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MicroCANopen
Implementation Examples

  
Our implementation examples are currently available for the Atmel 89C51CC01 and the NXP LPC2000 microcontrollers. The example has the same CANopen communication options on all implementations: A CANopen slave node with the node ID 7 and operating at 125kbit using C source files auto-generated by CANopen Architect EDS. The CANopen communication behavior is described in the electronic data sheet (EDS) "MicroCANopenExample.eds" which is part of the MicroCANopen distribution.

Request MicroCANopen Source Code

Request the free MicroCANopen source code with examples for the Philips P8xC591 and the Atmel T89C51CC01. Once you registered, the distribution file will be emailed to you.

MicroCANopen Example Communication Behavior

Transmit Messages

Boot-up and heartbeat: CAN-ID 0x707, per default transmitted every 2 seconds.
Note: The node "auto-starts" and jumps into "operational" state right after the boot-up.

TPDO1: CAN-ID 0x187 (default), 4 bytes, 4 UNSIGNED8 digital inputs, transmitted upon COS (Change-Of-State) with an inhibit time an an event time.

TPDO2: CAN-ID 0x287 (default), 4 bytes, 2 UNSIGNED16 analog inputs, transmitted upon COS (Change-Of-State) with an inhibit time an an event time.

SDO Response: CAN-ID 0x587 (default), send in reply to SDO Requests coming from a NMT master or configuration tool.

Receive Messages

NMT Master Message: CAN-ID 0x000, all NMT commands are properly executed, including communication and application resets.

RPDO1: CAN-ID 0x207 (default), 4 bytes, 4 UNSIGNED8 digital outputs.

RPDO2: CAN-ID 0x307 (default), 4 bytes, 2 UNSIGNED16 analog outputs.

SDO Requests: CAN-ID 0x607 (default), all requests get an appropriate SDO Response.

 

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