselves a basis for the work with our products. Even if you want to explore the << CANopen DeviceDesigner << technical capacities of CANopen ­ emtas is offering The CANopen DeviceDesigner is a very comfortable sound knowledge of CANopen for resolving complex tool for designing CANopen (FD) devices quickly and questions by individual consultation. easy. With a few clicks the user is able to assemble the object dictionary of the device and specifies their characteristics. Basing on this the CANopen DeviceDesigner generates the object dictionary, initialization functions, the electronic data sheet (EDS) and the device documentation. Additionally, the CANopen DeviceDesigner performs an optimal configuration of the CANopen (FD) Stack and the CAN driver.

5 << CANopen Protocol Stack <<

The CANopen® Protocol Stack is a software library that provides all communication services according to the CANopen profile CiA 301. It is available in different variants, written in ANSI-C. Conformity to the standard is always tested with the recent CANopen Conformance Test of the CiA. The usage of the software helps to develop CANopen conform devices in a fast as well as comfortable way.

The flexible user interface allows an easy evaluation of CiA401 ­ device profile for digital and analogue received data and the comfortable usage of CANopen IO modules services in the network. Besides the standardized CiA402 ­ state machine for drives services in CiA301 and CiA302 there are further extension modules for different communication and CiA404 ­ device profile for sensors and regulators application profiles available. CiA406 ­ device profile for encoder CiA413 ­ device profile for commercial vehicles The defined driver interface provides a high degree of CiA418 ­ device profile for batteries flexibility, because the adaption of the CANopen CiA419 ­ device profile for chargers Protocol Stack to existing or new CAN controller or CiA437 ­ application profile for photovoltaic CPU types is easy to implement and therefore provides components an easy exchange of the hardware platform. You may choose between different real­time operating systems CiA443 ­ application profile for SIIS level 2 devices (RTOS), Linux (SocketCAN, canlinux), Windows or CiA447 ­ application profile for electronic QNX. accessories in special vehicles (taximeter, flashing lights) To save resources the emtas CANopen Protocol Stack CiA454 ­ application profile for energy is configurable and scalable. These features are management systems such as in LEVs implemented by the graphic configuration tool (EnergyBus) CANopen DeviceDesigner such as the creation of an object dictionary and EDS files, which are therefore Flying Master always consistent. Changes may be easily updated. If CANopen Master were to fail, the Flying Master mechanism will detect it and the master functionality may be transferred to another device automatically.

Redundancy This means the usage of 2 CAN channels for transmitting process and configuration data. If one CAN channel were to fail, the second one may be still used. This extension is commonly used in maritime applications.

Safety This extension provides support for the CANopen safety communication with SRDO (Safety Relevant Da­ ta Objects). Using this you are able to create << CANopen extension modules << applications according to SIL­3. There are different extension modules for a multitude of CANopen device or application profiles. At present MultiLine emtas is providing the following profiles: This extension enables the usage of the CANopen stack with several CAN interfaces. This is particularly interesting with regard to gateway applications.

6 << CANopen services << # supported platforms Services Basic Slave Master/Slave Manager

SDO Server 2 128 128 The CANopen Protocol Stacks may be used SDO Client 128 128 with or without operating system. Numerous SDO expedited/ CAN controller and CPU types are being segmented/block ●/●/- ●/●/● ●/●/● supported. For example: Bosch, Infineon, Intel, PDO Producer 32 512 512 NXP, ST Microelectronics, Texas Instruments,

PDO Consumer 32 512 512 Atmel, Renesas, Microchip. CAN/CANopen The list of supported hardware platforms is PDO Mapping static static/dynam. static/dynam. being continually extended: MPDO Dest.Mode ● ● https://www.emtas.de/info/controller MPDO Src. Mode ● ● SYNC Producer ● ● Should, however, your platform not be SYNC Consumer ● ● ● immediately available, the development of Time Producer ● ● further driver packages is possible without any Time Consumer ● ● problem. Emergency Producer ● ● ● 127 127 Emergency Consumer # scope of delivery Guarding Master ● + CANopen protocol source code Guarding Slave ● ● ● (ANSI­C; MISRA­compliant) Bootup Handling ● ● + CANopen driver Heartbeat Producer ● ● ● + CANopen DeviceDesigner Heartbeat Consumer 127 127 (1 named user license) NMT Master ● ● + ready to run example application NMT Slave ● ● ● + (reference) manual + optional maintenance agreement Master Bootup CiA302-2 ● + optional integration support Flying Master CiA302-2 ○ ● Configuration Manager ● CiA302-3 # licensing SRD CiA302-5 ○ ● + project license Redundancy CiA302-6 ○ ○ (Royalty free; incl. 6 months phone CANopen Router CiA302-7 ○ ○ and e­mail support) + site license without runtime fees LED CiA303 ● ● ● (Royalty free; incl. 24 months phone Safety ○ ○ ○ and e­mail support) LSS CiA305 ● ● ● Multiline ○ ○ C#-API-Wrapper # order information Windows ○ ○ ○ + 5004­10 CANopen Slave Pack + 5004­11 CANopen Master/Slave Pack ● inklusive ○ optional + 5004­12 CANopen Manager Pack + 2004­xx CANopen driver + 1004­4x CANopen Profile + 0100­40 integration support

CANopen implementation examples for download: www.emtas.de/download

7 << CANopen Protocol Stack for CAN FD/CAN <<

The CANopen® Protocol Stack is a software library that provides all communication services according to the CANopen profile CiA 1301. It is available in different variants, written in ANSI-C. Conformity to the standard is always tested with the recent CANopen Conformance Test of the CiA. The usage of the software helps to develop CANopen conform devices in a fast as well as comfortable way.

The flexible user interface allows an easy evaluation of Please consider relevant restrictions when using received data and the comfortable usage of CANopen classical CANopen. There are only 8 Byte PDO FD services in the network. Besides the standardized mapping data available instead of 64 and SDO must services in CiA1301 there are further extension be used instead of USDO. modules for different communication and application profiles available. All Protocol Stacks are available as MultiLine versions for the use of multiple CAN interfaces. The defined driver interface provides a high degree of flexibility, because the adaption of the CANopen FD Protocol Stack to existing or new CAN controller or << CANopen extension modules << CPU types is easy to implement and therefore provides an easy exchange of the hardware platform. You may There are different extension modules for a multitude choose between different real­time operating systems of CANopen device or application profiles. Concerning (RTOS), Linux (SocketCAN, canlinux), Windows or CANopen FD the specifications for these device or QNX. application profiles have not yet been completed. It will be provided as soon as it is finished.

At present emtas is providing the following profiles: CiA401 ­ device profile for digital and analogue IO modules CiA402 ­ state machine for drives CiA404 ­ device profile for sensors and regulators CiA406 ­ device profile for encoder CiA413 ­ device profile for commercial vehicles CiA418 ­ device profile for batteries CiA419 ­ device profile for chargers CiA422 ­ CleANopen, device profile for waste structure of the CANopen Stack collection vehicles CiA437 ­ application profile for photovoltaic To save resources the emtas CANopen FD Protocol components Stack is configurable and scalable. These features are CiA443 ­ application profile for SIIS level 2 devices implemented by the graphic configuration tool CiA447 ­ application profile for electronic CANopen DeviceDesigner such as the creation of an accessories in special vehicles (taximeter, object dictionary and EDS files, which are therefore flashing lights) always consistent. Changes may be easily updated. CiA454 ­ application profile for energy management systems such as in LEVs The CANopen FD Protocol Stacks as well provide all (EnergyBus) services for classial CAN according to the CANopen profile CiA 301, so that compiled devices during its runtime may either use the classical CAN protocol or the CANopen FD protocol.

8 << CANopen FD services << # supported platforms Services Basic Slave Master/Slave Manager The CANopen Protocol Stacks may be used with SDO Server* 2 128 128 or without operating system. Numerous CAN SDO Client* 128 128 controller and CPU types are being supported. SDO expedited/ For example: Bosch, Infineon, Intel, NXP, ST segmented/block* ●/●/- ●/●/● ●/●/● Microelectronics, Texas Instruments, Atmel, USDO Connections** 2 512 512 Renesas, Microchip.

The list of supported hardware platforms is CAN/CANopen PDO Producer 32 512 512 being continually extended: 32 512 512 PDO Consumer https://www.emtas.de/info/controller PDO Mapping static static/dynam. static/dynam. MPDO Dest. Mode* ● ● Should, however, your platform not be MPDO Src. Mode* ● ● immediately available, the development of SYNC Producer ● ● further driver packages is possible without any SYNC Consumer ● ● ● problem. Time Producer ● ● Time Consumer ● ● # scope of delivery Emergency Producer ● ● ● Emergency Consumer 127 127 + CANopen protocol source code (ANSI­C; MISRA­compliant) Guarding Master* ● + CANopen FD driver Guarding Slave* ● ● ● + CANopen DeviceDesigner Bootup Handling ● ● (1 named user license) Heartbeat Producer ● ● ● + ready to run example application Heartbeat Consumer 127 127 + (reference) manual + optional maintenance agreement NMT Master ● ● + optional integration support NMT Slave ● ● ● Master Bootup CiA302-2* ● Flying Master CiA302-2* ○ ● # licensing Configuration Manager ● + project license CiA302-3* (Royalty free; incl. 6 months phone SRD CiA302-5* ○ ● and e­mail support) Redundancy CiA302-6* ○ ○ + site license without runtime fees CANopen Router CiA302-7* ○ ○ (Royalty free; incl. 24 months phone LED CiA303 ● ● ● and e­mail support) Safety* ○ ○ ○ LSS CiA305 ● ● ● # order information Networking/Routing* ○ ○ ○ + 5004­10­FD CANopen FD Slave Pack Multiline ○ ○ + 5004­11­FD CANopen FD Master/Slave Pack C#-API-Wrapper + 5004­12­FD CANopen FD Manager Pack Windows ○ ○ ○ + 5004­15­ML­FD CANopen FD Slave * classical CAN Protocol Stack ** CAN FD Protocol Stack Pack Multiline + 5004­16­ML­FD CANopen FD Master/Slave Pack MultiLine ● inclusive ○ optional + 1004­4x­FD CANopen FD profiles + 2004­xx­FD CANopen FD driver ------the emtas CANopen FD Protocol Stack is also suitable for the CANopen implementation examples for download: development of classical CANopen devices www.emtas.de/download ------

9 << CANopen DeviceDesigner <<

The CANopen DeviceDesigner is an easy-to-use tool for fast and cost-saving development of CANopen devices. With a few mouse clicks the object dictionary of the device can be created on the basis of predefined profiles. The CANopen DeviceDesigner creates the object dictionary and initialisation functions in C, the electronic data sheet in EDS and XDD format and a device documentation. Additionally the CANopen DeviceDesigner configures the CANopen (FD) stack and CANopen (FD) driver under consideration of the device characteristics.

