logo资料库

CiA 309-3 DS V1.1 Interfacing CANopen with TCPIP - Part 3 ASCII mapping(IGCO_309_3v01010001)(英文原版协议).pdf

发布时间：2022-04-11 发布人：admin 分类：互联网 资料大小：0.22M 资料格式：pdf 举报 版权申诉
第1页 / 共14页
第2页 / 共14页
第3页 / 共14页
第4页 / 共14页
第5页 / 共14页
第6页 / 共14页
第7页 / 共14页
第8页 / 共14页
资料共14页，剩余部分请下载后查看
    CiA Draft Standard 309 CANopen Interfacing CANopen with TCP/IP Part 3: ASCII mapping Version 1.1 12 December 2006 © CAN in Automation (CiA) e. V.
    CiA 309-2 Interfacing CANopen with TCP/IP - Part 2: Modbus/TCP mapping Version 1.1 HISTORY Date 2004-09-15 2006-12-12 Changes Publication of version 1.0 as draft standard proposal Publication of version 1.1 as draft standard Minor editorial corrections and clarifications. General information on licensing and patents CAN in AUTOMATION (CiA) calls attention to the possibility that some of the elements of this CiA specification may be subject of patent rights. CiA shall not be responsible for identifying any or all such patent rights. Because this specification is licensed free of charge, there is no warranty for this specifica- tion, to the extent permitted by applicable law. Except when otherwise stated in writing the copyright holder and/or other parties provide this specification “as is” without warranty of any kind, either expressed or implied, including, but not limited to, the implied warranties of merchantability and fitness for a particular purpose. The entire risk as to the correctness and completeness of the specification is with you. Should this specification prove failures, you assume the cost of all necessary servicing, repair or correction. © CiA 2008 All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized in any form or by any means, electronic or mechanical, including photocopying and micro- film, without permission in writing from CiA at the address below. CAN in Automation e. V. Kontumazgarten 3 DE - 90429 Nuremberg, Germany Tel.: +49-911-928819-0 Fax: +49-911-928819-79 Url: www.can-cia.org Email: headquarters@can-cia.org 2 © CiA 2008 - All rights reserved
    CiA 309-3 Interfacing CANopen with TCP/IP – Part 3: ASCII mapping Version 1.1 Contents 1 Scope...................................................................................................................................................5 2 References ..........................................................................................................................................5 3 Abbreviations and definitions.............................................................................................................5 3.1 Abbreviations ...............................................................................................................................5 3.2 Definitions.....................................................................................................................................5 3.2.1 General..................................................................................................................................5 3.2.2 Command structure ..............................................................................................................6 4 Network access command specification ...........................................................................................8 4.1 SDO access commands..............................................................................................................8 4.1.1 General..................................................................................................................................8 4.1.2 Upload SDO command ........................................................................................................8 4.1.3 Download SDO command ...................................................................................................8 4.1.4 Configure SDO timeout command ......................................................................................9 4.2 PDO access commands..............................................................................................................9 4.2.1 General..................................................................................................................................9 4.2.2 Configure RPDO command .................................................................................................9 4.2.3 Configure TPDO command..................................................................................................9 4.2.4 Read PDO data command................................................................................................ 10 4.2.5 Write PDO data command ................................................................................................ 10 4.2.6 RPDO received command ................................................................................................ 10 4.3 CANopen NMT commands ...................................................................................................... 10 4.3.1 General............................................................................................................................... 10 4.3.2 Start node command ......................................................................................................... 10 4.3.3 Stop node command ......................................................................................................... 10 4.3.4 Set node to pre-operational command............................................................................. 10 4.3.5 Reset node command ....................................................................................................... 