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    Redes de Comunicação Can - Canopen

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    Roberto Justino
    This document discusses CAN and CANOpen networks. It begins with an overview of CAN networks, including physical layer specifications, bit rates, and maximum cable lengths. An example of CAN usage in automotive applications is provided. CANOpen is then introduced as an application layer protocol for CAN networks. Key CANOpen concepts like object dictionary, SDO, PDO, sync, emergency, and heartbit protocols are defined. Examples of CANOpen implementations from companies like Beckhoff and National Instruments are also mentioned.

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    © All Rights Reserved
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    Redes de Comunicação Can - Canopen

    Uploaded by

    Roberto Justino
    69 views34 pages
    This document discusses CAN and CANOpen networks. It begins with an overview of CAN networks, including physical layer specifications, bit rates, and maximum cable lengths. An example of CAN usage in automotive applications is provided. CANOpen is then introduced as an application layer protocol for CAN networks. Key CANOpen concepts like object dictionary, SDO, PDO, sync, emergency, and heartbit protocols are defined. Examples of CANOpen implementations from companies like Beckhoff and National Instruments are also mentioned.

    Original Description:

    MANUAL CANOPEN UNITRONICS

    Original Title

    CAN_CANOPEN

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    © © All Rights Reserved

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    This document discusses CAN and CANOpen networks. It begins with an overview of CAN networks, including physical layer specifications, bit rates, and maximum cable lengths. An example of CAN usage in automotive applications is provided. CANOpen is then introduced as an application layer protocol for CAN networks. Key CANOpen concepts like object dictionary, SDO, PDO, sync, emergency, and heartbit protocols are defined. Examples of CANOpen implementations from companies like Beckhoff and National Instruments are also mentioned.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    69 views34 pages

    Redes de Comunicação Can - Canopen

    Uploaded by

    Roberto Justino
    This document discusses CAN and CANOpen networks. It begins with an overview of CAN networks, including physical layer specifications, bit rates, and maximum cable lengths. An example of CAN usage in automotive applications is provided. CANOpen is then introduced as an application layer protocol for CAN networks. Key CANOpen concepts like object dictionary, SDO, PDO, sync, emergency, and heartbit protocols are defined. Examples of CANOpen implementations from companies like Beckhoff and National Instruments are also mentioned.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 34

    REDES DE COMUNICAÇÃO

    CAN - CANOpen

    Guilherme Fernandes
    Escola de Engenharia de São Carlos – USP
    Laboratório de Mecatrônica
    Grupo de Manipulação Robótica
    SUMÁRIO
    1. MOTIVAÇÃO

    2. REVISÃO – REDES DE COMUNICAÇÃO

    1. CAN – CONTROLER AREA NETWORK

    2. EXEMPLO – UTILIZAÇÃO DE CAN NA INDÚSTRIA AUTOMOTIVA

    3. PROTOCOLO INDUSTRIAL – CANOpen

    4. EXEMPLOS CANOpen
    REVISÃO

    MEIO FÍSICO

    FIELDBUS
    ENDEREÇAMENTO

    PROTOCOLO
    CAN
    ISO11898-1 e ISO11898-2
    MEIO FÍSICO

    1 Mbps 800 kBps 500 kBps 250 kBps 125 kBps 10kBps
    Velocidades da rede:
    40 m 60 m 100 m 250 m 500 m 6000 m
    Imagem retirada de: http://www.scielo.org.ar/scielo.php?script=sci_arttext&pid=S0327-07932005000200010
    Imagem retirada de: Livro Embbeded Networking with CAN and CANOpen
    CAN
    PROTOCOLO

    1 11 1 1 1 4 0-64 15 1 1 1 7

    Start of frame
    COB-ID (CAN OBJECT ID)
    RTR (Remote Transmission Request)
    IDE
    Reservado
    DLC (Data Length Code)
    Data (0 – 8 bytes)
    • Data Frame Cyclic Redundancy Check
    • Remote Frame CRC Delimiter
    • Error Frame Ack Slot
    • Overload Frame Ack Delimiter
    EOF
    CAN
    PROTOCOLO
    CAN
    ENDEREÇAMENTO

