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| <main role="main" class="ml-sm-auto px-4 col-sm-pull col-md-9 col-lg-10 h-100"> |
| <div class="sect1"> |
| <h2 id="canopen">CANopen</h2> |
| <div class="sectionbody"> |
| <div class="imageblock"> |
| <div class="content"> |
| <img src="../../images/users/protocols/can_banner.png" alt="banner" width="512" height="167"/> |
| </div> |
| </div> |
| <div class="sect2"> |
| <h3 id="can_in_automation">CAN in Automation</h3> |
| <div class="paragraph"> |
| <p>CANopen is a specific protocol built on top of CAN bus.</p> |
| </div> |
| <table class="tableblock frame-all grid-all stretch"> |
| <colgroup> |
| <col style="width: 22.2222%;"/> |
| <col style="width: 22.2222%;"/> |
| <col style="width: 55.5556%;"/> |
| </colgroup> |
| <thead> |
| <tr> |
| <th class="tableblock halign-left valign-top">Name</th> |
| <th class="tableblock halign-left valign-top">Value</th> |
| <th class="tableblock halign-left valign-top">Description</th> |
| </tr> |
| </thead> |
| <tbody> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">Code</p></td> |
| <td class="tableblock halign-left valign-top" colspan="2"><div class="content"><div class="paragraph"> |
| <p><code>canopen</code></p> |
| </div></div></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">Name</p></td> |
| <td class="tableblock halign-left valign-top" colspan="2"><div class="content"><div class="paragraph"> |
| <p>CANopen (based on CAN 2.0A) - client side</p> |
| </div></div></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">Maven Dependency</p></td> |
| <td class="tableblock halign-left valign-top" colspan="2"><div class="content"><div class="listingblock"> |
| <div class="content"> |
| <pre><dependency> |
| <groupId>org.apache.plc4x</groupId> |
| <artifactId>plc4j-driver-canopen</artifactId> |
| <version>{current-last-released-version}</version> |
| </dependency></pre> |
| </div> |
| </div></div></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">Default Transport:</p></td> |
| <td class="tableblock halign-left valign-top" colspan="2"><div class="content"><div class="paragraph"> |
| <p><code>socketcan</code></p> |
| </div></div></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">Compatible Transports:</p></td> |
| <td class="tableblock halign-left valign-top" colspan="2"><div class="content"><div class="ulist"> |
| <ul> |
| <li> |
| <p><code>socketcan</code></p> |
| </li> |
| </ul> |
| </div></div></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top" colspan="3"><p class="tableblock">Supported Operations</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">CANopen PDO</p></td> |
| <td class="tableblock halign-left valign-top"><div class="content"><div class="paragraph"> |
| <p><code>read</code> / <code>write</code></p> |
| </div></div></td> |
| <td class="tableblock halign-left valign-top"><div class="content"><div class="paragraph"> |
| <p>PDO messages are broadcasted to the bus and have to be mapped at application layer.</p> |
| </div></div></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">CANopen SDO</p></td> |
| <td class="tableblock halign-left valign-top"><div class="content"><div class="paragraph"> |
| <p><code>read</code> / <code>write</code></p> |
| </div></div></td> |
| <td class="tableblock halign-left valign-top"><div class="content"><div class="paragraph"> |
| <p>SDO are request/response conversations. Both read and write path is supported.</p> |
| </div></div></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"></td> |
| <td class="tableblock halign-left valign-top"><div class="content"><div class="paragraph"> |
| <p><code>subscribe</code></p> |
| </div></div></td> |
| <td class="tableblock halign-left valign-top"><div class="content"><div class="ulist"> |
| <ul> |
| <li> |
| <p>Receiving PDO messages requires construction of valid subscription.</p> |
| </li> |
| <li> |
| <p>It is possible to subscribe to CANopen NMT messages.</p> |
| </li> |
| </ul> |
| </div></div></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top" colspan="3"><p class="tableblock">Options</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"></td> |
| <td class="tableblock halign-left valign-top"><div class="content"><div class="paragraph"> |
| <p><code>heartbeat</code></p> |
| </div></div></td> |
| <td class="tableblock halign-left valign-top"><div class="content"><div class="paragraph"> |
| <p>Forces PLC4X to send CANopen heartbeat (NMT) messages to the bus.</p> |
| </div></div></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"></td> |
| <td class="tableblock halign-left valign-top"><div class="content"><div class="paragraph"> |
| <p><code>nodeId</code></p> |
| </div></div></td> |
| <td class="tableblock halign-left valign-top"><div class="content"><div class="paragraph"> |
