Access from other networks
Part 1: Network access services
Version: 1.1.0
12 December 2006 ! CAN in Automation (CiA) e. V.CiA 309-1 Interfacing CANopen with TCP/IP – Part 1: General principles Version 1.1
HISTORY
Date Changes
2004-09-15 Publication of version 1.0 as draft standard proposal
2006-12-12 Publication of version 1.1 as draft standard
Minor editorial corrections and clarifications.
Multiplexor parameter for PDO access services added.
General information on licensing and patents
CAN in AUTOMATION (CiA) calls attention to the possibility that some of the elements of this CiA specification may be subject of patent rights. CiA shall not be responsible for identifying any or all such patent rights.
Because this specification is licensed free of charge, there is no warranty for this specifica-tion, to the extent permitted by applicable law. Except when otherwise stated in writing the copyright holder and/or other parties provide this specification “as is” without warranty of any kind, either expressed or implied, including, but not limited to, the implied warranties of mer-chantability and fitness for a particular purpose. The entire risk as to the correctness and completeness of the specification is with you. Should this specification prove failures, you assume the cost of all necessary servicing, repair or correction.
Trademarks
CANopen® and CiA® are registered community trademarks of CAN in Automation. The use is restricted for CiA members or owners of CANopen vendor ID. More detailed terms for the use are available from CiA.
© CiA 2006
All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or util-ized in any form or by any means, electronic or mechanical, including photocopying and microfilm, without permission in writing from CiA at the address below.
CAN in Automation e. V.
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Tel.: +49-911-928819-0
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Url: www.can-cia.org
Email: headquarters@can-cia.orgCiA 309-1 Interfacing CANopen with TCP/IP – Part 1: General principles Version 1.1
Contents
1Scope (5)
2References (5)
3Abbreviations and definitions (5)
3.1Abbreviations (5)
3.2Definitions (5)
3.2.1Introduction (5)
3.2.2Gateway class definitions (6)
3.2.3Service primitives definitions (6)
3.2.4Parameter definitions (8)
3.2.5CANopen network, device and object addressing (9)
4Network access service specification (9)
4.1SDO access services (9)
4.1.1General (9)
4.1.2Upload SDO (10)
4.1.3Download SDO (11)
4.1.4Configure SDO timeout (11)
4.2PDO access services (12)
4.2.1General (12)
4.2.2Configure RPDO (12)
4.2.3Configure TPDO (13)
4.2.4Read PDO data (13)
4.2.5Write PDO data (13)
4.2.6RPDO received (14)
4.3CANopen NMT services (14)
4.3.1General (14)
4.3.2Start node (14)
4.3.3Stop node (14)
4.3.4Set node to pre-operational (15)
4.3.5Reset node (15)
4.3.6Reset communication (15)
4.3.7Enable node guarding (16)
4.3.8Disable node guarding (16)
4.3.9Start heartbeat consumer (16)
4.3.10Disable heartbeat consumer (16)
4.3.11Error control event received (17)
4.4Device failure management services (17)
4.4.1General (17)
4.4.2Read device error (17)
4.4.3Emergency event received (17)
4.5CANopen interface configuration services (17)
4.5.1General (17)CiA 309-1 Interfacing CANopen with TCP/IP – Part 1: General principles Version 1.1
4.5.2Initialize gateway (18)
4.5.3Store configuration (18)
4.5.4Restore configuration (18)
4.5.5Set heartbeat producer (18)
4.5.6Set node-ID (19)
4.5.7Start emergency consumer (19)
4.5.8Stop emergency consumer (19)
4.6Gateway management services (19)
4.6.1General (19)
4.6.2Set default network (19)
4.6.3Set default node-ID (20)
4.6.4Get version (20)
4.7Controller management services (20)
4.7.1General (20)
4.7.2Reset controller (20)
4.7.3Start controller (21)
4.7.4Stop controller (21)
4.8Manufacturer-specific services (21)
4.8.1General (21)CiA 309-1 Interfacing CANopen with TCP/IP – Part 1: General principles Version 1.1
1 Scope
This specification specifies the services and protocols to interface CANopen networks to a TCP/IP-based network.
This set of specifications is organized as follows:
•Part 1: General principles and services
•Part 2: Modbus/TCP mapping
•Part 3: ASCII mapping
Part 1 of the Interfacing CANopen with TCP/IP specification specifies the network access services provided by a gateway device that give one network device (e.g. PLC or PC application) connected through transmission control protocol/internet protocol(TCP/IP) or other protocols (based on Ethernet, Remote Access Services, or serial links) access to devices attached to CANopen net-works. The description of the transport protocol between the gateway device and the network de-vices using the services specified in this document is outside of the scope of this part of the specifi-cation.
