TOOLS & COMPONENTS FOR OPEN NETWORKING

CANalyzer.CANopen, Version 7.0

CANalyzer Extension for CANopen Users

CANopen is an open, CAN-based communication protocol. Its wide Functions

range of application includes areas such as transport and control CANalyzer.CANopen extends the functionality of the CANalyzer to
technology, measurement systems, medical technology, railway include:
technology, maritime applications, and much more – in short > Protocol-specific representation in the Trace Window
everywhere a great amount of flexibility and rapid data transmis- > Protocol monitoring
sion are in demand. The specification drew from the experience of > Graphical representation of devices
several component manufacturers and users, resulting in a well > Network management, guarding, heartbeat
established standard that is maintained by the CAN in Automation > Setting the baud rate and node ID via Layer Setting Services
(CiA) user organization. > Use of the CiA standard file formats EDS/DCF
> Configuration of CANopen devices
Features and Advantages These functions will be described below in detail.
CANalyzer’s powerful functionality together with the functional
expansions for CANopen gives the user a tool that can be used both Application Areas
in the development of CANopen systems as well as their startup The primary application for the .CANopen Option for CANalyzer is
and maintenance. CANalyzer.CANopen Option makes high- the development of CANopen systems. In this environment the tool
performance, CANopen-specific functions for analysis, simulation, is primarily used to analyze and stimulate the CANopen-specific
testing, and configuration available to the developer. This is a message traffic on one or more CAN buses. Additional areas are
prerequisite for reliable and efficient interaction with CANopen diagnostics, testing, service, and start-up.
networks.

CANalyzer.CANopen enables
V2.1 2008-11

CANopen-specific interpretation
of data in the Trace Window

Vector Informatik GmbH > Ingersheimer Str. 24 > 70499 Stuttgart > Tel. 0711-80670-0 > Fax 0711-80670-111 > www.vector-informatik.com
TOOLS & COMPONENTS FOR OPEN NETWORKING

Hardware Interfaces Protocol Monitoring

CANalyzer.CANopen is available for all current hardware platforms CANalyzer.CANopen also monitors for the correctness of individual
of Vector. protocol sequences. This involves detection of whether the proto-
col information contained within a protocol sequence is properly
Analysis entered in the CAN message.
Not only is the Trace Window provided for the analysis of CANopen
data traffic, but also the familiar Data and Statistics Windows of “CANopen” Interactive Generator Block
the standard version of CANalyzer. Dialog-based creation of CANopen-specific message sequences is
The CANopen Scanner evaluates CAN messages and shows the offered. From a project-specific list of existing messages, the user
active nodes in a list. Other node-specific information is also out- selects and configures the desired messages (PDOs, SDOs, etc.)
put, such as the node state and device name. and assembles them into a sequence. The sequence can be re-
played once or periodically. This means that message sequences
Protocol-specific Display can be sent to the connected devices as often as desired.
In a Trace Window the CAN message traffic is displayed while simul-
taneously interpreting the protocol information it contains. The Programming
user not only sees the service that is currently being executed, but By inserting programmable function blocks into the measurement
can also see all relevant service parameters at a glance. This infor- setup, the user can extend the CANalyzer functionality in virtually
mation is displayed in clear text and gives the user a quick over- any way. This method allows the user to create CANopen-specific
view of the chronological order of individual protocol sequences test programs or simple node simulations.
for the observed CANopen services thereby making it significantly
easier to localize errors in a real system. Graphical Representation
The individual devices of a CANopen network are shown in a sum-
mary graphic that shows each device’s name, Node-ID, and op-
tionally a bitmap. They can be combined into groups, for example
to represent their functional relationship to one another.

New functions of Version 7.0:

CANeds integrated
> The EDS editor CANeds is fully integrated in the tool lineup.
CANeds offers a convenient way to create, modify and test EDS
and DCF files.

Signal information for PDOs in the database

> Signal names are considered in generating the CAN database.
They are displayed in the Trace window, provided that signals
have been defined for mapped objects in the EDS file.