    CAN OBJECT IDENTIFIER – COB-ID

    ENDEREÇO PRIORIDADE
    EXEMPLO

    http://www.aa1car.com/library/can_systems.htm
    EXEMPLO

    http://www.aa1car.com/library/can_systems.htm
    EXEMPLO
    CAN DATABASE – Plataforma Ford

    EPS

    CCP – CAN CALIBRATION PROTOCOL

    TECNOMOTOR – Sistemas de dignóstico automotivo


    CANOpen
    CANOpen é um protocolo de alto nível para rede CAN
    1. ARINC 825 (for the aviation industry)
    2. CANaerospace (for the aviation industry)
    3. CAN Kingdom
    4. CANopen (used for industrial automation)
    5. CCP / XCP
    6. DeviceNet (used for industrial automation)
    7. EnergyBus (used for electrical vehicles)
    8. GMLAN (for General Motors)
    9. ISO 15765-4
    10. ISO 11783 or ISOBUS (agriculture)
    11. ISO14229
    12. SAE J1939 (heavy road vehicles)
    13. MilCAN
    14. NMEA 2000 (marine industry)
    15. RV-C(used for recreational vehicles)
    16. SafetyBUS p (used for industrial automation)
    17. SmartCraft
    18. Smart Distributed System (SDS)
    19. VSCP (used for building automation)
    CAN x CANOpen
    Open Systems Interconnection (OSI) model

    Aplication Layer

    Presentation Layer

    Session Layer
    CANOpen
    Transport Layer (Parcial)

    Network Layer

    Data Link Layer


    CAN
    Phisical Layer
    CANOpen
    CANOpen são regras para implementação CAN

    Fonte: Livro Embbeded Networking with CAN and CANOpen


    CANOpen
    •NODE – ID ( 127 nodes )

    •OBJECT DICTIONARY

    •SDO

    •PDO

    •SYNC

    •EMERGENCY

    •NODE GUARDING

    •HEART BIT
    CANOpen

    Fonte: Livro Embbeded Networking with CAN and CANOpen


    CANOpen
    •OBJECT DICTIONARY

    Fonte: Livro Embbeded Networking with CAN and CANOpen


    CANOpen
    •OBJECT DICTIONARY

    Fonte: Livro Embbeded Networking with CAN and CANOpen


    CANOpen
    •OBJECT DICTIONARY

    DS-4.........

    Exemplo: Driver EPOS – DS-402


    CANOpen - SDO
    SDO – Service Data Objects

    Fonte: EPOS2 Communication Guide


    CANOpen - SDO
    SDO – Service Data Objects – EXEMPLO - LEITURA

    Fonte: EPOS2 Communication Guide


    CANOpen - SDO
    SDO – Service Data Objects – EXEMPLO - ESCRITA

    Fonte: EPOS2 Communication Guide


    CANOpen - NMT
    DS-301
    NMT – Network Master

    Fonte: EPOS2 Communication Guide


    CANOpen - NMT
    DS-301
    NMT – Network Master

    Fonte: EPOS2 Communication Guide


    CANOpen - PDO
    PDO – Process Data Objects

    Fonte: EPOS2 Communication Guide


    CANOpen - PDO

    PDO – Process Data Objects – EXEMPLO – ESCRITA - LEITURA

    Fonte: EPOS2 Communication Guide


    CANOpen
    SYNC

    Fonte: EPOS2 Communication Guide


    CANOpen
    EMERGENCY

    Fonte: EPOS2 Communication Guide


    CANOpen
    NODE GUARDING PROTOCOL

    Fonte: EPOS2 Communication Guide


    CANOpen
    HEART BIT PROTOCOL

    Fonte: EPOS2 Communication Guide


    CAN x CANOpen
    EXEMPLOS:

    http://www.can-cia.org/ - Diversas aplicações de CAN e CANOpen


    CAN x CANOpen
    BECKHOFF:

    MASTER INTERFACE

    MASTER INTERFACE

    SLAVE
    CAN x CANOpen
    NATIONAL INSTRUMENTS:
    CAN x CANOpen

    SMC PNEUMATICS: Catálogo de Válvulas (Pag. 19)

    SHUNK – Robô Modular

    Robô Scara – Laboratório de Manipulação Robótica


    CANOpen

    PERGUNTAS?
    Guilherme Fernandes
    gfernandes@usp.br

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