2 References
/CiA301/ CiA 301, CANopen application layer and communication profile
/CiA302-2/ CiA 302-2, CANopen additional application layer functions – Part 2: Network manage-ment
/CiA302-3/ CiA 302-3, CANopen additional application layer functions – Part 3: Configuration and program download
/CiA400/ CiA 400, CANopen interface profile multi-level networking
3 Abbreviations and definitions
3.1 Abbreviations
NMT Network Management
PAS PDO Access Services
PDO Process Data Object
RPDO Receive PDO
RTR Remote Transmission Request
SAS SDO Access Services
SDO Service Data Object
SRD SDO Requesting Device
TPDO Transmit PDO
3.2 Definitions
3.2.1 Introduction
Figure 1 shows the relations between the functional elements described in this specification.CiA 309-1 Interfacing CANopen with TCP/IP – Part 1: General principles Version 1.1
Fig. 1: Functional overview of elements referenced in this specification
3.2.2 Gateway class definitions
A CANopen gateway may support one or more of the following classes:
Class 1:The gateway is a device, acting as network slave (NMT slave functionality) within the CANopen network. The device shall provide SDO client functionality.
Class 2:The gateway is a device implementing the functionality of a class1 device, which addi-tionally implements SDO requesting device (SRD) functionality.
Class 3:The gateway is a device within the CANopen network acting as the CANopen manager. 3.2.3 Service primitives definitions
Service primitives are the means by which the gateway application and the network application layer interact. There are four primitives:
• A request is issued by the gateway application to the network application layer to request a service.
•An indication is issued by the network application layer to the gateway application to report an internal event detected by the network application layer or indicate that a service is re-
quested
• A response is issued by the gateway application to the network application layer to re-spond to a previously received indication
• A confirmation is issued by the network application layer to the gateway application to re-port the result of a previously issued request.
A service type defines the primitives that are exchanged between the network application layer and the gateway application for a particular service of a service object.
• A local service involves only the local service object. The gateway application issues a re-quest to its local service object that executes the requested service without communicating
with (a) peer service object(s).
Fig. 2: Local service
•
An unconfirmed service involves one or more peer service objects. The gateway applica-tion or the network device application issues a request to its local service object. This re-quest is transferred to the peer service object(s) that each pass it to its (their) application as an indication.
Fig. 3: Unconfirmed service
•
A confirmed service involves only to the peer service object. The network device applica-tion or the gateway application issues a request to its local service object. This request is transferred to the peer service object that passes it to the network device application re-spectively to the gateway application as an indication. The network device application or the gateway applications issues a response that is transferred to the originating service ob-ject that passes it as a confirmation to the requesting service. This event is then indicated to the gateway application respectively to the network device application.
Fig. 4: Confirmed service
•
A provider-initiated service involves only the local service object. The service object (being the service provider) detects an event not solicited by a requested service. This event is then indicated to the gateway application.
request
confirmation
indication response
Unconfirmed and confirmed services are called remote access.
3.2.4 Parameter definitions
COB-ID
Includes CAN-ID and some control bits as defined in /CiA301/.
Data
Data read or written from the network device.
Data type
Type of data to be read or written.
Data type 1st to th
Type of data of the objects mapped into a PDO.
Emergency
Data received by a CANopen emergency message as defined in /CiA301/, It includes the emer-gency error code, the error register, and the manufacturer-specific error field as defined in /CiA301/.
Error msg number
Error code indicating the kind of failure.
Error msg text
Textual description of the failure.
Failure
Information that indicates that the service has been not completed successfully.
Gateway class
Information that declares the gateway device’s functionality (see clause 3.1.1).
GuardTime
Time value as provided in the guard_time object as defined in /CiA301/. HeartbeatConsumerTime
Time value as provided in the heartbeat_consumer_time objects as defined in /CiA301/. HeartbeatProducerTime
Time value as provided in the heartbeat_producer_time object as defined in /CiA301/. Implementation class
Information that is transport protocol specific and is defined in the other parts of this specification. Length
Length of data to be read or written.
LifeTimefactor
Time value as provided in life_time_factor object as defined in /CiA301/.
Multiplexor
Index and sub-index to access the CANopen object dictionary entry.
