Communication protocols
PROGRAMMING MANUAL 232
Revision 1.0
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 TJ2-MC64 memory.
To configure an RPDO, execute the command
CAN_CORT(unit,7,PDO_number,area_type,start_address,COB_ID,
obj_type, obj_type,...)
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.
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