December 2012 B 25361 CAN Newsletter Hardware + Software + Tools + Engineering Proof your CANopen products – conformance and interoperability Testing Easy access to CAN network analysis Isobus testing with implement and remaining bus simulation www.can-newsletter.org Solutions for open networks from one source Open CAN-based protocols are the basis of networking in com- mercial vehicles, avionics and industrial control technology. Vector supports you in all development phases of these systems: > Systematic network design with CANoe, ProCANopen and CANeds > Successful implementation with source code for CANopen, J1939 and more > Efficient configuration, test and extensive analysis with ProCANopen, CANoe and CANalyzer Multifaceted trainings and individual consulting complete our extensive offerings. Thanks to the close interlocking of the Vector tools and the competent support, you will increase the efficiency of your entire development process from design to testing. Further information, application notes and demos: www.vector.com/opennetworks AFDX® is an Airbus‘ registered trademark Vector Informatik GmbH Proof your CANopen products – conformance and interoperability Holger Zeltwanger Author Holger Zeltwanger CAN in Automation e. V. Managing Director [email protected] Definitions Compatibility: Capability to exist or perform in harmonious, agreeable, or congenial combination with others. Conformance: Compliance in actions, behavior, etc., with certain accepted stan- dards or specifications. Compliancy: A disposition or tendency to yield to the will of Figure 1: Current CANopen Conformance Test (CCT) tool others. he bell rings. The ap- CAN bit-rates of the tool and nor corrections of the EDS, Ilnteroperability: Tprentice opens the door the devices to 250 kbit/s, he links it to the test tool The ability of systems or of the CiA office. The post- and connects the bus-lines. and starts the test proce- units to provide services man hands-over a package, This is the maximum bit- dure. Before he has set the to and accept services which Oskar Kaplun, one of rate, which this device-un- node-ID to a random value. from other systems or - der-test (DUT) supports. The conformance test runs units, in order to operate ing the confor- more or less auto- effectively together. mance tests, al- matically. He goes ready expects. He In my 10 years experience, back to his desk Ilnterchangeability: opens the pack- about 50 per cent of the de- continuing editing The ability to be replaced age. It contains vices submitted for CANopen confor- CANopen profile by another entity without the CANopen de- specifications and additional configuration vice to be test- mance testing pass the tests without answering tech- effort. ed, and the re- serious problems, the others require nical question by lated Electronic a review of the software and a email. Links Data Sheet (EDS) second test session or more. Conformance www.can-cia.org and the hand- testing is like spell www.ixxat.com Testing book, of course. Thilo Schumann and grammar www.kuebler.com He switches on checking in Word. www.maxonmotor.com the PC, which runs the After reading-in the EDS, The CCT software tool gen- www.microcontrol.net CANopen Conformance he checks its conformi- erates test pattern, sends www.ni.com Testing (CCT) software. ty by means of the free-of- them via the bus to the DUT, www.port.de The engineer working with charge EDS checker main- and evaluates the respond- www.posital.com CiA since three years pow- tained by Vector Informatik ed CAN frames with expect- www.schneider-electric.com ers the device, sets the (Germany). After some mi- ed test results as specified www.vector.com CAN Newsletter 4/2012 3 Conformance handbook as application test limits limits. The CANopen Conformance testing conformance test plan is like spell and grammar covers just the CiA 301 checking. This means, even Testing functionality. if the device has passed the Additional tests for CiA conformance testing suc- 302 functions need to - be specified. Test plans antee interoperability with for the CANopen profiles other CANopen devices. Of have been partly course, CANopen confor- developed, but they have mance tested devices have not been implemented in a higher probability to be in- the current CANopen teroperable compared with Conformance Test (CCT) such that have not passed tool. This will be done the test. However, like in hu- by plug-ins on request man communication, you Figure 2: Test start window of the current CCT tool can respect grammar rules Groups. However, such and spelling, but your dis- profile tests require an cussion partner misinter- upper tester, which is prets or misunderstands device-dependent. This you. In particular, the con- upper tester needs versation between males communication to and females is sometimes existing lower tester, behaving like this. On the which is the CCT other hand, if two dialog