Network
Number identifying uniquely the CANopen sub-network (see /CiA400/. If this parameter is not sup-ported, the service request applies to the unique or default network.
Nbr_objects
Number of objects mapped into a PDO.
Node-IDNumber identifying uniquely the device in a CANopen network. If this parameter is not supported, the service request applies to the default node-ID. If this parameter is supported, it shall become the default node-ID for the next service requests.
Offset
Offset value for direct access to a CANopen object. This parameter is limited to objects of type OCTET_STRING, VISIBLE_STRING, UNICODE_STRING and DOMAIN. The unit shall be UNSIGNED32. If this parameter is not supported, the object shall be read or written from offset 0. Product code
Unique number identifying the device assigned by the manufacturer as defined in /CiA301/. Protocol version
number that indicates the CiA 309-1 version the gateway device is based on.
Reason
Code providing information why the service was not successful.
Revision number
Unique number identifying the device’s version assigned by the manufacturer as defined in /CiA301/.
SDO timeout
Time value for the time-out of all SDO clients.
Serial number
Unique number identifying the device within its class assigned by the manufacturer as defined in /CiA301/.
Success
Information that indicates that the service has been completed successfully.
TxType
Transmission type code as defined in /CiA301/.
Vendor-ID
Unique identifier assigned to a company by CiA as defined in /CiA301/.
3.2.5 CANopen network, device and object addressing
The gateway device may support more than one CANopen network. If multiple CANopen network interfaces are implemented, the CANopen networks shall be numbered uniquely (e.g. CANopen Net 1, CANopen Net 2, etc.).
The CANopen networks may be of one-level or multi-level type. One-level networks are connected physically to the gateway device. Multi-level networks are connected logically by means of cas-caded network architectures. Multi-level networks are reached via the SDO network indication serv-ice as defined in /CiA400/. A routing table shall be used as defined in /CiA400/ in order to map gateway devices in logical networks to the physical port.
In each CANopen network the connected CANopen devices are uniquely addressed by the node-ID (see also /CiA301/). The gateway device itself also provides its own unique node-ID.
In each CANopen device the objects are addressed uniquely by the 16-bit index and the 8-bit sub-index as defined in /CiA301/.
4 Network access service specification
4.1 SDO access services
4.1.1 General
The services specified in this clause are used to initiate and configure SDO services accessing any object in the object dictionary of any node on any of the CANopen networks linked to the gateway device.In case that the gateway device supports multi-level networking as defined in /CiA400/, the network service indication shall be handled transparently.
4.1.2 Upload SDO
This service shall initiate an SDO upload service.
Parameter Indication Response
Argument
Network
Node-ID
Multiplexor
Data type
BOOLEAN
UNSIGNED8
UNSIGNED16
UNSIGNED24
UNSIGNED32
UNSIGNED40
UNSIGNED48
UNSIGNED56
UNSIGNED
INTEGER8
INTEGER16
INTEGER24
INTEGER32
INTEGER40
INTEGER48
INTEGER56
INTEGER
REAL32
REAL
TIME_OF_DAY
TIME_DIFFERENCE OCTET_STRING
VISIBLE_STRING
UNICODE_STRING DOMAIN
Offset
Length Mandatory Optional Optional Mandatory Optional Selection Selection Selection Selection Selection Selection Selection Selection Selection Selection Selection Selection Selection Selection Selection Selection Selection Selection Selection Selection Selection Selection Selection Selection Selection Optional Optional
Remote result Success
Data
Length
Failure
Reason Mandatory Selection Mandatory Optional Selection Mandatory4.1.3 Download SDO
This service shall initiate an SDO download service.
Parameter Indication Response
Argument
Network
Node-ID
Multiplexor
Data type
BOOLEAN
UNSIGNED8
UNSIGNED16
UNSIGNED24
UNSIGNED32
UNSIGNED40
UNSIGNED48
UNSIGNED56
UNSIGNED
INTEGER8
INTEGER16
INTEGER24
INTEGER32
INTEGER40
INTEGER48
INTEGER56
INTEGER
REAL32
REAL
TIME_OF_DAY
TIME_DIFFERENCE OCTET_STRING
VISIBLE_STRING
UNICODE_STRING DOMAIN
Offset
Length
Data Mandatory Optional Optional Mandatory Optional Selection Selection Selection Selection Selection Selection Selection Selection Selection Selection Selection Selection Selection Selection Selection Selection Selection Selection Selection Selection Selection Selection Selection Selection Selection Optional Optional Mandatory
Remote result Success
Failure
Reason Mandatory Selection Selection Mandatory
4.1.4 Configure SDO timeout
This service shall configure the time-out for all Client-SDOs on the gateway device.
