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Product Information

CANoe.CANopen

..........................................................................3 1..................................................................1...................................................................................... 4 EDS Formats ....................................... 3 Hardware Interfaces .......... 8 Training ...........................................................................................................2 1............ 8 Interactive Device Access .......................................................................... 3 Overview of Advantages .................................................... This document presents application areas and functions of Option ...................................................................... CANoe.................. 3 Features ................. 8 Documentation Note Valid for CANoe............................................ 6 Test Generation with CANoe pex or run .................................................................................................................................................CANopen from Version 8...................................................................................................................... 4 Supplied Components and Functions ................................................. 6 Panel Support .................................................................................................. Please consider the environment before printing this document............................................................................................ 6 Creating Test Sequences ......................................................................................................... 5 Project Planning ........................................................ 5 Generation of Models ........................................................................... 5 Automatic Test Generation ............................................. You will find product information and technical data on basic CANoe functions in separate documents.....com 2 ...................................................CANopen Table of Contents 1 1.........................................................................................................................0 May/2013 www......... V1...................................................................................... 4 Further Information .........4 2 3 4 5 6 7 8 9 10 11 12 13 14 Introduction .....................................1 1......................................................... 8 Analysis ...................................................................................................................................................................................vector......................................................................................... 8 Interactive Generator Block for CANopen.................................CANopen expands standard CANoe functionality.................................. 7 Communication Monitoring .......Product Information CANoe..........................................................CANopen for CANoe................................................................................

CANopen coupled with the project planning tool called ProCANopen (included in delivery) enables efficient planning. the development of CANopen systems is not possible without suitable development tools. Its wide range of application includes the areas of transport and control technology.CANopen 1 Introduction CANopen® is an open. and draw conclusions. Effort and the possibility for errors are greatly reduced. simulation and test tool from a single source > Support of commonly used CANopen standards > Extended CAPL interface for modeling CANopen devices > Simulation of extendable device models based on EDS files > Convenient interpretation of the bus traffic by protocol descriptions and color differentiation of CANopen services > Automatic generation of a CAN database using EDS files > Abstracted configuration of PDOs by graphically linking process data > Easy dialog-based access to CANopen device parameters Features CANoe. www.CANopen aids in increasing the integration quality. test. railway technology. supported with extensive.vector. management. estimate the bus load. > Start-up of devices > Programming of devices > Start-up of CANopen networks > Diagnostics > End-of-line tests Using in parallel the options . 1. CANoe is a high-performance tool that supports the entire development process for networked systems. like the necessary hardware performance. During the system design phase you have the opportunity to simulate the later behavior of a system.com 3 . This functionality reduces necessary steps to the definition of defaults – without having to carry out a concrete implementation manually. CAN-based communication protocol. see the CANoe product information.Product Information CANoe. measurement systems. from planning to development and testing and finally start-up. and much more – in short everywhere great flexibility and rapid data transmission are in demand. The use of CANoe. As the use of networking continues to increase.J1939 and . For a functional description of CANoe. The specification drew on the experience of many component manufacturers and users. and startup of CANopen networks. CANopen-specific functions.CANopen all developers have a tool for the development of CANopen systems: > Simulation of CANopen devices > Test tool during development – with interactive configuration and setting of parameters.CANopen.1 1. analysis. simulation. the functionality of devices can be tested. With CANoe. CANoe is the ideal development and test environment for the CiA DS-413 CANopen Truck Gateway.2 Overview of Advantages > Integrated configuration. The necessary orientation and concentration with regards to CANopen is largely avoided. at the same time reducing costs significantly. medical technology. resulting in an established standard that is maintained by the CAN in Automation (CiA®) user organization.

simulated CANopen network with central control and I/O nodes 1. In addition.CANopen is available from Vector for all commonly used hardware platforms. general questions are discussed that relate to the theme of CANopen and the free CANeds EDS editor tool that is available. in which all CANoe functions are described.com 4 .4 2 Further Information > Vector Download Center Various documents related to CANoe are available on the Internet. In the Demo version. you benefit from our valuable know-how in the form of technical articles and application notes. 1. Supplied Components and Functions Along with the base tool CANoe.CANopen also contains the ProCANopen configuration tool and the CANeds EDS editor. > CANoe Feature Matrix More information on variants.CANopen extends the basic functionality of CANoe by adding: > Configuration of CANopen devices > Interactive access to CANopen devices > Interpretation of CANopen messages www.3 Hardware Interfaces Unlimited functionality of CANoe. you get sample configurations for the various use areas and detailed online Help texts. > CANopen Forum In the CANopen Forum.CANopen Figure 1: Sample configuration for a simple. channels and bus system support is presented in the feature matrix.Product Information CANoe.vector. for example. CANoe. CANoe.