The CANopen DeviceDesigner directs the user through << device profiles << the configuration of the hardware being used For the communicaion profiles of the CiA e.V., there (microcontroller). During this process only a few are databases for the CANopen DeviceDesigner characteristics have to be chosen: CPU type, CAN available. A profile database includes templates for all controller type and some timing parameters such as objects of a CiA profile with all the default properties the frequency of the microcontroller. and a description to every object. It is possible to import these objects into the CANopen According to the profiles and input, the object DeviceDesigner, duplicate and modify them. The dictionary is created as C source code file. This can be usage of predefined databases shortens the integrated into the application as interface for the developing time and eliminates the possibilty of protocol stack. It is possible – when configured errors. accordingly – to access the objects of the object dictionary directly as C variables. Alternatively there are access funcions for accessing objects via index ------and subindex. Even a further processing of existing optimized connection between application and stack application variables is possible. by CANopen DeviceDesigner ------

At present emtas is providing the following profiles for the CANopen DeviceDesigner:

­ CiA 301 ­ CANopen application layer/ communication profile ­ CiA 302 ­ CANopen additional application layer functions ­ CiA 401 ­ Generic I/O Devices ­ CiA 402 ­ Drives and motion control ­ CiA 404 ­ Measuring devices/closed­loop controllers ­ CiA 418 ­ Battery modules ­ CiA 419 ­ Battery Charger ­ CiA 437 ­ Grid­based photovoltaic ­ CiA 443 ­ SIIS Level 2 devices ­ CiA 447 ­ Special purpose car add­on Devices ­ CiA 454 ­ Energy Management/EnergyBus

10 << program output << From the user input the .h configuration files, the .c # requirements application code and the necessary device description + Microsoft Windows 7, 8,10 files are generated. In the generating process the + diverse Linux variants

CANopen DeviceDesigner validates the input and (tested with (K)Ubuntu) generates helpful warnings. These generated + emtas CANopen Protocol Stack configuration files configurate the CANopen Stack and activate only the particularly needed stack # scope of delivery

functionalities by setting compiler switches. The + software download CAN/CANopen generated .c files contain the CANopen object + manual in PDF dictionary, the PDO mappings and the code for the + profile databases for different CiA profiles interface of the application. Hence these facts the emtas CANopen (FD) stack is highly optimized for the # licensing application and with regard to the memory + single user license requirement of RAM and Flash optimized for the + floating license with dongle respective application. + corporate license on request + 1 single user license is included with every emtas CANopen (FD) Protocol Stack << design flow <<

Single user licenses allow the installation and the use of the program for one identified user on various PCs running under Windows or Linux.

# order information + 1006­10 CANopen DeviceDesigner Windows + 1006­11 CANopen DeviceDesigner Linux + 1006­10­D CANopen DeviceDesigner floating license Windows + 1006­11­D CANopen DeviceDesigner floating license Linux

Evaluation versions of the tool are available << generated data << on request. ­ object dictionary ­ CANopen Stack configuration ­ CANopen Stack initialization ­ Electronic Datasheet (EDS according to CiA 306) ­ XML Device Description (XDD according to CiA 311) ­ HTML documentation of object directory ­ list of objects in CSV format for import to spreadsheet software ­ object description in txt fomat

11 << CANopen NetworkDesigner <<

With the CANopen NetworkDesigner by emtas users may design a complete CANopen network including all devices and communication relationships. The source code for all components is generated automatically by the tool.

<< device and network design << << PDO Linking << Devices with all their signals and communications (via According to settings done by users the tool sets the PDO and MPDO) can be defined with the CANopen PDO configuration with mapping and COB IDs of the NetworkDesigner. In this way the tool creates the CANopen devices. In addition the manual source code for all components within the network. In configuration of PDO parameters by experts is combination with the emtas CANopen Stack the possible. Then the CANopen NetworkDesigner verifies CANopen NetworkDesigner guarantees a CANopen the valid configuration. compliant realization of the design. Heartbeat producer and Heartbeat consumer relations and the connection of Emergency producer and Emergency consumer are also done automatically. ------CANopen NetworkDesigner – << object linking << latest generation of network design During the configuration objects of producer and ------consumer are clearly shown in a table. Detailed CANopen notification is not shown here. As an example, instead of e.g. “object 0x6041, Subindex 1” the name of the signal ''Control Word'' leads users to a << simulation << more convenient handling. By a single click objects of producer and consumer can be linked. Invalid linkings A simulation of CANopen devices on a PC is also are excluded already in the run­up, because only valid integrated into the tool. Not yet available devices and links corresponding in their CANopen data type will process inputs such as digital inputs, temperature be displayed. The individual priorization of links is sensors or other can be simulated with values. Within possible. the simulated application the same CANopen Stack is used as in later real applications. So for the simulation it is not necessary to learn any further scripting language. All algorithms can also be used in the real devices.

<< network analysis << Project data of the CANopen NetworkDesigner can be imported to the CANopen DeviceExplorer. Hereby, the DeviceExplorer is able to interpret all signals in PDOs, SDOs and MPDOs. Further messages are also shown. Filters for CANopen devices and CANopen services are integrated. Additionally selected process data can be visualised graphically.

12 # requirements + Microsoft Windows 7, 8,10 + diverse Linux variants (tested with (K)Ubuntu) # scope of delivery + software download

+ manual in PDF CAN/CANopen # licensing + single user license + floating license with dongle + corporate license on request

Single user licenses allow the installation and the use of the program for one identified user on various PCs running under Windows or Linux.

# order information + 1027­10 CANopen NetworkDesigner Windows + 1027­10­D CANopen NetworkDesigner floating license Windows + 1027­11 CANopen NetworkDesigner Linux + 1027­11­D CANopen NetworkDesigner Floating License Linux

13 << CANopen DeviceExplorer <<

The CANopen DeviceExplorer is a versatile tool for development, testing, diagnostics and service tasks. It provides CANopen master functionalities and allows the analysis and configuration of CANopen devices.

Information about each CANopen device is read from << object dictionary << the electronic data sheet of the device(EDS, XDD) or Objects of a device are presented in a clearly arranged they can be scanned directly from the device. Using object browser. According to the access rights, access standardized device configuration files (DCF) device to each object is provided for reading and writing. The configurations can be saved or imported. Additionally, CANopen DeviceExplorer supports all SDO services. data of entire CANopen networks can be stored in Values of the objects can be displayed decimal, project files. The built­in scripting capability using hexadecimal, binary or in ASCII format, depending on QtScript allows users to create their own test and the data type. Large data like domain blocks can be control applications with only little effort. read directly from or written to files. Objects being not described in the EDS file can be accessed as well.

<< network management << With the CANopen DeviceExplorer you are able to scan the network for already existing devices. Heartbeat and node guarding of the devices can be configured and monitored. Sending NMT commands to the devices is possible and the NMT state can also be monitored.

------CANopen DeviceExplorer – an indispensable tool for your device development ------

<< PDO configuration << The tool supports the simple configuration of the PDO mapping by Drag&Drop. Additionally PDOs can be sent, received and visualized. For test purposes the SYNC message can by send as one­shot message or cyclically with or without SYNC counter. The reception of timer­triggered PDOs can be monitored by the tool.