| <p>CAN node identifier. Depending on used CAN version it might be 11 or 29 bit unsigned int.</p> |
| </div></div></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"></td> |
| <td class="tableblock halign-left valign-top"><div class="content"><div class="paragraph"> |
| <p><code>request-timeout</code></p> |
| </div></div></td> |
| <td class="tableblock halign-left valign-top"><div class="content"><div class="paragraph"> |
| <p>Time after which dispatched BUS operation (ie. SDO request) will be marked as failed.</p> |
| </div></div></td> |
| </tr> |
| </tbody> |
| </table> |
| </div> |
| <div class="sect2"> |
| <h3 id="more_details_on_the_driver">More details on the driver</h3> |
| <div class="paragraph"> |
| <p>CAN, despite (or due) to its popularity has ambiguous meaning. |
| There are multiple articles and sources which attempts to give introduction, yet very few of them is consistent between each other.</p> |
| </div> |
| <div class="paragraph"> |
| <p>There are two dominant formats of frames - CAN 2.0A and 2.0B:</p> |
| </div> |
| <div class="ulist"> |
| <ul> |
| <li> |
| <p>CAN 2.0A uses 11 bit identifier and up to 8 bytes of data.</p> |
| </li> |
| <li> |
| <p>CAN 2.0B uses 29 bit identifier and up to 8 bytes of data.</p> |
| </li> |
| </ul> |
| </div> |
| <div class="paragraph"> |
| <p>To make things worse with introduction of CAN FD amount of combinations increased even more. |
| Double check frame format as this integration supports CANopen and does not support CANopen FD nor CAN 2.0B.</p> |
| </div> |
| <div class="paragraph"> |
| <p>Further reading on CAN flavors: |
| <a href="https://en.wikipedia.org/wiki/CAN_bus">https://en.wikipedia.org/wiki/CAN_bus</a></p> |
| </div> |
| <div class="paragraph"> |
| <p>Default transport used with this protocol is socketcan. |
| Currently, only 2.0A format (up to 8 bytes of data) is supported.</p> |
| </div> |
| <div class="paragraph"> |
| <p>Implemented driver supports currently socketcan transport. |
| Change of transport requires code modifications and injection of new "transport" type which will encode CANopen payloads to specific frame format.</p> |
| </div> |
| <div class="paragraph"> |
| <p>Socketcan seems to be most widespread way to access CAN bus. |
| It also masks different hardware variants which might come with their own drivers.</p> |
| </div> |
| <div class="paragraph"> |
| <p>The CANopen specification defines Object Dictionary (OD). |
| This driver does honor OD structure through usage of index and sub index for addressing fields. |
| It does not ship Electronic Data Sheet (EDS) parser leaving it for applications who wish to utilize it.</p> |
| </div> |
| </div> |
| <div class="sect2"> |
| <h3 id="address_format">Address Format</h3> |
| <div class="paragraph"> |
| <p>CANopen specification defines several groups of addresses dedicated to certain kind of operations. |
| Critical services and message exchanges related with them have lower identifiers making them wining eventual bus access.</p> |
| </div> |
| <div class="paragraph"> |
| <p>The array size block is necessary only if application expect same value several times. |
| If SDO returns for example 4 values of UNSIGNED8 it can be declared as <code><service>:<nodeId>:UNSIGNED8[4]</code> for PDO. |
| Equivalent for SDO is <code><service>:<nodeId>:<index>/<subindex>:UNSIGNED8[4]</code>.</p> |
| </div> |
| <table class="tableblock frame-all grid-all stretch"> |
| <colgroup> |
| <col style="width: 20%;"/> |
| <col style="width: 20%;"/> |
| <col style="width: 20%;"/> |
| <col style="width: 40%;"/> |
| </colgroup> |
| <thead> |
| <tr> |
| <th class="tableblock halign-left valign-top">Service</th> |
| <th class="tableblock halign-left valign-top">Format</th> |
| <th class="tableblock halign-left valign-top">Supported operations</th> |
| <th class="tableblock halign-left valign-top">Description</th> |
| </tr> |
| </thead> |
| <tbody> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">SDO</p></td> |
| <td class="tableblock halign-left valign-top"><div class="content"><div class="paragraph"> |
| <p>SDO:nodeId:index/subindex:type[arraySize]</p> |
| </div></div></td> |
| <td class="tableblock halign-left valign-top"><div class="content"><div class="ulist"> |
| <ul> |
| <li> |
| <p><code>read</code></p> |
| </li> |
| <li> |
| <p><code>write</code></p> |
| </li> |
| </ul> |
| </div></div></td> |
| <td class="tableblock halign-left valign-top"><div class="content"><div class="paragraph"> |
| <p>SDO is for request/response communication. |
| Both expedited and segmented modes are supported. |
| No support for block transfer.</p> |
| </div> |
| <div class="paragraph"> |
| <p>Transfer kind is automatically determined based on payload length. |
| All numeric values - ndodeId, index, subindex can be specified using hexadecimal notation (ie. <code>0xA</code>).</p> |