only the program sections relevant for the CANopen communication are changed. 4 Project Planning The project planning tool ProCANopen allows the creation of a project in the typical manner for CANopen systems.CANopen supports the standardized file formats EDS and DCF for data storage and informational exchange.vector. C-based language CAPL (Communication Access Programming Language) from Vector serves as the programming language. This makes it very easy to initiate an SDO access to another device in the network from the CAPL program. programmed. A functional description can be found in the ProCANopen product information. The following properties can be simulated: > SDO Client/Server > NMT Status Machine > Heartbeat Consumer/Producer > Mapping the object dictionary of the simulated node > Saving configurations > NMT Master functionality per DSP302 > Configuration Manager (CMT) > PDO Communication www. These models are integrated in the simulation environment and executed there. The interface for the application code is created so that the code can be written independent of changes in communication. and then process data assignments are made.Product Information CANoe. which are called during the simulation.com 5 . 5 Generation of Models A key aspect of CANoe.CANopen 3 > Generation of simulation models > Extension of the test interface with CANopen-specific test functions > Generation of test sequences > Interactive generation of CANopen messages > Generation of panels > Protocol-specific display in the Trace window > Protocol monitoring > Creation and testing of EDS files EDS Formats CANalyzer. It supports both the conventional INI format and the XML format that is specified in CiA311.CANopen is automatic generation of device models based on standardized EDS files. These are event functions that can fill with relevant application-related behavior. a whole series of event functions are created during generations. In addition. This program contains the basic framework for ECU functionality. When changes in the communication characteristics are made in ProCANopen. All information necessary for the generation exist in the device descriptions that are set up using ProCANopen. the application simulation remains unchanged. Devices are selected from a list of device types. The application-oriented. The entire CANopen-specific functionality of an ECU is implemented by special CAPL functions. One CAPL program is generated for each ECU to be simulated. The user can utilize the functionality of this DLL by means of function calls from a generated CAPL program.

CANoe. All test results are conveniently logged and documented to a report file. All generation templates of the full version are available here.com 6 . An example would be a test step used to check for the existence of an object in the object dictionary. 6 Automatic Test Generation It is easy to generate test sequences for CANopen devices. which forms the basis of the CiA Conformance Test. can also be used to generate tests that check for CANopen conformity. you can create as many test configurations as you like. sliders or simple input boxes (see also chapter 10). based on device descriptions (EDS files).Product Information CANoe. In contrast to automated test generation. Once the test sequence has been prepared. which are lower-cost alternatives to the full version. However.CANopen In addition to device models. 7 Test Generation with CANoe pex or run The CANoe pex and CANoe run variants. they are also used to set setpoint values for process data with related input elements such as switches. is thus ensured. device-specific panels are also generated. The necessary test functions are identified and assembled into a sequence.CANopen runs through these sequences.vector. www. The following test scenarios can be generated: > SDO protocol test > Receive PDO test > Send PDO test > „Hidden Object“ test > Test of object access and object default values > NMT Status Machine and error control Full coverage of the CiA310 test specification. The only limitation is that it is only possible to test one CANopen device per test configuration. For an SDO access the user must specify the Node-ID of the SDO server and the index and sub-index of the selected object. Panels serve to visualize the process data. 8 Creating Test Sequences You can put together test sequences from a series of predefined test functions. a key press initiates generation of the associated test script. a test step must still be parameterized before it can be used.

Figure 3: Fire department turntable ladder as an application example: CANoe takes over the partial simulation of the CANopen network being built as well as the gateway function to the commercial vehicle.vector.com 7 . direct and easy access to these objects is possible without requiring extensive knowledge of their communication properties.CANopen Figure 2: The Test Configurator defines and parameterizes test sequences. Controls are created for objects transmitted via PDOs (process data). Using these panels. It is possible to carry out an operating simulation of the planned network with an easy to use display of process values without further effort.Product Information CANoe. Color highlighting of CANopen services in the new Trace window accelerates bus analysis. without requiring user knowledge of their communication properties. These objects may be accessed directly and conveniently via panels. 9 Panel Support Automatic generation of panels simplifies simulation in a fundamental way. www.

For more information and the dates of our training courses. 14 Training As part of our training program.CANopen 10 Communication Monitoring In a Trace window the CAN message traffic is displayed while simultaneously interpreting the protocol information it contains.vector-academy. It gives the user a quick overview of the chronological order of individual protocol sequences of the observed CANopen services and makes it significantly easier to localize errors in a real system. 11 Analysis Provided for the analysis of CANopen data traffic are not only the Trace window. and enter-preoperational. The CANopen Scanner evaluates CAN messages and shows the active nodes in a list. The user not only sees which service is currently being executed. Different CANopen services are shown in different font colors and background colors here.com 8 . The sequence can be replayed once or periodically. This involves detecting whether the protocol information was properly entered in the CAN message. stop. reset. This information is displayed in clear text.com www. This means that message sequences can be sent to the connected devices as often as desired. but also the familiar Data and Statistics windows of the standard version of CANoe. etc.Product Information CANoe. please visit our website www. You select and configure the desired messages (PDOs.) from a project-specific list and assemble them into a sequence.CANopen also monitors for the correctness of individual protocol sequences. Other node-specific information is also output such as the node state or device name. SDOs. but can also examine the relevant service parameters. 12 Interactive Generator Block for CANopen CANopen-specific message sequences may be assembled within a dialog.vector. Refined search functions and filter options ensure that you maintain a clear overview even when there are many different messages. The object directories of the devices can be read and configured. Services are available for startup of CANopen devices such as start. 13 Interactive Device Access ProCANopen is a project-planning tool that allows interactive communication with simulated and real devices. we offer a range of classes and workshops on CANopen in our classrooms and on-site at our customers. CANoe.

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