14 << PlugIns – extension modules << The CANopen DeviceExplorer can be extended by # requirements various optional PlugIns. The following PlugIns are + Microsoft Windows Vista, 7, 8,10 currently available: + diverse Linux variants

(tested with (K)Ubuntu) + supported CAN interface – LSS Master – CANopen Interpreter – CANopen Scripting # CAN interfaces

– Process DataLinker Windows®: ­ IXXAT CAN/CANopen – EnergyBus Visualization ­ SYS TEC USB­CANmodul ­ PEAK PCAN­USB ­ Kvaser CAN­Interfaces LSS Script PlugIn ­ EMS Wünsche CAN­Interfaces ­ Vector CAN­Interfaces (XL­Driver) Using the LSS Master PlugIn devices can be detected, Linux®: ­ can4linux the node­Id and the bit rate of LSS­capable devices ­ SocketCAN can be configured. The Linux version supports all hardware interfaces Script PlugIn with can4linux or SocketCAN. The scripting API is based on Javascript extended by CANopen specific commands to send and receive # scope of delivery SDOs, PDOs, NMT commands and other CANopen services. Even customer specific GUIs can be created + software download + CANopen Interpreter PlugIn using a graphical UI designer tool, and test or control + manual in PDF applications based on the scripting API can be developed. Emtas also offers development of scripts # licensing according to customers' requirements. + single user license + floating license with dongle + corporate license on request

Single user licenses allow the installation and the use of the program for one identified user on various PCs running under Windows or Linux. # order information + 1007­10 CANopen DeviceExplorer Windows + 1007­10­D CANopen DeviceExplorer floating license Windows Process DataLinker PlugIn + 1007­11 CANopen DeviceExplorer Linux + 1007­11­D CANopen DeviceExplorer This PlugIn simplifies the configuration of the PDO floating license Linux linking in CANopen networks significantly. The + 1007­11 CANopen DeviceExplorer Linux preferred communication links need to be defined + 1007­20 CANopen Script plugin only. Based on this the PlugIn automatically creates + 1007­21 CANopen LSS Master plugin the needed PDO mapping and linking. DCF files can + 1007­24 CANopen CiA 402 plugin (drives) be created accordingly. Also the network can be + 1007­25 Process Data Linker plugin configured by use of this PlugIn. CANopen PLCs + 1007­26 CANopen SRDO plugin according to CiA405 are also supported. + 1007­27 J1939 plugin

Evaluation versions of the tool: www.emtas.de/download

15 << Process DataLinker <<

The Process DataLinker a powerful plugin for the CANopen DeviceExplorer for parameterization of communication links in CANopen networks. With a few clicks the user is able to define the links between the devices - the Process DataLinker automatically creates the PDO configuration. Furhtermore no detailed CANopen knowledge is required and the PDO linking becomes more easier.

The CANopen DataLinker PlugIn is an efficient << PDO linking << expansion of the DeviceExplorer and is used to According to settings done by users the tool sets the parameterize communication links in CANopen PDO configuration with mapping and COB IDs of the networks. You are able to define links between CANopen devices. Special cases like static mapping devices with a few clicks only. By this the CANopen and fixed COB IDs are being considered as well. In DataLinker automatically creates the PDO addition the manual configuration of PDO parameters configuration. No detailed knowledge of CANopen is by experts is possible.Then the CANopen DataLinker required anymore and makes PDO linking notably verifies the valid configuration. easier.

------CANopen DataLinker – an indispensable tool for your CANopen network configuration ------<< object links << When configuring objects of producer and consumer are being presented in a table. Instead of the usual << timer configuration << CANopen notation (0x6041, Subindex 1) an object PDO specific timing parameters (i.e. Inhibit Time, name (i.e. Control Word) is being displayed and Event Timer, SYNC timing) and heartbeat may be therefore leads to a clear presentation. configured. Objects of producer and consumer may be linked by one click only. Invalid linkings are excluded already in the run­up, because only valid links corresponding in their CANopen data type will be displayed. Additionally it is possible to dermine priorities for specific linkings.

16 << CANopen PLC Support << CANopen PLCs according to CiA405 are directly # requirements supported by the CANopen DataLinker. For each PLC + Microsoft Windows 7, 8,10 network variables may be defined and linked with + diverse Linux variants

objects of other devices. In one project various PLC are (tested with (K)Ubuntu) possible. The definitions of variables according to + CANopen DeviceExplorer + supported CAN interface IEC61131 are being created by the CANopen DataLinker directly.

# CAN interfaces CAN/CANopen Windows®: ­ IXXAT ­ SYS TEC USB­CANmodul ­ PEAK PCAN­USB ­ Kvaser CAN­Interfaces ­ EMS Wünsche CAN­Interfaces ­ Vector CAN­Interfaces (XL­Driver) Linux®: ­ can4linux ­ SocketCAN The Linux version supports all hardware interfaces with can4linux or SocketCAN.

<< parameterizing of devices << # scope of delivery Manufacturer specific objects and device­specific + software download objects of devices can be configured with the CANopen DeviceExplorer. These settings are # licensing transferred into the CANopen DataLinker and the + single user license generated configuration files (DCF). Additionally all + corporate license on request configuration files may be written into devices directly via CAN. Single user licenses allow the installation and the use of the program for one identified user on various PCs running under Windows or Linux.

# order information + 5007­25 CANopen DeviceExplorer incl. Process DataLinker plugin

more plugins for CANopen DeviceExplorer: + 1007­20 CDE plugin ­ Script + 1007­21 CDE plugin LSS + 1007­22 CDE plugin Interpreter + EnergyBus plugins on request

17 << CANopen Bootloader <<

The CANopen Bootloader by emtas is developed with special focus on resource saving characteristics. Only mandatory required CANopen services and objects according to CANopen profile CiA 302-3 for a bootloader are supported.

Only 8­16 of flash memory are sufficient for the full The delivery as source code allows to insert individual CANopen compliant bootloader imple­mentation. configuration blocks and to provide them for the Firmware can be updated with a standard CANopen application. Master or CANopen configuration tools. The CANopen Bootloader is available for different 16­ and 32 bit microcontrollers. The portable driver interface allows the adaption to other target systems. # requirements + ANSI­C Compiler + Microcontroller with In­Application Optional extension modules like Layer Setting Service Programming (IAP) support (LSS) for the configuration of Node Ids are available.

Also manufacturer specific program code, as to sign firmware data, can be integrated fast and easily. # scope of delivery + Bootloader source code (ANSI­C­compliant) ------+ adjustment to CPU, first internal CAN controller and internal flash low memory requirements - great benefit + EDS file of the bootloader ------Durch+ ready die Lieferung to run example als Sourcecode application lassen sich auch eigene+ manual Dateien in inPDF den Konfigurationsblock einfügen << CANopen services << und+ der command Applikation line zugänglichtool for checksum machen. generation for Windows and Linux NMT Slave ­ bootloader stays in pre­operational + one single­user­license for the CANopen state UpdateManager included Heartbeat ­ Heartbeat Producer Time defined at compile­time SDO Server ­ expedited and segmented SDO transfer #licensing SDO Abort ­ General Error + project license Boot­Up ­ Send Boot­Up­message at the start (Royalty free; incl. 6 months phone of Bootloader and e­mail support) + site license without runtime fees (Royalty free; incl. 24 months phone << flash layout << and e­mail support) The command line tool for the CRC­creation calculates the CRC from the binary file of the applicaton. A #order information configuration block with CRC is inserted at the + 1001­10 CANopen bootloader generic beginning of the binary file. The Bootloader writes the binary file, including configuration block and CRC and application into the flash memory.

18 << CANopen UpdateManager <<

The CANopen UpdateManager is a program for firmware downloads and was developed with focus on easy handling. The UpdateManager supports update mechanisms according to CiA 302-2 and also according to other application profiles including the access to password objects. CAN/CANopen

For developers of CANopen bootloaders the integrated CANopen Master with SDO client (expedited and segmented transfer) and NMT master # requirements allows direct access to the CANopen device. + Microsoft Windows Vista, 7, 8,10 This makes it possible to successively validate that + diverse Linux variants (tested with (K)Ubuntu) device and bootloader behave as expected. In + supported CAN interface addition the setting of parameters for CANopen devices is possible with the CANopen # CAN interfaces UpdateManager. Communication of CANopen Windows®: ­ IXXAT UpdateManager and device can be recorded for ­ SYS TEC USB­CANmodul diagnosis purposes. ­ PEAK PCAN­USB ­ Kvaser CAN­Interfaces ­ EMS Wünsche CAN­Interfaces ------­ Vector CAN­Interfaces (XL­Driver) firmware download and network update in one tool Linux®: ­ can4linux ­ SocketCAN ------The Linux version supports all hardware interfaces By using the bootloader you are able to make a direct with can4linux or SocketCAN. firmware download for a device or you can even bundle firmware files and configuration data into one # scope of delivery update package. The site service technician only + software download starts the tool with the update package to update all + manual in PDF devices of a network automatically. # licensing + single user license + floating license with dongle + corporate licenses for service technicians or buyout versions on request + one single­user­license included with every emtas bootloader Single user licenses allow the installation and the use of the program for one identified user on various PCs running under Windows or Linux. # order information + 1002­10 CANopen UpdateManager Windows + 1002­10­D CANopen UpdateManager floating license Windows + 1002­11 CANopen UpdateManager Linux + 1002­11­D CANopen UpdateManager floating license Linux

19 << CANinterpreter <<

The CANinterpreter is a multi-purpose tool to monitor and record data traffic and for the analysis of CAN networks. Different plugins extend the scope of functions.

<< basic features << << PlugIns – extension modules<<

– online­monitoring of bus traffic in different Highlight of the CANinterpreter is the modular structure that allows a wide range of functions by modes (Trace/Object View) offering different optional PlugIns. – Recording of CAN messsages – Flexible filtering of CAN­IDs Creating PlugIns or manufacturer specific add­ons – single or cyclic sending of CAN messages or according to customers' requirements is also possible. Use cases for that could be e.g.: Use of the sequences Nachrichten/Sequenzen CANinterpreter as manufacturer specific service tool – CAN FD ready when used with a suitable or as setup tool for devices and plants. interface

Scripting PlugIn The Scripting­PlugIn is based on QtScript/ Javascript extended by CAN and CANopen specific commands. For example to send or receive CAN messages or different CANopen services. User interfaces tailored to customers' demands can be created with the graphical UI­Designer. Numerous examples belong to the standard delivery.

