IO644 Usage Notes / IO644 / CANopen / Communication Protocols / Speedgoat I/O Blockset

Description

This section provides additional information about the IO644 CANopen Slave module.

EDS File

To set up CANopen communication, you must import the electronic data sheets (EDS) of the CANopen slave devices into your CANopen Master configuration tool or PLC programming tool. Speedgoat does not provide a default EDS file for the IO644. Instead, you can export an EDS file from the IO644 Setup block that is specific to your Simulink model.

For simulation purposes, you can import EDS files from other vendors and autogenerate a communication interface in Simulink ready for use with the IO644. The createFromEds function places the IO644 Setup, PDO, and Object driver blocks into the model and automatically sets the block parameters according to the objects defined in the EDS file.

Communication Object Identifier (COB ID)

With CANopen, each information shared on the network is a COB (Communication Object) and has a COB ID (Communication Object Identifier). The COB ID includes the unique 11-bit CAN ID and additional information. This CAN ID ranges from 0 to 2047. The CANopen standard defines the following CAN ID ranges:

CAN ID	Description
0	Network Management (NMT)
1	Reserved
128	SYNC
129-255	Emergency
256	Timestamp
257-384	Safety
385-511	TxPDO 1
513-639	RxPDO 1
641-767	TxPDO 2
769-895	RxPDO 2
897-1023	TxPDO 3
1025-1151	RxPDO 3
1153-1279	TxPDO 4
1281-1407	RxPDO 4
1409-1535	TxSDO
1537-1663	RxSDO
1760	Reserved
1793-1919	NMT Error Control
2020-2047	Reserved

Pre-defined Objects

Some objects in the object dictionary are mandatory for the basic operation of the I/O module. These objects are automatically created according to the parameters of the Setup and PDO blocks, and must not be added by Object blocks.

Object	Sub-object	Name	Value
1000		Device Type	Setup block; Device Type parameter
1001		Error Register	0
1005		COB-ID Sync	0x80
1006		Communication Cycle Period	0
1007		Synchronous Window Length	0
100C		Guard Time	Setup block; Guard Time parameter
100D		Life Time Factor	Setup block; Life Time Factor parameter
1012		COB-ID Time Stamp	0x00000100
1014		COB-ID EMCY	0x80 + CAN Node ID
1016		Consumer Heartbeat Times
1016	1 to 40	Consumer Heartbeat Time	Setup block; Consumer Time parameter
1017		Producer Heartbeat Time	Setup block; Producer Time parameter
1018		Identity Object
1018	1	Vendor ID	Setup block; Vendor ID parameter
1018	2	Product Code	Setup block; Product Code parameter
1018	3	Revision Number	Setup block; Revision Number parameter
1018	4	Serial Number	Setup block; Serial Number parameter
1029		Error Behaviour
1029	1	Communication Error	0
1029	2	Internal Device Error	1
1200		Server SDO Parameter
1200	1	COB_ID Client->Server(rx)	0x600 + CAN Node ID
1200	2	COB_ID Server->Client(tx)	0x580 + CAN Node ID
1400 to 15FF		Receive PDO Parameter	0x1400 refers to the first Rx PDO block, 0x1401 to the second, and so on
1400 to 15FF	1	COB-ID	PDO block; COB ID parameter
1400 to 15FF	2	Transmission Type	PDO block; Transmission Type and Rate parameters
1600 to 17FF		Receive PDO Mapping	0x1600 refers to the first Rx PDO block, 0x1601 to the second, and so on
1600 to 17FF	1 to 8	PDO Mapping Entry	PDO block; Mapping parameter
1800 to 19FF		Transmit PDO Parameter	0x1800 refers to the first Tx PDO block, 0x1801 to the second, and so on
1800 to 19FF	1	COB-ID	PDO block; COB ID parameter
1800 to 19FF	2	Transmission Type	PDO block; Transmission Type and Rate parameters
1800 to 19FF	3	Inhibit Time	PDO block; Inhibit Time parameter
1800 to 19FF	5	Event Timer	PDO block; Event Timer parameter
1A00 to 1BFF		Transmit PDO Mapping	0x1A00 refers to the first Tx PDO block, 0x1A01 to the second, and so on
1A00 to 1BFF	1 to 8	PDO Mapping Entry	PDO block; Mapping parameter

Front Plate Description

IO644 PCI and PCIe modules

The rotary switch has no functional role.

IO644 mPCIe module

Note that in some real-time target machines, the mPCIe module is reversed; that is, the Error LED appears on the right.

LED Status Description

PCI and PCIe modules

LED	Color	State	Meaning
SYS	Green	On	Operating system running
	Green/Yellow	Blinking	Second stage bootloader is waiting for firmware
	Yellow	On	Bootloader netX (= romloader) is waiting for second stage bootloader
	Off	Off	Power supply for the device is missing or hardware defect
CAN	Green	On	The device is in the OPERATIONAL state
	Green	Blinking (2.5 Hz)	The device is in the PREOPERATIONAL state
	Green	Single flash	The device is in the STOPPED state
	Red/Green	Flickering (10 Hz)	The Device is in the auto baud rate detection mode
	Red	Single flash	Warning limit reached: At least one of the error counters of the CAN controller has reached or exceeded the warning level (too many error frames)
	Red	Double flash	Error control event: A guard event (NMT slave or NMT master) or a heartbeat event (heartbeat consumer) has occurred
	Red	On	The CAN controller is in bus OFF state
	Off	Off	The device is executing a reset or the device has no configuration

mPCIe module

LED	Color	State	Meaning
STATUS/COM1	Green	On	The device is in the OPERATIONAL state
	Green	Blinking (2.5 Hz)	The device is in the PREOPERATIONAL state
	Green	Single flash	The device is in STOPPED state
	Green	Flickering (10 Hz, alternatively with ERROR LED)	The Device is in the auto baud rate detection mode
	Off	Off	The device is executing a reset or the device has no configuration. Refer to the ERROR LED
ERROR/COM2	Off	Off	Refer to the STATUS LED
	Red	Flickering (10 Hz, alternatively with STATUS LED)	The Device is in the auto baud rate detection mode
	Red	Single flash	Warning limit reached: At least one of the error counters of the CAN controller has reached or exceeded the warning level (too many error frames)
	Red	Double flash	Error control event: A guard event (NMT slave or NMT master) or a heartbeat event (heartbeat consumer) has occurred
	Red	On	The CAN controller is in bus OFF state

Status Codes

For the list of status codes, please refer to Status Codes for Protocols Supported with the IO64x/IO75x Modules.

Documentation

IO644 Usage Notes v2