Parameter Indication Response
Argument
Network
SDO Timeout Mandatory Optional Mandatory
Remote result Success
Failure
Reason Mandatory Selection Selection Mandatory4.2 PDO access services
4.2.1 General
The services specified in this clause are used to configure and initiate PDO services in the gateway device. They include:
•Configure a receive PDO
•Configure a transmit PDO
•Request to read a PDO
•Request to write a PDO
•Indicate a received PDO
The two PDO configuration services are intended to create PDOs in the gateway device. If the gateway device implements an object dictionary, the PDO communication and mapping parame-ters entries shall be set-up accordingly.
The two PDO request services are intended to control the PDOs in accordance to the configured PDO transmission type /CiA301/.
The data types VISIBLE_STRING, OCTET_STRING, and UNICODE_STRING, as well as DOMAIN shall not be used as PAS data type parameter.
NOTE: The PAS services are not intended to configure the PDO communication and mapping en-tries of the object dictionary of the remote nodes. Accessing the CANopen nodes individually by means of SAS services may do the PDO configuration.
4.2.2 Configure RPDO
This service shall create an RPDO in the gateway device.
Parameter Indication Response
Argument
Network
PDO number
COB-ID
TxType
Nbr_objects
1st mapped object Data type
Multiplexor
2nd mapped object Data type
Multiplexor
…
th mapped object Data type
Multiplexor Mandatory Optional Mandatory Mandatory Mandatory Mandatory Mandatory Selection Selection Optional Selection Selection …
Optional Selection Selection
Remote result Success
Failure
Reason Mandatory Selection Selection Mandatory
4.2.3 Configure TPDO
This service shall create a TPDO in the gateway device.
Parameter Indication Response
Argument
Network
PDO number
COB-ID
TxType
Nbr_objects
1st mapped object Data type
Multiplexor
2nd mapped object Data type
Multiplexor
…
th mapped object Data type
Multiplexor Mandatory Optional Mandatory Mandatory Mandatory Mandatory Mandatory Selection Selection Optional Selection Selection …
Optional Selection Selection
Remote result Success
Failure
Reason Mandatory Selection Selection Mandatory
4.2.4 Read PDO data
This service shall read the data received by an RPDO. If an RPDO is configured with transmission type 252 or 253 /CiA301/, the gateway devices shall trigger it by means of an RTR.
Note: It is not recommended to use RTR.
The received data shall be transmitted in the remote result.
Parameter Indication Response
Argument
Network
PDO number Mandatory Optional Mandatory
Remote result
Success
Network
PDO number Nbr_objects
Data 1st object …
Data th object Failure
Reason Mandatory
Selection
Optional
Mandatory Mandatory Conditional …
Conditional Selection
Mandatory
4.2.5 Write PDO data
This service shall trigger the transmission of a PDO. The actual transmission of the PDO shall be triggered according to the configured PDO transmission type /CiA301/.Argument
Network
PDO number
Nbr_objects
Data 1st object …
Data th object Mandatory Optional
Mandatory Mandatory Conditional …
Conditional
Remote result Success
Failure
Reason Mandatory Selection Selection Mandatory
4.2.6 RPDO received
This service shall signal that new PDO data has been received and shall provide the received data.
Parameter Request
Argument
Network
PDO number
Nbr_objects
1st object value …
th object value Mandatory Optional
Mandatory Mandatory Conditional …
Conditional
4.3 CANopen NMT services
4.3.1 General
The services specified in this clause are used to control a CANopen node or a CANopen network and associated error control services.
4.3.2 Start node
This service shall set CANopen nodes into NMT state OPERATIONAL. For Class 1 and Class 2 devices this service shall trigger a CANopen Request NMT service /CiA302-2/ for Class 3 devices the service shall trigger a Start Remote Node service /CiA301/.
Parameter Indication Response
Argument Network Node-ID All Mandatory Optional Selection Selection
Remote result Success
Failure
Reason Mandatory Selection Selection Mandatory
4.3.3 Stop node
This service shall set CANopen nodes into NMT state STOPPED. For class 1 and class 2 devices this service shall trigger a CANopen request NMT service /CiA302-2/ for class 3 devices the serv-ice shall trigger a stop remote node service /CiA301/.