PlugIn EnergyBus visualization This PlugIn has been developed in particular for the use with EnergyBus. It monitors the data traffic with EnergyBus (CiA 454) and displays the process data and conditions of all EnergyBus devices within the network. PlugIn CANopen interpretation This PlugIn enables the interpretation of CANopen messages on the basis of CANopen services. Instead of data bytes „40 10 17 00“ the PlugIn indicates that the Heartbeat Producer object (0x1017) should be read by SDO. Appropriate interpretations for all CANopen services are available. Data of the PDOs can be shown by using the mapping. Furthermore a filtering of messages by node­ID or CANopen service is possible.

20 # requirements + Microsoft Windows 7, 8,10 + diverse Linux variants

(tested with (K)Ubuntu) + supported CAN interface

# CAN interfaces CAN/CANopen Windows®: ­ IXXAT ­ SYS TEC USB­CANmodul ­ PEAK PCAN­USB ­ Kvaser CAN­Interfaces ­ EMS Wünsche CAN­Interfaces ­ Vector CAN­Interfaces (XL­Driver) Linux®: ­ can4linux ­ SocketCAN

The Linux version supports all hardware interfaces with can4linux or SocketCAN.

# scope of delivery + software download + manual in PDF #licensing + single user license + floating license with dongle

Single user licenses allow the installation and the use of the program for one identified user on various PCs running under Windows or Linux.

# order information + 1017­10 CANinterpreter Windows + 1017­10­D CANinterpreter floating license Windows + 1017­11 CANinterpreter Linux + 1017­11­D CANinterpreter floating license Linux + 1007­20 plugin ­ Scripting + 1007­22 plugin CANopen Interpreter + 1007­27 plugin J1939 + EnergyBus plugin on request

21 << CANopen Gateway CiA-309 <<

The universal CANopen Gateway software according to CiA 309-3 provides access down to the field level using the reliable and proven CANopen technology.

<< basic features << The CiA309­3­Gateway is a multipurpose TCP/IP # requirements CANopen gateway according to CiA309­3. Its binary + Raspberry Pi version is available for Linux and may be used with + Microsoft Windows 7, 8,10 any Linux providing a can4linux or SocketCAN + diverse Linux variants interface. Furthermore the gateway is available as (tested with (K)Ubuntu) source code and may be ported to every platform provided that they have CAN interface and a TCP/IP # scope of delivery Stack with BSD socket. The CANopen module of the + software download gateway is the proven CANopen Master Stack of + manual in PDF emtas. # order information

+ 1021­xx CiA 309 CANopen TCP Gateway

<< CANopen services << Following CANopen services defined by the CiA 309­3 are currently supported by the gateway:

– SDO Client (data types from 8..32 Bit, strings and domains) – PDO Consumer – PDO Producer – NMT commands – Node Guarding Master – Heartbeat Consumer – Heartbeat Producer – Emergency Consumer

More CiA309­3 commands for a configuration of the gateway are available.

Using the CANopen TCP gateway according to CiA309­3 CANopen devices may be easily integrated in TCP networks. Further applications going beyond the functional scope of the CiA309­3 specification may be developed with the source code version basing on the CANopen Master Stack.

22 << CAN Multi-Protocol Stack <<

The CAN Multi-Protocol Stack is a software library that provides services to implement CAN, CANopen and J1939 applications with one or more lines in one device. The included graphic configuration tool supports the fast and comfortable development. CAN/CANopen

The CAN Multi­Protocol Stack is written in ANSI­C and To connect the CAN Multi­Protocol Stack to multiple therefore applicable on various systems. A flexible CAN controllers and CPU types, a well­defined driver application programming interface provides functions interface is used. Using this driver interface the stack to evaluate received data and to use CAN, CANopen can also easily be adapted to new CAN controllers or and J1939 services in the network. CPU types. Also it is possible to substitute hardware platforms with only little effort.

To save resources the CAN Multi­Protocol Stack is configurable and scalable. The software tool CAN DeviceDesigner, which is part of the delivery, is used to do the configuration of the protocol stack.

CAN driver

This tool supports a fast and cost­saving design of The implementation of CANopen provides every devices. By predefined profiles and objects the tools communication service according to CiA301 V4.2 and helps to create consistent object dictionary and EDS is available in various expansion stages. Compliance files. with the CANopen standard is always tested with the latest CANopen Conformance Test by CiA e.V. Extension modules for several communication and application profiles, besides those of the CiA 301 and 302 are available.

user interface CAN DeviceDesigner

23 << CANopen services << << J1939 services <<

Services Basic Slave Master/Slave Manager Services J1939 SDO Server* 2 128 128 node address assignment static or Address Claiming SDO Client* 128 128 time monitoring of messages ● SDO expedited/ cyclic transmission/reception ● segmented/block* ●/●/- ●/●/● ●/●/● transport protocol (TP) for large ● USDO Connections** 2 512 512 data volumes PDO Producer 32 512 512 PDO Consumer 32 512 512 PDO Mapping static static/dynam. static/dynam. # supported platforms MPDO Dest. Mode* ● ● The CAN Multi Protocol Stack of emtas may be used with or without operating system. MPDO Src. Mode* ● ● Numerous CAN controller and CPU types are SYNC Producer ● ● being supported. For example: Bosch, Infineon, SYNC Consumer ● ● ● Intel, NXP, ST Microelectronics, Texas Time Producer ● ● Instruments, Atmel, Renesas, Microchip. Time Consumer ● ● The list of supported hardware platforms is being continually extended: Emergency Producer ● ● ● https://www.emtas.de/info/controller Emergency Consumer 127 127 Guarding Master* ● Should, however, your platform not be Guarding Slave* ● ● ● immediately available, the development of Bootup Handling ● ● further driver packages is possible without any Heartbeat Producer ● ● ● problem. Heartbeat Consumer 127 127 NMT Master ● ● # scope of delivery NMT Slave ● ● ● + CANopen/J1939/CANraw protocol Master Bootup CiA302-2* ● sourcecode in ANSI­C Flying Master CiA302-2* ○ ● + Multiprotocol driver + CAN DeviceDesigner Configuration Manager ● CiA302-3* (1 named user license) SRD CiA302-5* ○ ● + ready to run example application + (reference) manual Redundancy CiA302-6* ○ ○ + optional maintenance agreement CANopen Router CiA302-7* ○ ○ + optional integration support LED CiA303 ● ● ●

Safety* ○ ○ ○ # licensing LSS CiA305 ● ● ● + project license Networking/Routing* ○ ○ ○ (Royalty free; incl. 6 months phone Multiline ○ ○ and e­mail support) C#-API-Wrapper ○ ○ ○ + site license without runtime fees Windows (Royalty free; incl. 24 months phone and e­mail support) * classical CAN Protocol Stack ** CAN FD Protocol Stack

● inclusive ○ optional # order information + 5031­10 Multiprotocol J1939/CANopen Slave Pack + 5031­10 Multiprotocol J1939/CANopen Master/Slave Pack + 5031­12 Multiprotocol J1939/CANopen Manager Pack

24

CAN/CANopen

25 << CAN Hardware <<

CAN hardware interfaces enable PC applications to access CAN or CAN FD networks. Choose the optimal CAN interface for your application for CANopen (FD), J1939 or EnergBus in accordance with performance conditions. For operation with the emtas software tools feel free to contact us – we will be glad to assist you.

Changing CAN hardware may be easily done, because most available CAN interfaces are appropriate for different system architectures. The manufacturers of the offered hardware products guarantee highest quality and extensive product support for your special application area.

HMS Industrial Networks GmbH << IXXAT USB-to-CAN FD << – ISO CAN FD, non ISO CAN FD and CAN High­Speed supported – cost­effective and extremely versatile – common driver interface (VCI) for easy exchange of the PC interface type – galvanic isolation

HMS Industrial Networks GmbH << IXXAT USB-to-CAN V2 << – 2 x CAN High­Speed­Support – cost­effective and extremely versatile due to optional LIN or CAN Lowspeed Support – common driver interface (VCI) for easy exchange of the PC interface type – galvanic isolation

HMS Industrial Networks GmbH << CAN@net NT 200 << – 2 x CAN High­Speed­Support – bridging of large distances and easy remote system access using Ethernet – flexbile filter, CAN­ID translation, data mapping and multiplexing functionality – protection by galvanic isolation

26 << USB-CANmodul1 << USB-CANmodul1 << << EtherCAN 3.0 3.0 EtherCAN << << EMS Wünsche Kvaser<< Memorator Professional HS/LS << Kvaser AB Kvaser<< SemiPro LS Leaf << Kvaser AB SYS GmbH TEC electronic SD CardSlot SD possiblevia CAN loggerMemorator CAN Kvaser data according 11898­3 ISO – platform forplatform local control applications – 24 supply V – Web Server – CPUI.MX287)(Freescale 454 ARM9 MHz – individual galvanic separation – Host,2xCAN,Ethernet/CAN USBGateway, RS232, – voltage operation at supply stand­alone – x connectorsCAN­HS, CAN­LS)2 1 x (1 D­SUB9 – memory support SDHC and of cards SD – toaccording specifications A/B CAN 2.0 – Interface LowandHigh Speed and CAN Speed – Interface Tolerant Low Speed/Fault CAN – diagnostic LEDs – Connector 9­pin D­SUB – IDCAN 29 IDand11 Support bit bit – CAN Interface Low Speed – CAN­Interface – diagnostic LEDs – connector 9­pin D­SUB – IDCAN 29 IDand 11 support bit bit – CAN High Interface Speed –

27 CAN Hardware 28 << properties properties << << runtime Stack includes the full range of functions necessary for J1939 theintegration of int fullthe includes rangeStack necessary functions of developare to J1 able users J1939Stack Protocol emtas the With customer products can be reali be can products customer to adjustment individual An extent. large a to and scaled configured be may stack J1939 the possible, as low as resources of consumption the keep to order In <

29 J1939 << SAE J1939 DeviceDesigner <<

The J1939 DeviceDesigner is an easy-to-use tool for fast and cost-saving design of J1939 devices. With a few mouse clicks users may merge PGNs and SPNs of a device from predefined databases and specifies the properties of signals.