11 4.3.6 Reset communication command ...................................................................................... 11 4.3.7 Enable node guarding command...................................................................................... 11 4.3.8 Disable node guarding command..................................................................................... 11 4.3.9 Start heartbeat consumer command................................................................................ 11 4.3.10 Disable heartbeat consumer command ......................................................................... 11 4.3.11 Error control event received command .......................................................................... 11 4.4 Device failure management commands.................................................................................. 12 4.4.1 General............................................................................................................................... 12 4.4.2 Read device error command ............................................................................................ 12 4.4.3 Emergency event received command.............................................................................. 12 4.5 CANopen interface configuration commands ......................................................................... 12 4.5.1 General............................................................................................................................... 12 4.5.2 Initialize gateway command.............................................................................................. 12 4.5.3 Store configuration command........................................................................................... 12 4.5.4 Restore configuration command....................................................................................... 13 © CiA 2008 - All rights reserved 3
    CiA 309-2 Interfacing CANopen with TCP/IP - Part 2: Modbus/TCP mapping Version 1.1 4.5.5 Set heartbeat producer command.................................................................................... 13 4.5.6 Set node-ID command ...................................................................................................... 13 4.5.7 Start emergency consumer command ............................................................................. 13 4.5.8 Stop emergency consumer command ............................................................................. 13 4.6 Gateway management commands.......................................................................................... 13 4.6.1 General............................................................................................................................... 13 4.6.2 Set default network command .......................................................................................... 13 4.6.3 Set default node-ID command.......................................................................................... 13 4.6.4 Get version command ....................................................................................................... 13 4.7 Controller management commands ........................................................................................ 14 4.7.1 General............................................................................................................................... 14 4.7.2 Reset controller command ................................................................................................ 14 4.7.3 Start controller command .................................................................................................. 14 4.7.4 Stop controller command .................................................................................................. 14 4.8 Manufacturer-specific commands............................................................................................ 14 4.8.1 General............................................................................................................................... 14 4 © CiA 2008 - All rights reserved
    CiA 309-3 Interfacing CANopen with TCP/IP – Part 3: ASCII mapping Version 1.1 1 Scope This specification specifies the services and protocols to interface CANopen networks to a TCP/IP- based network. This set of specifications is organized as follows: • Part 1: General principles and services • Part 2: Modbus/TCP mapping • Part 3: ASCII mapping This part of the specification defines the ASCII-based communication syntax for CANopen gateway devices. The aim is to provide a lightweight counterpart to solutions with CORBA or OPC. 2 References The references given in part 1 shall apply to this part, too. 7CiA301/ /CiA309-1/ CiA 301, CANopen application layer and communication profile CiA 309:2006, Interfacing CANopen with TCP/IP – Part 1: General principles and services (V1.1) ISO/IEC 646, 1991 Information technology – ISO 7-bit coded character set for in- formation interchange /ISO/IEC 646/ /ISO/IEC 9899/ ISO/IEC 9899, 1999 /RFC 2045/ RFC 2045 Multipurpose internet mail extensions Programming languages – C 3 Abbreviations and definitions 3.1 Abbreviations The abbreviations given in part 1 shall apply to this part, too. ASCII BNF CPU CR CRLF LF American Standard Code for Information Interchange Backus Naur form Central Processing Unit Carriage Return Carriage Return and Line Feed Line Feed 3.2 Definitions 3.2.1 General The definitions given in part 1 shall apply to this part, too. Command controls the gateway and interacts with CANopen devices. It may have a long form and a short form. The short form is a one or two letter abbreviation of the long form. The long form is obtained by concatenating the short form and the string enclosed in brackets “[“, “]”. Note: In the given examples it is assumed that network address and node address are preset. Data type syntax The mandatory data types shall be supported. Table 1: Syntax and CANopen data types Syntax b u8 u16 CANopen Type Boolean Unsigned8 Unsigned16 Category Mandatory Mandatory Mandatory © CiA 2008 - All rights reserved 5
