CCAANNooppeenn MMaasstteerr AAPPII Software Version 6.3 SOFTWARE DESIGN GUIDE 4.12.0132.20000 1.0 en-US ENGLISH Important User Information Disclaimer The information in this document is for informational purposes only. Please inform HMS Industrial Networks of any inaccuracies or omissions found in this document. HMS Industrial Networks disclaims any responsibility or liability for any errors that may appear in this document. HMS Industrial Networks reserves the right to modify its products in line with its policy of continuous product development. The information in this document shall therefore not be construed as a commitment on the part of HMS Industrial Networks and is subject to change without notice. HMS Industrial Networks makes no commitment to update or keep current the information in this document. 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CANopen Master API Software Design Guide 4.12.0132.20000 1.0 en-US Table of Contents Page 1 User Guide ........................................................................................................................... 5 1.1 Target Audience...............................................................................................................5 1.2 Related Documents ..........................................................................................................5 1.3 Document History ............................................................................................................5 1.4 Trademark Information .....................................................................................................5 1.5 Conventions....................................................................................................................6 1.6 Definitions, Acronyms and Abbreviations .............................................................................7 2 System and Software Overview ......................................................................................... 9 2.1 Product Description..........................................................................................................9 2.2 Supported CAN Interfaces................................................................................................ 10 2.2.1 Windows .......................................................................................................... 10 2.2.2 Linux ............................................................................................................... 10 2.3 Function Categories........................................................................................................ 11 2.3.1 Basic API Functions .............................................................................................. 11 2.3.2 Network Management Functions ............................................................................. 12 2.3.3 CANopen Object Management Functions ................................................................... 12 2.3.4 CANopen Communication...................................................................................... 13 2.3.5 LSS Services....................................................................................................... 14 2.4 Exemplary Structure of a CANopen Master Application......................................................... 15 3 Installation......................................................................................................................... 16 3.1 System Requirements ..................................................................................................... 16 3.1.1 Windows .......................................................................................................... 16 3.1.2 Linux ............................................................................................................... 16 3.2 Installing the Software .................................................................................................... 17 3.2.1 Windows .......................................................................................................... 17 3.2.2 Linux ............................................................................................................... 17 4 Initialization....................................................................................................................... 18 4.1 Initializing the CAN Interface............................................................................................ 18 4.2 Requesting Interface Information...................................................................................... 18 4.3 Checking the Receive Queues........................................................................................... 19 4.3.1 Polling ............................................................................................................. 19 4.3.2 Callbacks .......................................................................................................... 19 4.3.3 Messaging (Windows only)..................................................................................... 20 5 Setting Up the CANopen Network ................................................................................... 21 5.1 Importing Device Description and Configuration Files ........................................................... 21 5.2 Adding Nodes and Creating PDOs ..................................................................................... 22 5.2.1 Adding Nodes .................................................................................................... 22 CANopen Master API Software Design Guide 4.12.0132.20000 1.0 en-US 5.2.2 Creating PDOs .................................................................................................... 23 6 Controlling the Network ................................................................................................... 24 6.1 Starting the Network ...................................................................................................... 24 6.2 Requesting Information and Changing Settings.................................................................... 24 6.3 Deleting a Node............................................................................................................. 24 6.4 Activating the Flying Master Functionality .......................................................................... 25 6.5 Stopping the Network..................................................................................................... 25 7 Communicating with CANopen Devices........................................................................... 26 7.1 Process Data Objects (PDOs) ............................................................................................ 26 7.1.1 Reading PDOs .................................................................................................... 26 7.1.2 Writing PDOs ..................................................................................................... 26 7.2 Service Data Objects (SDOs)............................................................................................. 27 7.2.1 Creating Additional Client SDOs ............................................................................... 27 7.2.2 Reading and Writing SDOs ..................................................................................... 27 7.3 System Services ............................................................................................................. 29 7.3.1 Synchronisation Object ......................................................................................... 29 7.3.2 Divisor for the Cycle Time ...................................................................................... 29 7.3.3 Time Stamp Object .............................................................................................. 30 7.3.4 Emergency Objects .............................................................................................. 30 8 Parameter Settings for Devices without User Interface (LSS Services).......................... 31 8.1 Setting the Node ID ........................................................................................................ 31 8.2 Setting the Baud Rate ....................................................................................................