Based upon this the J1939 DeviceDesigner generates

the PGN and SPN configuration and initialising # requirements functions in C as well as the device documentation. + Microsoft Windows 7, 8,10 Additionally the J1939 DeviceDesigner optimally + diverse Linux variants configurates the J1939 Stack and the driver package (tested with (K)Ubuntu) by means of device properties. + emtas J1939 Protocol Stack << PGN and SPN configuration << # scope of delivery According to the integrated database and inputs the + software download PGN and SPN configuration is being generated as + manual in PDF source code file in C, being integrated to the + PGN/SPN databases application as interface for the protocol stack. Depending on the configuration users may have access to the variables of the PGNs as C variable # licensing directly from the application. + single user license CAN DeviceDesigner + floating license with dongle + corporate license on request << stack configuration << + 1 single user license is included with every Basing on the settings and definitions of the PGNs emtas J1939 Protocol Stack and SPNs a configuration and initialization file is being generated as source code file in C, ensuring that Single user licenses allow the installation and only actually used services of the J1939 stack are the use of the program for one identified user being compiled and initialized. Concerning the on various PCs running under Windows or Li­ resources the storage needs of the J1939 stack is nux. configured optimally.

<< device documentation << # order information Related to the configuration of PGN and its settings + 1030­10 J1939 DeviceDesigner Windows and description as well as for further device specific + 1030­10­D J1939 DeviceDesigner settings a device documentation is generated in HTML floating license Windows + 1030­11 J1939 DeviceDesigner Linux and text format. This documentation is equal to the + 1031­11­D J1939 DeviceDesigner current settings and implementation and is therefore floating license Linux always up to date. You may furthermore use the generated documentation as a part of the user Evaluation versions of the tool are available on documentation of the device or import it into word request. processing programs.

30 << basic features basic << << << J1939<< plugin << 13 ojc ve i as aalbe soig each showing available, also signalvalues. with current is a view figure object following J1939 the in shown telegrams of view as values linear containing the Besides being units. and value of all variable physical are with SPNs detail the in interpreted including PGNs target The and source address. as well CAN as name with mapped each is interpretes message Each standard. J1939 to according interpretation telegram J1939 The acc sent and interpreted networks. are J1939 the By using being plugin messages data record and monitor to tool multi-purpose a is CANinterpreter The messages/sequences – single or single ofCANcyclic or sending – filtering/triggering Flexible of CAN­IDs – recordingof CAN messsages – interpretation accordingJ1939of CAN data to SAE – online­monitoring of bus traffic – << J1939 << CANinterpreter << << scripting plugin << scripting << oe i te rpia U dsge. ed t run to Ready designer. UI in are scopeexamples of the included delivery. graphical the via for done interfaces, user own is Design applications. control of and testing for example creation the be for may and used commands specific J1939 and CAN by extended QTScript/JavaScript, on based is plugin This on request. Example would be service or operation operation or tools plant machinery. forand service be would Example plugins. request. on optional created be may further plugins customer­specific Additional by expandable add­on ideal an is interpretation J1939 its and CANinterpreter the devices J1939 of users and engineers software For to and address send telegrams.claiming send to as to well as telegrams you J1939 request allows tool monitoring The a b cmltd y mot pin fr für for being analy are sequences options TP­message und import BAM­ PGNs. by proprietary completed be may Interpretation values. current their including signals the in shown all showing available also is view object J1939 a figure telegrams of view linear this Besides # order information floating Linuxlicense floating Windows license 5 + 5 + 5 + 5 + 0 0 0 0 71­ CANinterpreter J1939 17­11­D 17­1 71 CANinterpreterLinux J1939 17­11 17­1 0 0 z CANinterpreter J1939 Windows D CANinterpreter J1939 ­D traffic and for the analysis of CAN CAN of analysis the fortraffic and edcompletely. ording SAE J1939.to

31 J1939 32 << EnergyBus<< communication << << EnergyBus<< e.V. << components manufacturer for LEVs as well as as well in 2 as Taiwan in Founded LEVs individuals. private dedicated for manufacturer or components technology supply, bike drive energy rental, battery of management, fields the well­ from companies different known composes which e.V. EnergyBus the standardi The of exchange the during componentscompatibilityand checks. devices of detection for cycle and data mechanisms includes also profile application the times transferred Besides reactions. and parameters specific with are slaves CANopen etc. as lock defined cable charging display, drive, battery, like components Different Master. CANopen as (EBC) controller EnergyBus an requires Each network EnergyBus 454. CiA as published and profile application the CANopen a as EnergyBus e.V. of characteristic specific the Automation in developing been have e.V. EnergyBus CAN the of members the with communication protocol. CANopen Together proven and the on bases exchange EnergyBus data Concerning of onCANopen. family acommunication and protocol basing connector developed safety and compatibility ensures Standardiszation hicles). electric of components electrical allfor standard open an is EnergyBus Thuringia. 00 te soito i nwdy stae in situated nowadays is association the 7 z ation of EnergyBus is being driven by by driven being is EnergyBus of ation << introduction << EnergyBusto << << CANopen requirements << CANopen << S (ae Stig evcs CA 3 CiA Services, Setting (Layer LSS of support the devices all for Furthermore, required. required. are functionalities Master is CANopen chargers battery Framework EnergyBus an external and controller EnergyBus the for Additionally, or Stack CANopen a components into EnergyBus Integrating h CNpn etrs nryu specific EnergyBus features CANopen functionalities. the besides contains furthermore and requirements these all accomplishes emtas of framework EnergyBus The dynamic support dictionaryentries.object to has a implementation CANopen of usage the the of runtime to respect with configuration PDO flexible the Because recommended. and being is bootloader mandatory is addressing n 2 In ciey novd n ute dvlpet f the of development further EnergyBus communication protocol. in is involved and e.V. actively EnergyBus the at partner development ------0 Es EegBs osss f specifically a of consists EnergyBus LEVs. 2 ma bcm mme ad software and member became emtas 12 bicycles and LEVs and bicycles (Light-Electric-Ve- formore information: www.energybus.org 0 ) o automatic for 5)

33 EnergyBus << EnergyBus Framework <<

The EnergyBus LEV Framework provides an application programming interface for Light Electric Vehicle (LEV) devices according to the CiA 454 profile. Basing on the proven CANopen Stack, it enables the fast and easy integration of EnergyBus and the required CANopen services by a flexible API.

The modular structure of the EnergyBus LEV << external battery charger << Framework allows an easy integration of different Containing both Master and Slave functionalities, device types like display, drive, battery and EBC external battery chargers are supported by a separate (EnergyBus Controller). Each single device can also be module of the framework. Depending on the combined with the EBC. connected components, the module performs only The data of the object dictionary depend on the slave functionalities (with EBC in the system) or device type. They are provided in a data block that master functionalities in the network, i.e. LSS, node can be read and written by the application. number assignment, NMT commands (without EBC in Information about changes of the objects are sent to the system). the application by callback functions. The handling of the CANopen communication works automatically in the background. << EnergyBus controller << Configurations are done with the EnergyBus DeviceWizard tool which creates the object directory, The EnergyBus Controller (EBC) is the central control the related EDS files and a device documentation. element of the EnergyBus network and does always function as master (LSS, NMT and master control). The EBC is also responsible for the assignment of node << Slave Module << numbers, switching the NMT and EnergyBus state machine and for device control. You may chose Currently following EnergyBus components are being whether you want to use the EBC as a separate device supported by the EnergyBus Framework as Slave: or together with other components in one device. It is – display (HMI) commonly used in combination with drives (motor – battery controller). – drive (motor controller, MCU) – Security Device – Load Monitoring Device

34 << services << services << Master LSS CiA305/ Fastscan SlaveNMT Master NMT Consumer Heartbeat Producer Heartbeat Handling Bootup Emergency Consumer Emergency Producer SYNC Consumer SYNC Producer Mapping PDO Consumer PDO Producer PDO segmented/block expedited/ SDO Client SDO devices virtual number node serviceEB EB Slave EBCEBext. Slave Handling CiA305/Fastscan LSS

SDO Server SDO 2 - with EBC in network only in network EBC 2 -with only network in EBC 1 -without ●

inclusive dvc charger device

● via LSS via static / 20 ● ● ● ● ● ● ● ○ 2 4 1 1 /

optional ○ ● dynamic / 127 127 128 512 512 127 ● ● ● ● ● ● ● 1 1 / ○ ● dynamic / 127 127 127 127 128 512 512 ● ● ● ● ● ● ● ● ● 1 ² ² 1 1 1 / ○

# licensing delivery of # scope platforms # supported # order information

hud hwvr yu pafr nt be not platform possibleis driver without packages problem. any your further of development the available, immediately however, Should, https://www.emtas.de/info/controller continually extended: CAN being is platforms hardware supported Numerous of list The system. controller beingandsupported. are CPU types operating or with without used be may Framework EnergyBus The voltage moduleconverter module module (ANSI­C) EnergyBus DeviceWi support)e­mail and free;incl. months (Royalty 24 phone support) e­mail and free;incl. months (Royalty 6 phone 1 + 1 + 1 + 1 + 1 + 1 + + optional support optional integration + optional maintenance agreement + manual (reference) + toapplication ready example run + Sourcecode Framework EnergyBus LEV + 1 + one single­user­license + without license site runtime fees + project license + 0 0 0 0 0 0 0 42 EnergyBusLEV Framework 14­24 42 EnergyBusdriveLEV Framework 14­23 14­22 EnergyBus LEV Framework battery Framework EnergyBus LEV 14­22 14­21 EnergyBus LEV Framework display EnergyBusdisplay LEV Framework 14­21 14­2 14­11 EB LEV Framework LEV Master/Slave Framework EB 14­11 14­1 0 0 module communication communication module module EnergyBus Framework EBC LEV communicationmodule EnergyBus Framework Slave LEV z ard included ard

35 EnergyBus << EnergyBus DeviceWizard <<

The EnergyBus DeviceWizard is a software tool for user-friendly configuration, scaling and parameter setting of the EnergyBus LEV Framework. An easy to handle assistant leads the user step by step through the program and lets him choose between the EnergyBus devices (battery, charger, drive, display or Ener- gyBus-Controller(EBC)). During further steps the user defines the properties of the components. A deep understanding of communication protocols is not necessary.