Note: The remote result for class 1 and 2 devices is only the confirmation of the SDO request; for class 3 devices the remote result is based on the error control services as defined in /CiA301/.Argument Network Node-ID All Mandatory Optional Selection Selection
Remote result Success
Failure
Reason Mandatory Selection Selection Mandatory
4.3.4 Set node to pre-operational
This service shall set CANopen nodes into NMT state PRE-OPERATIONAL. For class 1 and class 2 devices this service shall trigger a CANopen request NMT service /CiA302-2/ for class 3 devices the service shall trigger an Enter Pre-operational service /CiA301/.
Parameter Indication Response
Argument Network Node-ID All Mandatory Optional Selection Selection
Remote result Success
Failure
Reason Mandatory Selection Selection Mandatory
4.3.5 Reset node
This service shall set CANopen nodes into NMT state RESET APPLICATION. For class 1 and class 2 devices this service shall trigger a CANopen request NMT service as specified in /CiA302-2/ for class 3 devices the service shall trigger a reset node service.
Parameter Indication Response
Argument Network Node-ID All Mandatory Optional Selection Selection
Remote result Success
Failure
Reason Mandatory Selection Selection Mandatory
4.3.6 Reset communication
This service shall set CANopen nodes into NMT state RESET COMMUNICATION. For class 1 and class 2 devices this service shall trigger a CANopen request NMT service as specified /CiA302-2/ for class 3 devices the service shall trigger a reset communication service.
Parameter Indication Response
Argument Network Node-ID All Mandatory Optional Selection Selection
Remote result Success
Failure
Reason Mandatory Selection Selection Mandatory4.3.7 Enable node guarding
This service is only available for class 3 devices. It shall start node guarding for the device speci-fied by node-ID with the parameters given by GuardTime and LifeTimeFactor. If heartbeat is al-ready activated on the addressed node, the service request shall be rejected.
Parameter Indication Response
Argument
Network
Node-ID
GuardTime
LifeTimefactor Mandatory Optional Mandatory Mandatory Mandatory
Remote result Success
Failure
Reason Mandatory Selection Selection Mandatory
4.3.8 Disable node guarding
This service is only available for class 3 devices. It shall stop node guarding for the device speci-fied by node-ID.
Parameter Indication Response
Argument Network Node-ID Mandatory Optional Mandatory
Remote result Success
Failure
Reason Mandatory Selection Selection Mandatory
4.3.9 Start heartbeat consumer
This service shall start the consumption of heartbeat messages transmitted by a CANopen device specified by node-ID.
Parameter Indication Response
Argument
Network
Node-ID
HeartbeatConsumerTime Mandatory Optional Mandatory Mandatory
Remote result Success
Failure
Reason Mandatory Selection Selection Mandatory
4.3.10 Disable heartbeat consumer
This service shall stop the consumption of heartbeat messages transmitted by a CANopen device specified by node-ID.
Parameter Indication Response
Argument Network Node-ID Mandatory Optional Mandatory
Remote result Success
Failure
Reason Mandatory Selection Selection Mandatory4.3.11 Error control event received
This service shall signal the NMT status or error control events received from a CANopen node specified by node-ID.
Parameter Request
Argument
Network
Node-ID
Status
Error Code Mandatory Optional Mandatory Selection Selection
4.4 Device failure management services
4.4.1 General
The services specified in this clause are used to manage failures within the gateway device or within any other CANopen device.
4.4.2 Read device error
This service shall read EMCY message information received from the CANopen device specified by the node-ID parameter.
Parameter Indication Response
Argument Network Node-ID Mandatory Optional Optional
Remote result
Success
Network
Node-ID
Error
Error Msg number Error Msg text
Emergency
Emergency code Error register
Manufacturer error Failure
Reason Mandatory
Selection
Optional
Mandatory Selection Mandatory Optional Selection Mandatory Optional Optional Selection
Mandatory
4.4.3 Emergency event received
This service shall signal the reception of an emergency message in the gateway device transmitted by a CANopen device specified by the node-ID.
Parameter Request
Argument
Network
Node-ID
Emergency code Error register
Manufacturer error Mandatory Optional Mandatory Mandatory Mandatory Optional
4.5 CANopen interface configuration services
4.5.1 General
The services described in this clause are used to configure and parameterize the CANopen inter-face of the gateway device.4.5.2 Initialize gateway
This service shall initiate the CANopen initialization of the gateway device. It shall perform a power-on equivalent reset of the CANopen interface. It is used to initialize the bit-timing parameters.
