Start a comunication CANopen whit an interface CAN (new)

[droig]

Hi. Escuse me for my english.

I need to comunicate with a motor that it be governate with a controller that use the CANopen protocol.

I only need that the motor starts up, is stopped and that does it at a certain speed.

The format of the frame where the data are inserted is the following one:

|              |         |            |             |            |            |            |             |            |            |

|COB ID | DLC | Byte 0 | Byte 1 | Byte 2 | Byte 3 | Byte 4 | Byte 5 | Byte 6 | Byte 7 |

|              |         |            |             |            |            |            |             |            |            |

The data are inserted in the fields corresponding to Byte 4, Byte 5, Byte 6 and Byte 7.

My problem comes when I try to comunicate it with the device. The CAN tool that has labview 6.1, specifies a field of arbitration and certain fields that are not equal to the frame of CANopen explained in the previous lines and I don't know how solving it.

Thank you very much beforehand by your interest and collaboration. A greeting.

Best regards.

[DirkW]

Hi droig,

It seems that you need some SDO Communication with your CANopen device. Attached you can find two examples writing and reading SDOs using the NI CAN driver and LabVIEW 6.1.

An SDO needs allways an INDEX (Byte 1 and 2) and sometimes an Sub Index (Byte 3) to specify the address to write or read. Byte 4 to 7 are typically the data bytes.

Byte 0 is typically 40h for a read SDO and 22h for a write SDO but may depend on your device.

Hope that helps

DirkW

[JaimeC]

Hi daniel,

We resolved this question yesterday by phone. Anyway I just copy here exactly the same I told you becouse then you can also read it and everyone can also know that.

NI does not support CANOpen because it is only an application layer change from CAN. NI has not an official example to implement that yet, but you can also make that within the NI-CAN.

Anyway we are always pleased from our good costumers as DirkW that work with our products and develope interesting things to share with the rest of the costumers.

I know you also introduced that example code on:

http://forums.ni.com/ni/board/message?board.id=30&message.id=1390&requireLogin=False

I also would like to share with you the following link with information about how to develope CANopen code from LV:

http://forums.ni.com/ni/board/message?board.id=170&message.id=97397&requireLogin=False

Also there are 3rd-party companies that had developed libraries for working directly with CanOpen.

I found one that seems interesting from a company called Vigo1 but I am sure it is possible to find more of them surfing internet.

I have to remember that NI only supports our example code and our products (neither 3rd-party or other costumers). But it always nice to hear that people is working around with them. I want to thank you all your interest and work within NI products.

Hope this help you,

Regards,

Jaime Cabrera

NI Applications Engineer

[JaimeC]

Hi all!!!!!

NI has CANOpen Library now!!!!!!

So just contact with your NI Sales Representative to obtain it!

Regards,

Jaime Cabrera

NI Applications Engineering

[droig]

Hello.

I have a certain problem with the understanding of protocol
CANOPEN, to see if I explain myself well:

We have a motor of the Baumüller mark that takes to driver that
it is possible to be formed by protocol CANOPEN. This driver it
has to be enslaved of the network CAN, the MASTER is going to be the
PC with the card CAN that it has installed.

We have created an application to read data of comparators and we need
the part of communication with the motor. Only that we want that it
does the motor is that it starts up at an indicated speed and that
stops that is 3 orders, marches, speed and unemployment, nothing else.

Then my consultation is that I do not understand the philosophy of
protocol CANOPEN. I have I file * eds that the manufacturers of the
motor say to me that there am to load it in the teacher so that she
understands the configuration (LabVIEW has this possibility with
bookstore CANOPEN).

Later not that he is what I must send nor like sending it, that is to
say, I must create NMT---SDO---PDO or simply with PDO serves to
me? Please I need something of aid to understand the principle of
operation of protocol CANOPEN.

To the delay of your answer.

A greeting. Thanks
                                       

Mensaje editado por droig