Vector Informatik GmbH > Ingersheimer Str. 24 > 70499 Stuttgart > Tel. 0711-80670-0 > Fax 0711-80670-111 > www.vector-informatik.com
TOOLS & COMPONENTS FOR OPEN NETWORKING

It is easy to read-in a network that already exists. This involves Creating and changing objects:
reading objects from the object dictionary and comparing them to Unfortunately it is often the case in practice that existing EDS files
existing EDS files. The assignment of an EDS file in a real device in for devices are incomplete. CANalyzer.CANopen therefore makes it
the network is performed automatically. If no EDS is available the possible to create new objects or to assign the correct attributes to
objects existing in the object dictionary are found and displayed existing objects. However such changes do not modify the original
according to their device type. Modular devices are also supported. EDS file, rather only the DCF.

Object Directory Checking of EDS files and configured PDOs:

The object directory for an individual device is shown in a tree EDS files can be tested with the built-in EDS Checker. This is the
structure that is structured as a function of user inputs. The objects same test program that is also used for the CANopen Conformance
to be shown are taken from the EDS file for the relevant device. Test. Additionally, a check is also made to determine whether PDOs
Attributes are shown for each individual object in an easy to read can be configured as they are specified by attributes in the object
format. It is easy to read-out and modify device parameters that dictionary. For example, if the mapping of a PDO is not modifiable,
are mapped into a device by object dictionary entries. This is how but the associated EDS file states the opposite, this discrepancy is
the user can configure necessary settings in a device. In the modi- easily detected.
fication of PDO parameters the access dialog considers the access
order specified by the DS301 communications profile. SDO Client:
If no EDS file exists for a device, it is still possible to access the Access to the object dictionary is generally performed by the SDO
object dictionary by a special dialog. Changes to device parameters (Service Data Object). Besides the “Expedited“ transfer mode,
are stored separately for each device in a Device Configuration File CANalyzer.CANopen also supports “Segmented“ and ”Block“
(DCF). modes. Objects of any size can be transmitted by SDO. These ob-
jects may also exist separately in files.

Module configuration with the aid

of interactive device access

Vector Informatik GmbH > Ingersheimer Str. 24 > 70499 Stuttgart > Tel. 0711-80670-0 > Fax 0711-80670-111 > www.vector-informatik.com
TOOLS & COMPONENTS FOR OPEN NETWORKING

Training
As part of our training program, we offer a range of classes and
workshops on CANopen in our classrooms and on-site at our
customers. For more information and the dates of our training
courses, please visit our homepage on the Internet at:
www.vector-academy.com

Network Management Layer Setting Services

Configuring and testing the error control capabilities of the device: Devices in which the baud rate and Node-ID can only be configured
Guarding can be started and stopped at any point, or it can even be by software are also supported by the integrated LSS services.
run in parallel for multiple nodes. The communication states of
connected devices can be influenced by suitable NMT commands. Standard Formats
Guarding is then used to obtain a return message indicating the CANalyzer.CANopen uses the standardized file formats EDS and
state that was actually achieved. Certainly the heartbeat message DCF to store data. Simple data exchange with any other CANopen
can be controlled instead of the guarding. tool such as ProCANopen or CANoe.CANopen is guaranteed.

Configuration Saving in the Network Add-on Functions

CANalyzer.CANopen supports central saving of all configuration Dialog-based configuration of CANopen safety systems per CiA304
data in a CANopen Manager. This involves sending the configura- (framework for safety-relevant communication) is offered, pro-
tion data from the individual DCFs to the object dictionary of the vided that a device has SRDO (safety relevant PDO).
CANopen Manager. The “Concise Format“ defined by CiA e.V. is
used for this. When the CANopen system is started the CANopen
Manager then uses these configuration data to configure each
individually connected node.
For CANopen devices that save changes internally in the object
dictionary, it is possible to work with the predefined memory
commands “Store“ and ”Restore“. These commands cause a
CANopen device to save the configuration and restore default
values, respectively.

Vector Informatik GmbH > Ingersheimer Str. 24 > 70499 Stuttgart > Tel. 0711-80670-0 > Fax 0711-80670-111 > www.vector-informatik.com