Parameter Indication Response
Argument
Network
CAN bit timing Mandatory Optional Optional
Remote result Success
Failure
Reason Mandatory Selection Selection Mandatory
4.5.3 Store configuration
This service shall command the gateway device to store its CANopen interface configuration.
Parameter Indication Response
Argument
Network
Storage specifier Mandatory Optional
Optional
Remote result Success
Failure
Reason Mandatory Selection Selection Mandatory
4.5.4 Restore configuration
This service shall command the gateway device to restore its CANopen interface configuration.
Parameter Indication Response
Argument Network
Storage specifier Mandatory Optional Optional
Remote result Success
Failure
Reason Mandatory Selection Selection Mandatory
4.5.5 Set heartbeat producer
This service shall set the CANopen heartbeat producer time in the gateway device.
Parameter Indication Response
Argument
Network
Node-ID
HeartbeatProducerTime Mandatory Optional Mandatory Mandatory
Remote result Success
Failure
Reason Mandatory Selection Selection Mandatory
CiA 309-1 Interfacing CANopen with TCP/IP – Part 1: General principles Version 1.1
4.5.6 Set node-ID
This service shall set the CANopen node-ID in the gateway device for the CANopen network given in the network parameter.
Parameter Indication Response
Argument Network Node-ID Mandatory Optional Mandatory
Remote result Success
Failure
Reason Mandatory Selection Selection Mandatory
4.5.7 Start emergency consumer
This service shall start the consumption of emergency messages. The relation between node-ID producing an emergency message and the COB-ID has to be explicitly known.
Parameter Indication Response
Argument Network Node-ID COB-ID Mandatory Optional Mandatory Mandatory
Remote result Success
Failure
Reason Mandatory Selection Selection Mandatory
4.5.8 Stop emergency consumer
This service shall stop the consumption of emergency messages. The relation between node-ID producing an emergency message and the COB-ID has to be explicitly known.
Parameter Indication Response
Argument Network Node-ID COB-ID Mandatory Optional Mandatory Mandatory
Remote result Success
Failure
Reason Mandatory Selection Selection Mandatory
4.6 Gateway management services
4.6.1 General
The services specified in this clause are used to manage the gateway device.
4.6.2 Set default network
This service shall set the default network number, which shall be used for all services.
Parameter Indication Response
Argument
DefaultNetwork Mandatory Mandatory
Remote result Success
Failure Mandatory Selection SelectionCiA 309-1 Interfacing CANopen with TCP/IP – Part 1: General principles Version 1.1 Reason Mandatory
4.6.3 Set default node-ID
This service shall set the default node-ID, which shall be used for all services.
Parameter Indication Response
Argument
Default node-ID Mandatory Mandatory
Remote result Success
Failure
Reason Mandatory Selection Selection Mandatory
4.6.4 Get version
This service shall get information on the gateway device and its CANopen interface.
Parameter Indication Response
Argument Network Mandatory Optional
Remote Result
Success
Vendor-ID
Product code
Revision number
Serial number
Gateway class
Protocol version
Implementation class Failure
Reason Mandatory Selection Mandatory Mandatory Mandatory Mandatory Mandatory Mandatory Mandatory Selection Mandatory
4.7 Controller management services
4.7.1 General
The services specified in this clause are used to manage a programmable controller implemented within the gateway device or in a remote node on a CANopen sub-network.
Upload and download of the controller program shall be done using SDO upload and SDO write services.
For a programmable controller on a remote node, the object dictionary entries specified in /CiA302-3/ for program control shall be implemented and the gateway shall translate the service into a SDO access to these object dictionary entries.
4.7.2 Reset controller
This service shall reset the controller function.
Parameter Indication Response
Argument Network Node-ID Mandatory Optional Optional
Remote result Success
Failure
Reason Mandatory Selection Selection MandatoryCiA 309-1 Interfacing CANopen with TCP/IP – Part 1: General principles Version 1.1
4.7.3 Start controller
This service shall switch the controller function to RUN.
Parameter Indication Response
Argument Network Node-ID Mandatory Optional Optional
Remote result Success
Failure
Reason Mandatory Selection Selection Mandatory
4.7.4 Stop controller
This service shall switch the controller function to STOP.
Parameter Indication Response
Argument Network Node-ID Mandatory Optional Optional
Remote result Success
Failure
Reason Mandatory Selection Selection Mandatory
4.8 Manufacturer-specific services
4.8.1 General
The manufacturer of a gateway device may define additional services.下载本文
