Thư viện lập trình ICP DAS CANopen Master Library

ICP DAS CANopen Master Library (DLL functions) for Windows NT/2000/XP/Win7 provides users to establish CANopen network rapidly by Master/Slave connection model. The users can develop various CANopen application programs via this library. The CANopen master library is for PCI CAN interface card, which are PISO-CAN series, PEX-CAN series and PCM-CAN series. Applying the library, users don't need to take care of the detail of the CANopen protocol.
The library implements the CANopen protocol automatically. It can reduce the complexity of user's CANopen master software. The library mainly implements the CANopen protocol with the PISO-CAN series, PEX-CAN series or PCM-CAN series CAN board. It can help users to establish the connection with CANopen slave devices easily. The general application architecture is demonstrated as following figure.

The library provides the CANopen Master mechanism to communicate with slave devices by the SDO, PDO, SYNC, EMCY, NMT and NMT Error Control protocol. Besides, the library supports user-defined event routines such as EMCY, Slave Boot up message and NMT Error Control protocol and users can program self's process for these important events. 

Applications

• Industrial Machinery
• Building Automation
• Medical
• Maritime
• Restaurant Appliances
• Laboratory Equipment & Research 

Library Layer 

The user's CANopen application programs can be developed by the following designated tools: VC, VB6, C#, VB.net, OCX, etc. In these tools, the application program can call the PISOCANCPMM.DLL driver to implement CANopen network application. 

Architecture and Flowchart

Note that before communicating I/O data with CANopen slave devices, the Master device must connect to slave devices to build the communication object.

The CANopen communication protocol is based on the Master-slave model. Master should create communication services such as SDO, PDO, and NMT for slave devices to exchanging information and I/O data. To establish master control mechanism, there are only four main steps to be followed.

CPMUtility Features

The CPMUtility utility can easily to access the I/O data of all the slave devices. The users can monitor the input data of the specific slave device and change the output data to the remote slave device with this utility.

• Auto-scan all the CANopen master devices that the CPMUtility has supported
• Auto-scan all the CANopen slave devices on the CANopen network
• Support the EDS file
• Dynamic PDO object setting easily
• Guarding Event and Heartbeat Event detection
• EMCY message receiving
• Maximum 5 SYNC message producers per CANopen master

Library Features

• Standard CANopen specification DS-301 v4.02
• Support node id 1 ~ 127
• Programmable bauds：10 K, 20 K, 50 K, 125 K, 250 K, 500 K, 800 K, and 1M bps
• Scan function for scanning all nodes on the same CANopen network
• Provide master listen mode for monitoring without bothering the CANopen network
• Support both Node Guarding Protocol and Heartbeat Consumer Protocol
• Provide event trigger function for EMCY event, Node Guarding event and Heartbeat event
• Provide Event-triggered, remote-requested, cyclic and acyclic SYNC of PDO mode
• The PDO communication supports single byte output so that users can just modify the value of one byte without changing the others
• Provide max. 5 SYNC messages sending at the same time
• Allow the dynamic PDO, PDO event timer, and the modification of the transmission type
• Allow to get several PDO data simultaneously
• The SDO communication supports segment protocol
• Programmable master node ID for the CANopen slave function
• Support the EDS file
• Provide pre-configure the slave node, and connect it automatically while booting up
• Support multi-master architecture
• Provide VC6, VB6, VB.Net, C# and OCX demos and function libraries

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