NI-Industrial Communications for CANopen帮助说明手册.pdf
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1、Nl-lndustrial Communications for CANopen2023-03-01Nl-lndustrial Communications for CANopenContentsNl-lndustrial Communications for CANopen Help.4Getting Started with Nl-lndustrial Communications for CANopen.5Getting Started with CompactRIO.6Using the LabVIEW Real-Time Module.11Error Codes.13Protocol
2、 Overview.20CANopen Object Dictionary.22Device Profiles.22Process Data Object.23Service Data Object.24Synchronization.24Emergency.25Heartbeat and Node Guarding.27Network Management.28CANopen Hardware.31Overview.31Cabling.33Configuring CANopen.37Basic Programming Model.37Configuring Attributes of CAN
3、open Objects.39Creating Batch SDOs.43Previewing and Validating Batch SDOs.45Troubleshooting CANopen Applications.45CANopen Vis.49CANopen Create.51CANopen NMT Write.62CANopen SDO Read.65CANopen SDO Write.77CANopen SDO Batch Write.89CANopen RPDO Write.90CANopen TPDO Read.91CANopen TPDO RTR Request Sen
4、d.93CANopen Error Control Read.93/Nl-lndustrial Communications for CANopenCANopen SYNC Send.99CANopen SYNC Reset.100Advanced Vis.100CANopen Start.103CANopen Stop.106CANopen Close.110CANopen Baudrate Change.114CANopen Node-ID Change.116CANopen CAN Frame Read.118CANopen CAN Frame Write.120CANopen Conv
5、ert to Data.121CANopen Fetch from Data.131CANopen SDO Completion Code to String.138CANopen Emergency Convert.138Specifications.141PCI-CANopen Hardware Specifications.141PXI-CANopen Hardware Specifications.143C Series Nl CANopen Hardware Specifications.145Electromagnetic Compatibility.145CE Complianc
6、e.147Online Product Certification.148Environmental Management.150 National InstrumentsNl-lndustrial Communications for CANopenJ uly 2012,373254C-01Use this help file as a reference for information about CANopen Vis and tools.This help file also includes step-by-step instructions about how to use Nl-
7、lndustrial Communications for CANopen.4 Nl-lndustrial Communications for CANopenGetting Started with Nl-lndustria Communications for CANopenThis topic helps you get started using Nl-lndustrial Communications for CANopen.This topic includes information about using Nl-lndCom for CANopen in a LabVIEW p
8、roject,using the CANopen Vis to create applications,and finding examples of Nl-IndCom for CANopen.LabVIEW ProjectYou can use Nl-lndCom for CANopen in a LabVIEW project to interact with batch service data objects(SDO),device baud rates,device node-IDs,and electronic data sheet(EDS)files.Nl-lndCom for
9、 CANopen introduces the following menus and menu items to the Project E xplorer window.CANopen Batch SDOUse this menu item to display the Batch SDO General Settings dialog box.Display this menu item by right-clicking a target in the Project E xplorer window and selecting NewCANopen Batch SDO.You can
10、 configure an existing batch SDO by right-clicking this batch SDO and selecting proper items from the shortcut menu.Batch SDO shortcut menuUse the sub-items underthis menu to configure an existing batch SDO.Display this menu by right-clicking a batch SDO.CANopen UtilitiesUse the sub-items underthis
11、menu to display the Online Test Panel,Change Device Baud Rate,or Change Node-ID dialog box.Display this menu by right-clicking a target in the Project E xplorer window and selecting CANopen Utilities from the shortcut menu.CANopen E DS File PathsUse this menu item to display the EDS File Path dialog
12、 box.Display this menu by selecting ToolsCANopen E DS File Paths.National InstrumentsNl-lndustrial Communications for CANopenCANopen VisUse the CANopen Vis to create CANopen applications.Use the basic programming model to create CANopen applications.You can find the CANopen Vis on the following pale
13、tte:Industrial CommunicationsCANopen.ExamplesNl-lndCom for CANopen includes LabVIEW examples that demonstrate a wide variety of use cases.The examples build on the basic concepts to demonstrate more in-depth use cases.To view these examples,select HelpFind E xamples in LabVIEW.When you browse exampl
14、es by task,Nl-lndCom for CANopen examples are under Hardware Input and OutputNI-lndustrial Communications.Getting Started with CompactRIOWhen you use a C Series Nl-lndustrial Communications for CANopen module in a CompactRIO chassis,the Nl-lndCom for CANopen features on the LabVIEW Real-Time Module
15、are the same as other RT targets,such as PXI.The communication between the Nl-lndCom for CANopen RT driver and the module does not exist in the default FPGA VI that ships with CompactRIO.Prior to using Nl-lndCom for CANopen features,you must use the LabVIEW FPGA Module to compile and run an FPGA VI
16、that contains the required communication logic.Complete the following steps to use a C Series Nl-lndCom for CANopen module in a CompactRIO chassis from the out-of-box configuration.Step 1.Install the Required SoftwareInstall the required software to the host computer in the following order:1.LabVIEW
17、2.LabVIEW Real-Time Module3.LabVIEW FPGA Module4.NI-RIO5.Nl-lndCom for CANopen6 Nl-lndustrial Communications for CANopenStep 2.Install Nl-lndCom for CANopen to the CompactRIO RT controllerUse MAX to locate your CompactRIO controller under Remote Systems in the left pane.Right-click the Software item
18、 and select Add/Remove Software to launch the installer.You can install the required components in the following two methods:NI-RIO with Nl Scan E ngine supportAfter selecting this item,the next page displays a list of add-ons.Scroll down to the bottom of the add-on list to check Nl-lndCom for CANop
19、en.If this selection is dimmed,refer to the explanation on the right pane to resolve the problem,or use custom installation.Custom software installationCustom installation can be useful on controllers with small memory because this method enables you to avoid installation of unused components.Select
20、 the Nl-lndCom for CANopen item.The installer selects the required dependencies(e.g.NI-RIO IO Scan).Step 3.Add Modules to a LabVIEW ProjectTo compile an FPGA VI with the required communication logic,you must add Nl-IndCom for CANopen modules to a LabVIEW project.1.Add the controller to the LabVIEW p
21、roject.If the controller is online,you can right-click on the project item and select NewTargets and DevicesE xisting target or device,then select the controller under Real-Time CompactRIO.If the controller is offline,you can add the controller by selecting New target or device.2.Select programming
22、mode for the chassis.When you add the controller,a dialog box appears and asks you to select the programming mode for the chassis.Although Nl-lndCom for CANopen uses the Nl Scan Engine components,you must select LabVIE W FPGA Interface as the chassis mode.This configures the chassis to support compi
23、lation of an FPGA VI.Note If the Discover C Series Modules dialog box appears,select theDo Not Discover button and proceed to step 5.National InstrumentsNl-lndustrial Communications for CANopen3.Ignore errors for discovered Nl-lndCom for CANopen modules.LabVIEW may report an error for Nl-lndCom for
24、CANopen modules,stating that LabVIEW FPGA is not supported.Do not change the chassis to Scan Interface mode.Ignore this error message and select Continue.4.Add the FPGA target.Right-click the chassis item under the controller,and select NewFPGA Target.5.Add the Nl-lndCom for CANopen modules.Right-cl
25、ick the chassis item under the controller(not FPGA),and select NewC Series ModulesE xisting target or device.Select the plus sign to discover,and then hold the key to select all Nl-lndCom for CANopen modules in the list.Select OK to add the modules to the project.You can also add Nl-lndCom for CANop
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- NI-Industrial Communications for CANopen帮助说明手册 NI Industrial CANopen 帮助 说明 手册
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