Holger Zeltwanger - Henning GmbH

CAN

Holger Zeltwanger

Virtuelle Netzwerkarchitekturen für CANopenbasierende Aufzugssteuerungen © CiA

CAN

CANopen history 1994

2004

CANopen • 1993: ESPRIT project ASPIC (CAL-based communication profile) • November 1994: CAL-based communication profile version 1.0 • January 1995: CAL-based communication profile version 1.1 • September 1995: CANopen CiA DSP 301 version 2.0 • October 1996: CiA DS 301 version 3.0 • June 1999: CiA DS 301 version 4.0 • Summer 2005: CiA DS 301 version 4.1

© CiA

CAN

Virtual lift control architecture

Floor 254

Floor 2

Floor 1 Lift 1

Lift 2

Lift 8

© CiA

Car drive unit

Panel controller

Call controller

Door controller

Physical device

Drive controller

CAN

Single lift control system

Virtual devices

Load measuring unit

Car position unit

Car door unit

Sensor unit

Light-barrier

Panel in unit n

Panel out unit n

Car panel

Panel in unit 2

Panel out unit 2

Car display

Panel in unit 1

Panel out unit 1

© CiA

CAN

CANopen device model I/O lines (Process IF) Multiple device PDO/SDO (Control IF)

Object dictionary Logical device 1

Logical device 8

Virtual device 1

Virtual device 1

to Virtual device n

to

to Virtual device n

SDO (Configuration IF)

Emergency/SDO (Diagnostics IF)

© CiA

CAN

Object dictionary layout Index1 (hex) 0000 0001-025F 0260-0FFF 1000-1FFF 2000-5FFF 6000-9FFF A000-AFFF B000-FFFF

1

Object reserved Data Types reserved for further use Communication Profile Area Manufacturer Specific Profile Area Standardized Device Profile Area Network Variables reserved for further use

16-bit index plus 8-bit sub-index

© CiA

CAN

Multiple lift control Index

Description

6100h to 61FFh

Panel input unit

Description

6200h to 62FFh

Panel output unit

6000h to 60FFh

Physical device

6300h to 630Fh

Car door unit

6100h to 67FFh

Lift 1

6800h to 68FFh

reserved

6311h to 637Fh

reserved

6900h to 6FFFh

Lift 2

6380h to 63FFh

Car position unit

6400h to 647Fh

Car drive unit

Index

:::::

6310h

Light barrier unit

9800h to 98FFh

reserved

6480h to 64FFh

Load measuring unit

9900h to 9FFFh

Lift 8

6500h to 657Fh

Sensor unit

6580h to 67FFh

reserved

© CiA

CAN

Physical device objects Index Name

Category Access

1000h Device_type

M

ro

67FFh Device_type

O

ro

6000h Supported_virtual_device_types

O

ro

6001 h Lift_number

C

rw

6010h Virtual_input_mapping

C

ro

6011h Virtual_output_mapping

C

rw

6012h Virtual_sensor_mapping

C

ro

6020h Object_creation

O

rw

© CiA

CAN

Input panel unit Index Name

Category

Access

M

ro

611Fh Input_group_32

O

ro

6120h Parameter_1_group_1

O

rw

O

rw

O

rw

O

rw

O

rw

O

rw

O

rw

O

rw

6100h Input_group_1 to

613Fh

to Parameter_1_group_32

6140h Parameter_2_group_1 615Fh






© CiA

CAN

Display unit Index Name

Category

Access

M

rw

621Fh Output _group_32

O

rw

6220h Parameter_1_group_1

O

rw

O

rw

O

rw

O

rw

O

rw

O

rw

O

rw

O

rw

6200h Output_group_1 to

623Fh








© CiA

CAN

Car door controller Index Name

Category

Access

6300h Door_control_word

M

ro

6301h Door_status_word

M

rw

6310h Light_barrier_status

O

rw

© CiA

CAN

Car door unit Index Name

Category

Access

6300h Door_control_word

M

rw

6301h Door_status_word

M

ro

6302h Door_position

O

ro

6304h Door_configuration_1

O

rw


O

rw


O

rw


O

rw

© CiA

CAN

Transparent gateway Index

Description

Acc.

6100h

Drive control

ro

6200h

Drive status

rw

6300h

Input

rw

Index

Description

Acc.

6100h

Drive control

ro

6200h

Drive status

rw

6300h

Input

rw

Controller CANopen 1 (or proprietary network) CANopen 2 (or proprietary network)

Input

Drive

Index

Description

Acc.

6100h

Drive control

rw

Index

Description

Acc.

6200h

Drive status

ro

6100h

Drive control

rw

6300h

Input

ro

6200h

Drive status

ro Index

Description

Acc.

6300h

Input

ro

© CiA

CAN

Communication protocols ◆ Service Data Object (SDO) protocols ◆ Standard SDO protocols ◆ SDO block protocols ◆ Process Data Object (PDO) protocol ◆ Special object protocols: ◆ Synchronization (SYNC) protocol ◆ Time Stamp (TIME) protocol ◆ Emergency (EMCY) protocol ◆ Network Management protocols: ◆ NMT Message protocol ◆ Boot-Up protocol ◆ Error Control protocols - Heartbeat protocol - Node guarding protocol

© CiA

CAN

PDO protocol Producer request

Write PDO DLC = 0 to 8

Consumer(s) indication(s)

Application object(s) CAN-ID = pre-defined or user-specific

indication

Read PDO CAN Remote Frame

response

DLC = 0 to 8

Application object(s)

request(s) confirmation(s)

CAN-ID = pre-defined or user-specific

© CiA

CAN

Multiplexed PDO protocol Producer request

Consumer(s)

Write MPDO 0

f addr

1...3

m

4...7

indication(s)

d

f = 0 (Source Address Mode) addr = single producer node-ID m = index and sub-index d = application data f = 1 (Destination Address Mode) addr = single consumer node-ID m = index and sub-index d = application data DLC = 8 CAN-ID = pre-defined or user-specific

© CiA

CAN

Pre-defined lift PDOs PDO

Description

PDO1

not used

PDO2 to PDO128 PDO129

MPDO not used

PDO130 to PDO256

Virtual input

PDO257 to PDO272

Lift 1

PDO273 to PDO288

Lift 2

::::: PDO369 to PDO384 PDO385 PDO386 to PDO512

Lift 8 not used Sensor input

PDO

Description

PDO257

Virtual output

PDO258

not used

PDO259

Load measuring

PDO260

not used

PDO261 to PDO264

Car drive control and status

PDO265 to PDO268

Car position sensor 1 to 4

PDO269 to PDO270

Car door control and status

PDO271

Light barrier

PDO272

Car door position

© CiA

CAN

Device design tool

© CiA

CAN

Typical CANopen network

© CiA

CAN

3-lift (group) control system

© CiA

CAN

Single lift control system

Two local physical CAN networks: • CANopen 1 for tableaus • CANopen 2 for car control including encoder

© CiA