| </div></div></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">PDO</p></td> |
| <td class="tableblock halign-left valign-top"><div class="content"><div class="ulist"> |
| <ul> |
| <li> |
| <p>TRANSMIT_PDO_1:nodeId:type[arraySize]</p> |
| </li> |
| <li> |
| <p>RECEIVE_PDO_1:nodeId:type[arraySize]</p> |
| </li> |
| <li> |
| <p>TRANSMIT_PDO_2:nodeId:type[arraySize]</p> |
| </li> |
| <li> |
| <p>RECEIVE_PDO_2:nodeId:type[arraySize]</p> |
| </li> |
| <li> |
| <p>TRANSMIT_PDO_3:nodeId:type[arraySize]</p> |
| </li> |
| <li> |
| <p>RECEIVE_PDO_3:nodeId:type[arraySize]</p> |
| </li> |
| <li> |
| <p>TRANSMIT_PDO_4:nodeId:type[arraySize]</p> |
| </li> |
| <li> |
| <p>RECEIVE_PDO_4:nodeId:type[arraySize]</p> |
| </li> |
| </ul> |
| </div></div></td> |
| <td class="tableblock halign-left valign-top"><div class="content"><div class="ulist"> |
| <ul> |
| <li> |
| <p><code>subscribe</code></p> |
| </li> |
| <li> |
| <p><code>write</code></p> |
| </li> |
| </ul> |
| </div></div></td> |
| <td class="tableblock halign-left valign-top"><div class="content"><div class="paragraph"> |
| <p>PDO is an asynchronous operation hence receiving of it requires subscription. |
| Check Apache PLC4X API documentation for more detailed example of how to use subscriptions API. |
| Subscriber will be notified with value mapped to type defined in field syntax.</p> |
| </div></div></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">NMT</p></td> |
| <td class="tableblock halign-left valign-top"><div class="content"><div class="ulist"> |
| <ul> |
| <li> |
| <p>NMT</p> |
| </li> |
| <li> |
| <p>NMT:nodeId</p> |
| </li> |
| </ul> |
| </div></div></td> |
| <td class="tableblock halign-left valign-top"><div class="content"><div class="ulist"> |
| <ul> |
| <li> |
| <p><code>subscribe</code></p> |
| </li> |
| </ul> |
| </div></div></td> |
| <td class="tableblock halign-left valign-top"><div class="content"><div class="paragraph"> |
| <p>NMT messages are sent using CAN node ID <code>0</code>. |
| They have the highest priority on the bus. |
| Messages of this kind indicate operating state of an node (booted, operational).</p> |
| </div> |
| <div class="paragraph"> |
| <p>Subscriptions to this service receive structure with two fields: <code>node</code> (USINT) and <code>state</code> (USINT). |
| If subscription sets <code>nodeId</code> to 0 it will receive state updates for all bus participants.</p> |
| </div></div></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">HEARTBEAT</p></td> |
| <td class="tableblock halign-left valign-top"><div class="content"><div class="ulist"> |
| <ul> |
| <li> |
| <p>HEARTBEAT</p> |
| </li> |
| <li> |
| <p>HEARTBEAT:nodeId</p> |
| </li> |
| </ul> |
| </div></div></td> |
| <td class="tableblock halign-left valign-top"><div class="content"><div class="ulist"> |
| <ul> |
| <li> |
| <p><code>subscribe</code></p> |
| </li> |
| </ul> |
| </div></div></td> |
| <td class="tableblock halign-left valign-top"><div class="content"><div class="paragraph"> |
| <p>HEARTBEAT messages have the lowest priority on the bus. |
| They have the highest priority on the bus. |
| Messages of this kind indicate operating state of an node (booted, operational).</p> |
| </div> |
| <div class="paragraph"> |
| <p>Subscriptions to this service receive structure with two fields: <code>node</code> (USINT) and <code>state</code> (USINT). |
| If subscription sets <code>nodeId</code> to 0 it will receive state updates for all bus participants.</p> |
| </div></div></td> |
| </tr> |
| </tbody> |
| </table> |
| <div class="paragraph"> |
| <p>Below table contains type mapping defined in CANopen specification.</p> |
| </div> |
| <table class="tableblock frame-all grid-all stretch"> |
| <colgroup> |
| <col style="width: 33.3333%;"/> |
| <col style="width: 33.3333%;"/> |
| <col style="width: 33.3334%;"/> |
| </colgroup> |
| <tbody> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">CANopen Type</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">Length (in bits)</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">PLC4X Type</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">BOOLEAN</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">1</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">BOOL</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">UNSIGNED8</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">8</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">USINT</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">UNSIGNED16</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">16</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">UINT</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">UNSIGNED24</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">24</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">UDINT</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