The user is led through the configuration of the << expert modus << hardware (microcontroller) by the assistant of the Furthermore, the expert modus allows CANopen­ EnergyBus DeviceWizard. Only some data about CPU experienced users to create objects in the type, CAN controller type and some timing manufacturer­specific part of the object directory or parameters need to be chosen here (i.e. the device profile segment. CANopen objects may be also frequency of microcontroller) and the driver will be imported from CODB oder EDS files. If possible within configured according to the settings done before. the range of functions of the EnergyBus framework, the CANopen functionality of the generated << program output << application code may be extended. Basing on the entered data by the user the software generates .h configuration files, .c application code as well as required files for the technical manual in different formats. . During the generation process the software verifies the plausibility of the given information and shows warnings if necessary. The configuration files configurate the EnergyBus Framework and activate only particularly required functionalities of the framework by setting compiler switches.

------optimal configuration of EnergyBus Framework with the EnergyBus DeviceWizard ------The precisely generated C files contain the CANopen object directory, the PDO mapping code and the application interface. The EnergyBus Framework is therefore especially designed to the application and optimized with regard to RAM and Flash.

36 << generated files generated << << << design flow design << << spreadsheet programs – Electronic Datasheet (EDS according Electronic 3 to CiA (EDS Datasheet – – object description object in description format .txt – for objectin format export CSV list to – object documentationdictionary HTML in – toCiA XDD according 311 – – EnergyBus Framework initiali EnergyBus Framework – configuration EnergyBus Framework – object dictionary – z ation 0 6) # licensing delivery of # scope # requirements # order information n aiu Ps unn udr idw or Windows under running PCs various on Linux. user identified one for program the of use and the installation the allow licenses user Single request. on available are tool the of versions Evaluation floating Linux license (tested with (K)Ubuntu) 1 + 1 + 1 is single with every license user included + corporatelicense request on + floatingwithdonglelicsense + singlelicenseuser + manual PDF in + softwaredownload + Microsoft Windows 7, 8,1 + 1 + 1 + emtasEnergyBusFramework + diverse Linux variants + emtas EnergyBus Framework emtas EnergyBus Framework 0 0 0 0 13­11­D EnergyBusDeviceWi 13­11­D 13­11 EnergyBus EnergyBus DeviceWi 13­11 13­1 13­1 0 0 ­D EnergyBusDeviceWi ­D EnergyBus DeviceWi floating Windows license Windows 0

z z z z ard ard ard ard ard ard Linux ard

37 EnergyBus << EnergyBus tool <<

The EnergyBus Tool is used for the analysis and for monitoring purposes of EnergyBus components in LEVs. In the basic version all components, its current state and operating data are shown, but may be supplemented by plugins with various additional functions for monitoring EnergyBus components.

Current device states may be exported as XML files and may be laterimported again. These files containing the current state of an EnergyBus network (i.e. pedelec) may be sent for service purposes as well. Furthermore the device status report may be issued as a pdf document.

<< optional extension << – EnergyBus message interpretation – EnergyBus message filtering – CAN­raw data export – firmware update of components – EBC simulation

38 # scope of delivery of # scope interfaces # CAN # requirements Lnx:­can4linux Linux®: ­IXXAT Windows®: (K)Ubuntu)with (tested + manual in manual PDF + software download + CANinterface supported + Linuxvariants diverse + Windows7,8,1 Microsoft + ­SocketCAN (XL Driver) CAN­Interfaces­Vector ­EMS Wünsche CAN­Interfaces CAN­Interfaces ­Kvaser PCAN­USB ­PEAK TEC USB­CAN module ­SYS 0

39 EnergyBus 40 << overview << overview << << EtherCAT<< Framework << << EtherCAT DeviceDesigner << EtherCAT<< DeviceDesigner quick and quickof EtherCATdesigncost­savingand devices. a for tool a therefore is DeviceDesigner EtherCAT The the of Beckhoff. EtherCAT Slave Stack for or emtas of Framework either EtherCAT the be for may created dictionary object the for C­Code The theandofthe dictionary. creation object stack the of configuration the and tool during Stacks users Slaves supports graphical Beckhoff of a use the for is designed DeviceDesigner EtherCAT The controllerwithisthe EtherCATFramework possible. EtherCAT most of usage The Stack. the to access clear a by products EtherCAT new of development simple a allows and Stack Slave Beckhoff the for developed especially API an is emtas of Framework EtherCAT The and improving been customi have we experience and the how in involved know­ is this With profiles. and the of development well furtherr as member a is emtas 5 than more with producers and users of association international an being (ETG) Group Technology EtherCAT the by supported and IEC the in standardised technology open an is EtherCAT 100Mbit/s to up attained. may be Duplex speeds higher dat and speed of because all at operational not even or extend limited a to fie classical which in t sectors flexible various in cost-effectiveuse Its Ethernet. on basing system fieldbus a is EtherCAT z ing products.EtherCATour 000 member companies. companies. member << << introductionEtherCAT to << ldbus sytems in the past had been operational only operational been had past the in sytems ldbus << EtherCAT consulting << Benefitfrom know-how... our h wn t bcm mr fmla wt the ofEtherCAT.opportunities technical the about with more learn to familiar want our or with products work more further for basis become a ceate technology, to want therefore decision­makers who and may engineers software and to address requirements individual your We're user­related pros. as to according composed be may trainings well Our content. and as knowledge beginners basic imparting both, contents to tailor­made addresses with trainings EtherCAT Our around EtherCAT and assists you in the feasibility feasibility the problems in solving soundindividualconsulting.with assessment a you assists for and partner EtherCAT reliable around a is emtas plg ad ipe ofgrto alw a allow configuration simple and opology asets. By Fast Ethernet and Full and Ethernet Fast By asets.

41 EtherCAT << EtherCAT Framework <<

The EtherCAT Slave Framework provides a comfortable Application Programming Interface for the EtherCAT Slave Stack Codes ET9300 by Beckhoff® . It supplements the free EtherCAT Slave Stack Code by a well defined and constant user interface which allows easier access to the stack and thus simplifies the development. Additionally the EtherCAT Framework provides further functions for the data handling.

<< overview << << configuration and additional The user interface decouples the EtherCAT Stack from features << the application code. This does not only simplify The configuration of the framework is being done by programming but updating the Slave Stack of the EtherCAT DeviceDesigner included in the scope of Beckhoff, because it is no longer necessary to make delivery. The tool enables you to configurate all changes of the Slave Stack code. parameters and to create the required callback functions. The parameterization of the EtherCAT Slave The user interface can be freely configured. Only the Stacks is integrated as well. parts needed in the application must be implemented. A function for the dynamic registration of indication Additionally the object dictionary may be created or callback functions that allows to react to various comfortably by databases. Even already existing events is available. application variables may be integrated for an access via EtherCAT. Therefore users are given a pratical tool Additionally the EtherCAT Framework provides an for fast and easy way of managing and reuse of improved object dictionary for the implementation objects in different projects. Required XML and which significantly allows a more flexible data EEPROM files are generated automatically and enable structure and provides access functionality for reading a quick and easy integration of EtherCAT. and writing. By this a direct reading and writing of application variables transparent to the EtherCAT Stack.

42 # licensing delivery of # scope # order information DeviceDesignerincluded and support)e­mail (Royalty24 free; phoneincl. months and support) e­mail (Royalty6 free; phoneincl. months EtherCATCode StackET93 Slave (ANSI­C; MISRA­compliant) one EtherCATsingle­user­license + license site fees without runtime + projectlicense + NOTINCLUDED: + optionalintegrationsupport + optionalmaintenanceagreement + (reference) manual + readytoexamplerunapplication + EtherCAT DeviceDesigner + EtherCAT Framework Slave + 5 + + 0 0 1 22­1 00 ­4 0 0 integrationsupport EtherCAT Stack Framework Framework EtherCATPack Stack 00

43 EtherCAT << EtherCAT DeviceDesigner <<

The EtherCAT DeviceDesigner is an easy to handle graphical tool for the fast and cost-saving development of EtherCAT devices by generating the object dictionary, the electronic datasheet in XML(ESI) and additional source code files. The tool is tailored to the EtherCAT Slave Stack Code ET9300 by Beckhoff.

