Specifications

Communication protocols
PROGRAMMING MANUAL 202
Revision 5.0
4.6 CANopen
CANopen is a networking system based on the CAN (Controller Area
Network) serial bus. The Trajexia CANopen Master Unit (TJ1-CORT) is an
interface between the Trajexia system and up to 8 CANopen devices. It
operates as the NMT (Network Management) master in the network.
The TJ1-CORT can communicate up to 8 PDOs (Process Data Objects) in
each direction.
4.6.1 Communication setup
The TJ1-CORT is identified in the CANopen network by its node number.
The node number can range from 1 to 99. The node number of the TJ1-
CORT is set with the two node number selectors.
To initialize the TJ1-CORT, execute the CAN_CORT commands given
below.
1. Initialize the TJ1-CORT: execute the command
CAN_CORT(unit,5,bit_rate).
2. Add the slave nodes to the network.
To add a slave node to the TJ1-CORT, execute the command
CAN_CORT(unit,6,node_ID,mandatory_flag).
3. Add the TPDOs (Transmit PDOs) and RPDOs (Receive PDOs), and
map them to the TJ1-MC__ memory.
To configure an RPDO, execute the command
CAN_CORT(unit,7,PDO_number,area_type,start_address,COB_ID,
obj_type, obj_type,...)
To configure a TPDO, execute the command
CAN_CORT(unit,8,PDO_number,area_type,start_address,COB_ID,
inhibit_time,event_timer,obj_type, obj_type,...)
4. The write operations defined with the command
CAN_CORT(unit,9,node_ID,index,subindex,byte1,byte2,...) are
executed at each network startup. Note the following:
• Execute this command for each CANopen object that must be
configured.
• Do the configuration for the TJ1-CORT first, before the configuration
of the CANopen slaves.
• Group the configuration commands for the CANopen slaves together
per node.
• It is possible that certain non-default settings are required for the
TJ1-CORT or the CANopen slaves in the network. An example is to
initialize the heartbeat consumption and production object entries.
• It is highly recommended that the TJ1-CORT acts as the heartbeat
consumer for all connected CANopen devices. Otherwise, the
communication status will be incorrect.
5. Start the CANopen network and the mapping of the Trajexia memory to
RPDOs and TPDOs: execute the command CAN_CORT(unit,10).
Note
To set up the CANopen communication, the user must have a
basic knowledge of CANopen systems.
Note
The execution order of the CAN_CORT commands given below is
important. Execute the commands in the order given below. If not,
initialization errors can occur.