">UNSIGNED32</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">32</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">UDINT</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">UNSIGNED40</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">40</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">ULINT</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">UNSIGNED48</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">48</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">ULINT</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">UNSIGNED56</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">56</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">ULINT</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">UNSIGNED64</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">64</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">ULINT</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">INTEGER8</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">8</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">SINT</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">INTEGER16</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">16</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">INT</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">INTEGER24</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">24</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">DINT</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">INTEGER32</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">32</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">DINT</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">INTEGER40</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">40</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">LINT</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">INTEGER48</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">48</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">LINT</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">INTEGER56</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">56</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">LINT</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">INTEGER64</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">64</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">LINT</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">REAL32</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">32</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">REAL</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">REAL64</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">64</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">LREAL</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">RECORD</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">8 * size</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">BYTE</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">OCTET_STRING</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">8 * size</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">STRING (UTF-8)</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">VISIBLE_STRING</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">8 * size</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">STRING (UTF-8)</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">TIME_OF_DAY</p></td> |
| <td class="tableblock halign-center valign-top" colspan="2"><p class="tableblock">unsupported</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">TIME_DIFFERENCE</p></td> |
| <td class="tableblock halign-center valign-top" colspan="2"><p class="tableblock">unsupported</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">UNICODE_STRING</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">8 * size</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">STRING (UTF-8)</p></td> |
| </tr> |
| </tbody> |
| </table> |
| <div class="paragraph"> |
| <p>All string types are decoded using UTF-8 encoding regardless of their kind (octet, visible, unicode). |
| In case if device returns text using different encoding it is recommended to use <code>RECORD</code> type and construct text manually above PLC4X.</p> |
| </div> |
| <div class="paragraph"> |
| <p>The size in case of variable length structures is automatically assumed to full length of SDO answer. |
| In case of writing length of field can be ommited. |
| For example request <code>write(SDO:1:2/3:RECORD, payload)</code> will try to write whole payload to specified address. |
| Same applies to responses sent by devies as requester often might not know full length of reply payload.</p> |
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| </div> |
| </div> |
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