The EtherCAT DeviceDesigner by emtas offers various << designing the object dictionary << possibilities to configure the communication settings, Only a few clicks are necessary to define the object hardware settings, compiler defines and the CoE dictionary based on the internal databases. object dictionary. Based on these settings the tool Additionally all properties of the objects like generates appropriate C and Header files, the device datatypes, access rights, default values or limits can description, a device documentation and the EEPROM be configured easily. file. The tool saves all entered settings as project files, which may be furthermore by load in other projects, Various profile databases are available for the imported or compared to other projects. communication profile and several devices profiles. The generated files may be viewed by the integrated Such a profile database contains templates for each file viewer and no external applications are required. objects of a profile covering all basic properties and a description for the objects. The objects can be imported, duplicated and adjusted to the individual << EtherCAT settings << requirements of the devices. By using pre­defined objects the development time is reduced significantly The tool provides access to all settings of the and the repetitive and error­prone task of manual EtherCAT Slave Stack Code by drop­down boxes, input of data is avoided. switches and input files. Each input is checked and based on the settings other options are deactivated so only valid configurations are possible. The object dictionary is generated as a C source file which is included into the application as interface to the EtherCAT stack. Depending on the configuration the objects can be accessed directly as C variables from the application. Alternatively users may have access to functions via index and subindex.

------best connectivity to the stack - the EtherCAT DeviceDesigner ------

The configuration of the EtherCAT stack is made automatically based on the settings in the object dictionary. The generated configuration file (C source code header file) ensures the only used services of the EtherCAT stack are compiled. Thus the EtherCAT stack will be used with as little resources as possible.

44 << generated data data generated << << << program<< output << intospreadsheet for applications further processing. of list the imported be can it and contains attributes their the all with objects file of CSV manual generated parameters. the The for device. used and and processors word objects into imported be can documentation The file. text and HTML an as generated is descriptions and the settings all with dictionary object device the of on documentation A based generated are file EEPROM the and devices EtherCAT all for mandatory is which format XML in file ESI The avoided. are tasks error­prone and Double device. the files of generated development of various state current all the represent always that generates ensures which files DeviceDesigner output EtherCAT The spreadsheet programs spreadsheet – object description object in description format .txt – for objectin format export CSV list to – documentation device in Text undHTML – EEPROM File – Electronic (XML) Datasheet – EtherCATFramework incl. configuration the – object directory – configuration for Slave Stack Beckhoff # licensing delivery of # scope # requirements # order information nux. Li­ or Windows under running PCs various on user identified one for program the of use the and installation the allow licenses user Single request. on available are tool the of versions Evaluation floatingLinux license (K)Ubuntu)with (tested 1 + 1 + 1 + + 1 singlelicense user 1 included is with every + license corporate on request + licsense floating with dongle + single license user + in manual PDF + download EtherCATDeviceDesigner for + Windows7,8,1 Microsoft + 1 + + EtherCAT Slave Stack from Beckhoff from EtherCATSlave Stack + Linuxvariants diverse + emtas EtherCAT Framework emtas EtherCATFramework 0 0 0 0 19­11­D EtherCAT DeviceDesigner EtherCAT 19­11­D 19­11 EtherCAT DeviceDesigner EtherCATLinux 19­11 19­1 19­1 Windows 0 0 ­D EtherCAT DeviceDesigner EtherCAT ­D EtherCAT DeviceDesigner EtherCAT floatingWindows license 0

45 EtherCAT << EtherCAT DeviceExplorer <<

The EtherCAT DeviceExplorer is a mulitpurpose tool for development, testing, diagnostics and service tasks. It provides EtherCAT master functionalities and allows analysis and configuration of EtherCAT CoE devices.

The EtherCAT DeviceExplorer reads information of << PlugIns modules << each EtherCAT device from the electronic data sheet Due to the scripting capability of the EtherCAT of the device, or the information are scanned directly DeviceExplorer it is possible to adjust the user from the device. In addition, data of entire EtherCAT interface and masks of the tool to customer specific networks can be stored in project files. The built­in needs. For example it is possible to include a mask for scripting capability using QtScript allows users to service use. It is even possible to hide the standard create their own test and control applications with masks of the EtherCAT DeviceExplorer with a PlugIn. only little effort. PlugIn scripts can be written by the users; emtas is able to create PlugIns according to customers' << object dictionary << requirements. Device objects are clearly displayed in an object browser. Access to each object – according to the access rights – is given for reading and writing. Values of all objects can be displayed in decimal, # requirements hexadecimal, binary form or in ASCII format, + Microsoft Windows Vista, 7, 8,10 depending on the data type. Large data, like domain + diverse Linux variants blocks, can be read directly from – or written to files. (tested with (K)Ubuntu) # scope of delivery << PDO configuration << + EtherCAT DeviceExplorer for download + manual in PDF The EtherCAT DeviceExplorer supports easy configuration of the PDO mapping by drag&drop # licensing function. PDOs can be sent, received and visualized + single user license with a single click. + floating license with dongle + corporate license on request

Single user licenses allow the installation and ------the use of the program for one identified user on various PCs running under Windows or ------EtherCAT DeviceEx- Linux. plorer - the best tool for developing EtherCAT devices # order information ------+ 1024­10 EtherCAT DeviceExplorer Windows + 1024­10­D EtherCAT DeviceExplorer floating license Windows + 1024­11 EtherCAT DeviceExplorer Linux + 1024­11­D EtherCAT DeviceExplorer floating license Linux

46 ehoois n ohr etr. o complex For sectors. ofsoftwaretools. energy range product broad other a provides emtas developments conventional and or automation technologies technology, renewable medical technology, in used embedded devices for development software of field the in experience long­standing have engineers software All d thewhole of process during customers multicore.singlecore to supports emtas focusses emtas knowledge sound t requirements:8 differentfrom and and microcontrollerscustomers' numerous experience of years many on Based << embedded software developmentembedded << << s pot yu hog al tgs ihn the within stages all project through process:development successful you a to supports and accompanies contact emtas that. beyond and conclusion first the From contact person and a direct line to responsible responsible to line personal direct a a ofengineerstheirprojects. and have person always contact customers for emtas, With real­time C in with assemblers, programming modernand operating development systems tools. and in microcontrollers knowledge at engineers expert and of knowledge electrotechnical software have do emtas interplay All perfect software. a and of hardware requirement the to due is development software of complexity increased An ------– maintenance and maintenance updatesand – integration – test – implementation – designand draft – sheet joint preparation of specification – get in touch with emtas forinitial an discussion emtas with touch in get o 64 bit, from ARM to DSP, to ARM from bit, 64 fromo n otae eeomn for development software on evice development. evice

47 Services << integration of CANopen <<

Are you developing a new device or do your customers desire a CANopen interface for an already exisiting device? emtas will support you by sound knowledge of CANopen and perform the integration of the CANopen Stack into your devices. Your requirements are the be-all and end-all.

emtas performs the communication links of your emtas is developing at the home location in devices. Our software engineers have long­standing Merseburg. The acquisition of the hardware will be experience in the integration of Fieldbus stacks, done at emtas or at your location and may be especially of CANopen stacks into embedded devices combined with a CANopen training and an used in medical technology, automation technology, introduction to the CANopen Stack and tools. renewable or conventional energy technologies and other sectors. emtas is familiar with the device­specific requirements and the device profiles of CANopen.

emtas is always up­to­date, because we are active member of the CiA e.V. and we have been involved in << projects implemented << different working groups for standardization. Together with your know­how we will find the – digital and analogue IO devices optimal solution for your application. – modular equipment families – position and tilt sensors ------– drives short development times by professional knowledge – maritime sensors – safety sensors/actuators ------– medical devices – SIIS level­2 sensors From the first contact to a successful project – lift applications conclusion and beyond that. emtas accompanies and – joysticks supports you through all stages within the development process:

– choosing the appropriate device profile and your benefits with emtas: objects – joint preparation of specification sheet – CANopen integration by experienced – draft and design CANopen software engineers – implementation – fast time­to­market – integration of the CANopen Stacks – calculable development costs – preparation and implementation of the – focusing on core competences conformance tests – adaption to bootloader – maintenance and updates

48 EnergyBus interface? Gain from our know-how. We'll support you and and you support We'll required EnergyBus software your devices. into know-how. our from Gain interface? EnergyBus Arefor youLEVs? do youalready developing provide components new Or ------s pot yu hog al tgs ihn the within stages all project through development process: successful you a to supports and accompanies contact emtas that. beyond and conclusion first the From the find will we know­how solutionoptimalfor your application. your with too. Together groups, working different in involved been has and e.V. EnergyBus the of member active also is emtas the by set requirements EnergyBusstandard. device­specific the with familiar We're components. LEV in Stacks EnergyBus and Stacks CANopen of integration the in experience long­standing your have of engineers software links Our devices. communication the performs emtas ------conformance tests conformance objects and maintenance updates and – bootloadertoadaption – and ofthe preparation implementation – ofthe integration EnergyBusFramework – implementation – designand draft – sheet joint preparation of specification – thedevice choosing appropriate profile – competence for your needs competence << << integrationEnergyBusof << << project examples << project << done at emtas or at your location and may be be may the and to tools.and EnergyBus Framework introduction location an or your training in a at with combined or location emtas home at done the be will hardware the of at acquisition The Merseburg. developing is emtas – HMI/Display – EnergyBuscontroller – controllermotor – battery charger and – your benefits emtas: with EnergyBus software engineers EnergyBus software competencesfocusing on core – costsdevelopmentcalculable – fast time­to­market – experiencedEnergyBus integration by – one? Youone? an need customers your or perform the integration of the the of integration the perform

49 Services << integration of EtherCAT <<

If you're developing devices with EtherCAT interfaces or adding an EtherCAT interface to an already existing device, emtas supports you with a sound knowledge and performs the integration of an EtherCAT stack into your devices.

