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CiA 303-3 DR V1.3 CANopen additional specification – Part 3 Indicator specification(IGCO_303_3v01030001)(英文原版协议).pdf

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    CiA Draft Recommendation 303 CANopen Additional specification Part 3: Indicator specification Version: 1.3 14.08.2006  CAN in Automation (CiA) e. V.
    Additional specification – Part 3: Indicator specification Changes Publication of version 1.0 as draft recommendation Publication of version 1.2 as draft recommendation Publication of version 1.3 as draft recommendation - minor editorial changes HISTORY Date 2001-07-01 2005-01-01 2006-08-14 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 specification, 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 microfilm, 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
    Additional specification – Part 3: Indicator specification CONTENTS 1 Scope ............................................................................................................................... 4 2 References ....................................................................................................................... 4 3 Abbreviations and definitions ............................................................................................ 4 3.1 Abbreviations........................................................................................................... 4 3.2 Definitions ............................................................................................................... 4 3.2.1 General ....................................................................................................... 4 3.2.2 Using two CANopen LEDs ........................................................................... 4 3.2.3 Using one bicolor CANopen LED ................................................................. 4 Indicators.......................................................................................................................... 4 Introduction ............................................................................................................. 4 4.1 4.2 Indicator states and flash rates ................................................................................ 5 4.3 CANopen error LED................................................................................................. 6 4.4 CANopen run LED ................................................................................................... 7 4.5 CANopen status LED............................................................................................... 7 4  CiA 2008 – All rights reserved 3
    Additional specification – Part 3: Indicator specification 1 Scope A common behavior of indicators helps service personnel to identify communication problems quickly without checking manuals for each device. This recommendation intends to specify the implementation of status LEDs (Light Emitting Diode) on CANopen devices. indicators. Additional This recommendation only describes application-related indicators can be present. Their use is either described in the appropriate device profile or is manufacturer specific. the communication-related 2 References /CiA301/ CiA DS 301, CANopen application layer and communication profile 3 Abbreviations and definitions 3.1 Abbreviations LED Light emitting diode ERR Error I/O Input/output 3.2 Definitions 3.2.1 General The definitions given in /CiA301/ apply to this draft recommendation too. As the manufacturer is free to use one bicolor LED or two single LEDs, the corresponding of the two following definitions shall apply. 3.2.2 Using two CANopen LEDs In case of using two single CANopen LEDs, the following definitions shall apply: One LED shall be red and shall be labeled as ERR LED. This LED shall be called the error LED The other LED shall be green and shall be called and labeled as RUN LED. 3.2.3 Using one bicolor CANopen LED In case of using one bicolor CANopen LED the following definitions shall apply: The colors provided by the LED shall be red and green The LED shall be labeled as STATUS LED 4 Indicators 4.1 Introduction It is either recommended to support two single CANopen LEDs or one bicolor LED. Additional LEDs for power indication, I/O functionality etc. may also exist. 4  CiA 2008 – All rights reserved
    4.2 Additional specification – Part 3: Indicator specification Indicator states and flash rates The following indicator states are defined: LED on LED off LED flickering LED blinking The LED shall be constantly on. The LED shall be constantly off. shall indicate approximately 10 Hz: on for approximately 50 ms and off for approximately 50 ms. iso-phase on and off with a the frequency of the shall indicate approximately 2,5 Hz: on for approximately 200 ms followed by off for approximately 200 ms. iso-phase on and off with a frequency of LED single flash shall indicate one short flash (approximately 200 ms) followed by a long off phase (approximately 1000 ms). LED double flash shall indicate a sequence of two short flashes (approximately 200 ms), separated by an off phase (approximately 200 ms). The sequence is finished by a long off phase (approximately 1000 ms). LED triple flash shall indicate a sequence of three short flashes (approximately 200 ms), separated by an off phase (approximately 200 ms). The sequence is finished by a long off phase (approximately 1000 ms). LED quadruple flash shall indicate a sequence of four short flashes (approximately 200 ms), separated by an off phase (approximately 200 ms). The sequence is finished by a long off phase (approximately 1000 ms). Figure 1 shows the indicator states and flash rates.  CiA 2008 – All rights reserved 5
    Additional specification – Part 3: Indicator specification Figure 1 – Indicator states and flash rates 4.3 CANopen error LED The CANopen error LED shall indicate the status of the CAN physical layer and errors due to missing CAN messages (sync, guard or heartbeat). If at a given time several errors are present, the error with the highest number shall be indicated (e.g. if NMT error and sync error occur, the sync error is indicated). Table 1 shows the CANopen error LED truth table. 6  CiA 2008 – All rights reserved onsingle flash(green)off200ms200ms1000msonsingle flash(red)off1000ms200msonblinking(red)off200ms200msonflickering(red)offonflickering(green)off50 msonblinking(green)off200ms200msdouble flashontriple flash(red)off200ms200ms200ms200ms200ms1000msondouble flash(red)off200ms200ms200ms1000msontriple flash(green)off200ms200ms200ms200ms200ms1000ms200msonquadruple flash (red)off200ms200ms200ms200ms200ms1000ms200ms200ms
    Additional specification – Part 3: Indicator specification Table 1 – CANopen error LED truth table ERR LED State Description Category Off Flickering No error AutoBitrate/ LSS Blinking Single flash Invalid Configuration Warning limit reached The device is in working condition Mandatory The auto-bitrate detection is in progress or LSS services are in progress (alternately flickering with run LED)1 General configuration error At least one of the error counters of the CAN controller has reached or exceeded the warning level (too many error frames) Optional Optional Mandatory Double flash Error control event A guard event (NMT-slave or NMT- master) or a heartbeat event (heartbeat consumer) has occurred Mandatory Triple flash Sync error Quadruple flash Event-timer error The sync message has not been received within the configured communication cycle period time out (see object dictionary entry 1006h) An expected PDO has not been received before the event-timer elapsed Conditional; Mandatory if object 1006h is supported Optional On Bus off The CAN controller is bus off Mandatory 4.4 CANopen run LED The CANopen run LED shall indicate the status of the CANopen network state machine. Whilst the device is executing a reset the CANopen run LED shall be off. Table 2 shows the CANopen Run LED truth table. Table 2 – CANopen Run LED truth table CAN Run LED Flickering State AutoBitrate/LSS Description The auto-bitrate detection is in progress or LSS services are in progress (alternately flickering with error LED) Blinking PRE- OPERATIONAL The device is in state PRE- OPERATIONAL Category Optional Mandatory Single flash STOPPED The device is in state STOPPED Mandatory Double flash Triple flash Program/ Firmware download Reserved for further use A software download is running on the device Optional On OPERATIONAL The device is in state OPERATIONAL Mandatory 4.5 CANopen status LED If one bicolor status LED is used instead of two single color LEDs, this LED shall indicate both the physical bus status and the status of the CANopen state machine. In case there is a conflict between turning the LED on green versus red, the LED may be turned on red. Apart from this situation, the bicolor status LED shall combine the behavior of the CAN error LED and those of the CAN run LED. Figure 2 and Figure 3 show the examples for behavior of bicolor CANopen status LED: ————————— 1  CiA 2008 – All rights reserved An LSS master shall flicker its ERROR and RUN LED whilst executing LSS services. 7
    Additional specification – Part 3: Indicator specification Figure 2 – Flickering green/red: Auto-bitrate/LSS Figure 3 – Single flash red combined with blinking green: “CAN warning limit reached” during pre-operational state. 8  CiA 2008 – All rights reserved red onoffgreen onred onoffgreen on200ms200ms1000ms
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