    CiA 309-2 Interfacing CANopen with TCP/IP - Part 2: Modbus/TCP mapping Version 1.1 Syntax u24 u32 u40 u48 u56 u64 i8 i16 i24 i32 i40 i48 i56 i64 r32 r64 t td vs os us d CANopen Type Unsigned24 Unsigned32 Unsigned40 Unsigned48 Unsigned56 Unsigned64 Integer8 Integer16 Integer24 Integer32 Integer40 Integer48 Integer56 Integer64 Real32 Real64 Time of day (with two arguments: day ms) Time difference Visible string Octet string Unicode string Domain Category Optional Mandatory Optional Optional Optional Optional Mandatory Mandatory Optional Mandatory Optional Optional Optional Optional Optional Optional Optional Optional Optional Optional Optional Optional The value of the data type domain, octet string, and unicode string shall be encoded in mime- base64 as specified in /RFC 2045/. All wrapping CRLF shall be stripped from the encoded data to have one long string. whitespace As specified in /ISO/IEC 9899/ except of CR and LF. Note: A visible string with whitespace is enclosed with double quotes to denote it as single argu- ment of the command. If a double quote is used within the string, the quotes are escaped by a sec- ond quotes, e.g. “Hello “”World””, CANopen is great”. 3.2.2 Command structure The principle communication is based on non-case-sensitive ASCII strings /ISO/IEC 646/ instead of architecture and CPU/compiler depending binary structures. Due to this, no application handles with things like endianness, data size and byte alignment. In all cases where numbers are used, the typical representation like specified in /ISO/IEC 9899/. - decimal, starting with a number - hexadecimal, starting with the string 0x - float - float - float 100 0x64 1.22 .22e10 22e3 3.2.2.1 Request The CANopen gateway is controlled by commands. A command is composed of tokens, which are separated by any number of whitespaces and is closed with a CRLF. 6 © CiA 2008 - All rights reserved
    CiA 309-3 Interfacing CANopen with TCP/IP – Part 3: ASCII mapping Version 1.1 All commands are confirmed. Commands start with a sequence number which is enclosed by square brackets [ ]. The sequence number is a 4-byte value. It is not used for event-triggered mes- sages. According to the addressing principle, a network number and a node number follow the sequence number. Network number and node number are optional, when the CANopen gateway only provides one Ethernet/CAN interface or when a client presets them. Commands that affect only the server not a remote node but a net and node are given net and node are ignored. In BNF notation a command defines as follows: ::= "[""]" [[] ] ::= UNSIGNED32 ::= UNSIGNED8 ::= UNSIGNED8 ::= | ::= ::= | ::= ::= | ::= ‘b’ | ‘u8’ | ‘u16’ | ‘u32’ | ‘u40’ | ‘u48’ | ‘u56’ | ‘u64’ | ‘i8’ | ‘i16’ | ‘i24’ | ‘i32’ | ‘i40’ | ‘i48’ | ‘i56’ | ‘i64’ | ‘r32’ | ‘r64’ | ‘t’ | ‘td’ | ‘vs’ | ‘os’ | ‘us’ | ‘d’ ::= ::= UNSIGNED16 ::= UNSIGNED8 Net numbers are starting with 1. Node numbers are starting with 1. The value 0 for net or node is used to address all networks or all nodes. The token designates a value of the possible CANopen data types. Within the description of the commands the sequence number is omitted for reasons of readability. 3.2.2.2 Response The CANopen gateway shall respond with the same sequence number at the first position as given by the request. This number shall be given in decimal format. There shall be only one response to a request. ::= "[""]" | "OK" ::= | | ::= "Error:" ::= | ::= see table 2 ::= UNSIGNED32 ::= [ " "..] The sdo-abort-codes (SAC) are defined in /CiA301/. Allowed internal-error-codes (IEC) are listed in Table 2: Table 2 - Internal error code IEC Message text 100 101 102 Request not supported Syntax error Request not processed due to internal state © CiA 2008 - All rights reserved 7
    CiA 309-2 Interfacing CANopen with TCP/IP - Part 2: Modbus/TCP mapping Version 1.1 103 200 201 202 203 205 300 301 303 304 305 400 401 Time-out (where applicable) Lost guarding message Lost connection Heartbeat started Heartbeat lost Boot-up Error passive Bus off CAN buffer overflow CAN init CAN active (at init or start-up) PDO already used PDO length exceeded Note: After bus-off, the command init should be invoked to reset the CAN controller. 3.2.2.3 Event triggered messages Messages due to errors in the CANopen network or the occurrence of communication objects using the producer-consumer principle shall not use a sequence number. ::= [[net] node] ::= "EMCY" | "ERROR" | "PDO" | "SYNC" | "USER" The content of event-triggered messages is described within the command description that enables the specific service. 4 Network access command specification 4.1 SDO access commands 4.1.1 General The following command definitions shall be used to implement the SDO access services as defined in part 1. SDO access services are addressing a specific object at an SDO server via index and sub-index and a transfer data type. 4.1.2 Upload SDO command Indication syntax: [[net] node] r[ead] Examples: [21] r 0x1000 0 u32 [4096] read 0x1008 0 vs See chapter 3.2.2.2 Response syntax: 4.1.3 Download SDO command Indication syntax: [[net] node] w[rite] Examples: [20] 1 23 w 0x1016 0 u16 100 8 © CiA 2008 - All rights reserved
    分享到：
    赞 收藏

    相关推荐

    最新资料