CANopenNodeManual.pdf

User Manual v0.90 CANopenNode Page 1/10 CANopenNode User Manual Janez Paternoster C. v Zajcjo Dobravo 14a Ljubljana Slovenia, EU janez.paternoster@ 16. August 2004 User Manual v0.90 CANopenNode Page 2/10 Contents 1. Introduction 2 1.1 Whats new from v0.80 2 1.2 Short description of CAN and CANopen 2 1.3 Features of CANopenNode4 2. Design5 2.1 Files5 2.2 PIC18F458 resources used for CANopenNode 6 2.3 How does it work7 3. Characteristics 8 4. Conclusion8 5. Literature9 1. Introduction CANopenNode is an Open Source program written for 8-bit microcontroller. It can be used in various devices connected on CAN bus (sensors, input/output units, command interfaces, various controllers etc.). Program is written according to CANopen standard, so devices can communicate with other devices based on CANopen. 1.1 Whats new from v0.80 ? Increased performance, stability and CANopen conformance. ? Simplified ? Optimized reception and transmittion of CAN messages. ? Added defines for setup. ? Added EEPROM variables in Object Dictionary. 1.2 Short description of CAN and CANopen CAN (Controller Area Network) is serial bus system originally developed to be used in cars. It is also widely used in an industrial automation. Since it is cost effective (it is implemented inside many 8-bit microcontrollers) it can be used in wide range of applications. Some features of CAN: ? cost effective, ? implemented in hardware, ? reliable (sophisticated error detection, erroneous messages are repeated, high immunity to electromagnetic interference), ? flexible, ? arbitration without loosing time, ? data rate (cable length): 10kbps (5 km) to 1Mbps (25m), User Manual v0.90 CANopenNode Page 3/10 ? message length: max 8 bytes, ? messages have unique CAN identifier. CAN reliability (statistic): If a network based on 250kbps operates for 2000 hours per year at an average bus load of 25% an undetected error occurs only once per 1000 years. [CANopenBook] CAN is an implementation of lower