software tool running partners violate the gram- on a Windows PC. mar rule in the same man- ner, they will understand Interoperability each other. They are in- test limits teroperable. If in CANopen The current CANopen you violate the rule of the interoperability test stand length of an SDO (service in the CiA office is based data object) message (it on a mid-range PLC. has to be 8 byte), and the involved CANopen devic- other host controllers es accept that, they are in- with NMT master teroperable but not confor- functionality. Most of the Figure 3: Configuration of communication parameters with mant to CiA 301. currently performed test the current CCT tool CiA members (ESD, procedures derive from Micro Control, Port, and in the CANopen confor- failure happened. With the Sandvik) have developed internal test experiences mance test plan specifica- test report he goes to Thi- jointly the new CANopen gained in its own test tion. The test pattern de- lo Schumann responsible Conformance Test soft- center in the last couple pends on the CANopen for CANopen conformance ware. It overcomes some of years. CANopen functionality of the DUT as testing services in order to problems of the predeces- devices implementing an described in its EDS. This discuss the test result. The sor, which has been pre- application profile could means, the DUT is tested failure is not a failure: It is developed by National In- not be tested in this against its own struments (NI) system. For them description. If the end of the last plug-fests or received respons- For interoperability testing we century. A cou- demonstrators only es are not confor- organize plug-fests, we provide ple of years ago, integrating devices mant to the CiA a ‘golden’ CANopen system, and we build NI has handed- compliant to the same 301 test specifica- over it to CiA of- application profile are tion, the CCT soft- demonstrators for dedicated fice for further the right choice to test ware generates a CANopen application profiles. maintenance interoperability. failure report or in and further de- some cases just a Reiner Zitzmann velopment. The warning. new CANopen From time to time, Os- caused by a known error in Comformance Test soft- kar Kaplun or another CiA the test tool. The warnings ware uses the same low- engineer goes into the test are also no failures: They level software interface to room to look on the test are just hints for the device the CAN hardware – the progress. This device is a designer that the tested unit COTI interface. Sever- good one, passing most of could not be used for all ap- al vendors of PC/CAN in- the test successfully. Just plications. Normally, this terfaces support this inter- a few warnings and one should be mentioned in the face (you find a list of tested 4 CAN Newsletter 4/2012 Janz Tec AG – 30 years of experience in industrial computer systems emPC Janz Tec AG, previously known as Janz mission of data is required due to more and Automationssysteme AG, has been one of more compact construction and the necessity the leading manufacturers of electronic for more performance in the case of distri- assemblies and complete industrial compu- buted systems. For this reason, Janz Tec AG ter systems since 1982. The future-oriented also places great value on innovative and extremely reliable technology from and sophisticated technology in the Industrial Paderborn is in demand the world over: Communication business sector. The InCom well-known companies from the mechanical products developed in-house enable the emVIEW and facility engineering, power and energy, control systems for your machines, plan and transport and traffic, the medical technology systems to be kept at the highest level. and automotive sectors are all part of our satisfied customer base. Did you ever think that good communication can be so simple? You can find out more Good communication is very important details about the services offered by nowadays – not just in real life, but also in Janz Tec AG in the Industrial Communication machines, plant and complex industrial sector during a personal consultation. applications from a wide range of industries. This applies especially if error-free trans- CAN Interface Janz Tec AG www.janztec.com Im Doerener Feld 8 · 33100 Paderborn · Germany · Fon +49 52 51 15 50-100 · Fax +49 52 51 15 50-190 · [email protected] mit their CANopen devic- es for independent confor- mance certification to CiA. It is not that expensive (for Testing As mentioned above, guarantee interoperability to other devices. If one device produces EMCY (emergency) messages - sume them, they are not in- teroperable. In order to ex- amine interoperability, CiA offers since some years the so-called plug-fests. There, CiA members con- Figure 4: Lower profile test principle nect their CANopen prod- ucts and prove if they can be paid. Of course, device self. You will not detect all communicate.