...
CANopen-Master SetBusParam
DEST: 20
CMD: 2806
LEN: 2C
DATA: 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 80 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
CANopen-Slave SetBusParam
DEST: 20
CMD: 2E04
LEN: 44
DATA: 01 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
Channel Init
DEST: 20
CMD: 2F80
LEN: 0
DATA:
CAN_DL-Register
DEST: 20
CMD: 2A0A
LEN: 04
DATA: 00 00 00 00
CAN_DL-Enable RxID
DEST: 20
CMD: 2A12
LEN: 18
DATA: 03 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 FF 07 00 00 00 00 00 00
CAN_DL-Send Data
DEST: 20
CMD: 2A02
LEN: 14
DATA: 00 00 00 00 08 00 00 00 42 00 00 00 11 22 33 44 55 66 77 88 |
The following packets must be sent for For the CANopen master (without SYCON.net) the following packets must be sent in the following order (the CAN telegram described above with CAN ID 0x700 + NODE ID is also sent here):
- CANopen master SetBusParam
...
- CAN_DL register
...
- CAN_DL-Enable RxID
...
- (CAN_DL-Send Data) - Exemplary sending of a CAN telegram
For the CANopen slave (without SYCON.net) the following packets must be sent in the following order:
- CANopen slave SetBusParam
...
- Channel Init
...
- CAN_DL register
...
- CAN_DL-Enable RxID
...
- (CAN_DL-Send Data) - Exemplary sending of a CAN telegram
CAN telegrams are then received by the customer application via the card's Receive Mailbox (CAN_DL_CMD_DATA_IND)
If SYCON.net is used, the SetBusParam and for the slave the Channel Init must be skipped.
Für den CANopen Master müssen (ohne SYCON.net) folgende Pakete in folgender Reihenfolge gesendet werden (das oben beschriebene CAN-Telegramm mit CAN-ID 0x700 + NODE-ID wird hier auch gesendet):
- CANopen-Master SetBusParam
- CAN_DL-Register
- CAN_DL-Enable RxID
- (CAN_DL-Send Data) – Exemplarisches Senden eines CAN-Telegramms
- Für den CANopen Slave müssen (ohne SYCON.net) folgende Pakete in folgender Reihenfolge gesendet werden:
- CANopen-Slave SetBusParam
- Channel Init
- CAN_DL-Register
- CAN_DL-Enable RxID
- (CAN_DL-Send Data) – Exemplarisches Senden eines CAN-Telegramms
CAN-Telegramme werden dann von der Kundenapplikation über die Receive Mailbox der Karte empfangen (CAN_DL_CMD_DATA_IND)
Wenn SYCON.net verwendet wird, müssen die SetBusParam und beim Slave der Channel Init übersprungen werden.