Concerning the communication links often it's the emtas is developing at the home location in little things that cause big problems. But our software Merseburg. We'll keep you up­to­date during the engineers have long­standing experience in the whole process. The acquisition of the hardware will be integration of Industrial Ethernet Stacks and especially done at emtas or at your location and may be EtherCAT Stacks in industrial devices. We're familiar combined with a training or an introduction to the with the device­specific requirements set by the EtherCAT. EtherCAT profiles. Together with your know­how we will find the optimal solution for your application.

For development different EtherCAT Slave Stacks are available. Whether free implementations or commercial ones ­ we know the benefits of these << project examples << possibilities and we'll give you advice which solution is the best one for your project. – digital and analogue IO devices – position and tilt sensors ------– drives We advise you gladly. ------From the first contact to a successful project conclusion and beyond that. emtas accompanies and supports you through all stages within the development process:

– choosing the appropriate device profile your benefits with emtas: and objects – EtherCAT integration by experienced – joint preparation of specification sheet EtherCAT software engineers – draft and design – fast time­to­market – implementation – calculable development costs – integration of the EtherCAT Stack – focusing on core competences – preparation and implementation of the conformance tests – maintenance and update

50 ueos ma eape rjcs o common of the to customers' software hardware. for projects transfer easy an ensures and used is boards evaluation example emtas the of numerous one support commissioning joint the During of your emtas. experience long­standing the hardware, of and company engineer your your software a is environment, need development you'll Everything your device into thecommunication stacks you integrate helps to emtas support commissioning stacks protocol communication the the of ensures(CAN/EtherCAT) emtas << commissioning support << support << commissioning utemr w wud ie o eomn an successful recommend and fast ofthe start project. to a ensure like to training additional would we Furthermore withyourapplication. stack communication the link to able are you Subsequently emtas the of stacks. protocol interfaces the on and action of mode internal the protocol, used the on tips valuable gain from you'll Furthermore together. overcome be may similar something or configurations transceiver offset, register frequency, of setting the like 'obstacles' Little your benefits emtas: with emtas' experts emtas' focusingon core competences – developmentcalculable costs – fast time­to­market – andadaption of theby integration stacks – in your devices. By a professional a By devices. your in s promptly.

51 Services << trainings <<

People starting with a new topic are advised to use our trainings and seminars for CAN/CANopen, J1939 and EnergyBus. By individual agreements of the topics emtas addresses both, beginners and pros.

<< target group << << our trainers << Our seminars addresses to software engineers who Based on a long­standing experience our trainers are want to become familiar with the technologies, capable of imparting knowledge and has become establish a basis for further work with emtas products respected experts and co­trainers at seminars of the or want to know more about specific device and CAN in Automation e.V. (CiA). During their active application profiles. Furthermore we also address membership in the CiA and by a steady work for the decision­makers who want to become more familiar standardization of CANopen and EnergyBus emtas' with the technical opportunities of the technologies trainers are always up­to­date. mentioned before. << training material << ------A comprehensive training material will be available for contact us - we'll advise you any participant. ------<< location and time of trainings << << contents << We offer trainings as in­house seminars in our premises at Merseburg. Depending on the content the Our trainings are individually tailored to your seminars are structured for one or zwo days. requirements and your (prior) knowledge. The Combined with an integration support you may be following contents should be therefore seen as well prepared for a fast and easy start of a new examples: project. Appointments will be done in consultation with our participants. – introduction to CAN – introduction to CANopen (FD)/EnergyBus/J1939 – explanations about emtas' stacks and available extensions – overview of device and application profiles – detailed informationen about specific device or application profiles – commissioning support bases on application examples

Based on the knowledge of the participants we'll create an individual seminar schedule for different topics.

52 << 10 good reasons to decide for emtas <<

Nowadays there are numerous software companies in the automation industry. Choosing an appropriate partner being able to implement individual requirements, making the decision anything but easy. We would like to give you 10 reasons to decide for the products of emtas.

1. The team of emtas possesses competence and long­standing experience in the field of CAN/CANopen.

2. As an active member emtas has been involved in the standardization in the CiA. Furthermore emtas is member of the Technical Comittee of the CiA e.V. and therefore always up­to­date.

3. the emtas CANopen/CANopen FD and J1939 source code is tested on MISRA conformity.

4. emtas' products are being improved steadily and being adapted to current standards.

5. Customers and users gain from practice­oriented trainings for stacks and tools and are able to start their projects promptly.

6. emtas provides comfortable graphic configuration and installation tools included in the scope of delivery of the stacks as well as an comprehensive tool chain for CANopen, EnergyBus, J1939 and EtherCAT.

7. Customers gain from a fast and free First­Level­Support with direct line to emtas' software engineers.

8. emtas has been development partner of the EnergyBus association and is well networked with further partners. This allows us to give you the best possible advice.

9. User­friendly license terms grant the use of the source code for different projects. Customers may choose between a site or project license.

10. Our customers stay always up­to­date by individual maintenance agreements at a fair price and gain from long­term support and important software updates.

53 << about emtas <<

Being situated in Central Germany (Saxony­Anhalt) emtas is member of the CAN in Automation e.V., emtas GmbH was founded by the software engineers EtherCAT Technology Group, development partner of Andreas Boebel, Torsten Gedenk and Steffen Rose as a the EnergyBus e.V. and member of the PROFIBUS company for software development. Together with a Nutzerorganisation e.V. By an active cooperation in team of qualified software developers emtas is able to working groups and committees for standardization provide innovative and quality products for industrial at the CiA, EnergyBus e.V., PNO and ETG the software communication and its customers. engineers of emtas are always up­to­date. Therefore emtas' products always comply with the latest technical standards.

------„emtas – your embedded solution partner“ ------

Thematic focuses of the product portfolio are CAN, CANopen, CANopen FD, EnergyBus, J1939 and EtherCAT. Besides this emtas provides tailor­made A well working cooperative partnership with our embedded software solutions for customers. During customers is an important concern. We have this process customers can rely on a professional understood that a successful future of emtas can only consulting from the first contact to the development, be realized by a close cooperation with our customers. the commissioning support and the maintenance They gain from maximum benefit by professional agreement. emtas is always focussing on the service, sound consulting and quality products. customers' needs. Additionally emtas offers training about the communication protocols CANopen, EnergyBus and EtherCAT as well as individually agreed topics.

<< contact << fon +49 3461 79416­0 fax +49 3461 79416­10 [email protected] www.emtas.de

emtas GmbH Fritz­Haber­Str. 9 D­06217 Merseburg Germany

54 << partners <<

55 << emtas honored with business award 'AURA' <<

With "excellent high­tech products" and a "global entrepreneurial work" emtas represents a groundbreaking company of the so called 'Industry 4.0'. With these words the economics minister Prof. Dr. Armin Willingmann handed the sought­after business award 'AURA' to emtas in October 2017. The 'AURA' is conferred to companies in Saxony­Anhalt breaking new grounds, developing innovative products and establishing them successfully in the market. Emtas succeeded in it againg with the new CANopen FD Protocol Stack and a unique CANopen FD Tool Chain. from left to right: deputy District Administrator Hartmut Handschak, Steffen Rose (CEO emtas), Andreas Boebel (CEO emtas), Minister of Economic Affairs of Saxony­Anhalt Prof. Dr. Armin Willingmann

------emtas – "excellent high-tech products" ------

With apparent effortlessness, companies such as With this "award for excellent entrepreneurial work in emtas can achieve something that eludes scores of Saxony­Anhalt" the Ministry of Economics, Science organisations: turning innovative ideas into quality and Digitalization is dignifying companies walking and reliable products and establish them successfully new paths, questioning the existing and establishing in the market ­ in the long­term, nationally and innovative products in the market. internationally. emtas' embedded software products are currently used in multiple modern devices and machines of different industries. For example in medical technology or in the field of electromobility. The product range is supplemented by professional consulting and sound trainings and is currently finding a ready market. Already 45% of emtas' products are being demanded by customers in North America, Asia, Australia and within the EU.

56 << We're innovative. We're successful. We've got the AURA! <<

57 << exclusion of liability <<

All delivered programs and documentations of emtas have been compiled with great care, have been checked and tested in different scenarios. Nevertheless we assume no guarantee or liability for the software consisting no errors and being suitable for a particular purpose. Technical data and descriptions do not represent warranted properties in the legal sense. Consequential damages appearing due to the usage of the software are excluded from every liability or juristic responsibility. All rights of the programs and the documentation remain with emtas GmbH. The copying or the forwarding in whole or in part to third parties require the express prior written approval of emtas GmbH. The terms and conditions are part and parcel of any quotation of emtas and can be requested at any time.

Brand names and products names not named explicitly are trademarks of the respective companies. Technical changes, mistakes and misprints reserved.

copyright << picture credits << ­ 3d small people – repairers © Anatoly Maslennikov – 2018 emtas GmbH Fotolia.com – 3d small people – team © Anatoly Fritz­Haber­Str. 9 Maslennikov – Fotolia.com – Computer learning © D­06217 Merseburg kabliczech – Fotolia.com – Four main steps for a Germany software process cycle © Yabresse – Fotolia.com ­ 3d small people ­ info icon © Anatoly Maslennikov ­ fon +49 3461 79416­0 Fotolia.com ­ figures CAN Hardware © from the fax +49 3461 79416­10 specified manufacturer ­ AURA award © emtas GmbH [email protected] www.emtas.de << trademarks << All used trademarks and brands are the property of their respective owners. CiA®, CANopen® and CANopen FD® are registered Community Trademarks of CAN in Automation e.V. ­ EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH.

58 << notes <<

59 << notes <<

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