TM3 CANopen Bus Coupler Presentation
The TM3 CANopen bus coupler is a device designed to manage CANopen communication when using expansion modules with a controller in a distributed architecture. The TM3 CANopen bus coupler supports the TM3 expansion modules and the TM2 expansion modules
The TM3 CANopen bus coupler conforms to CiA 401 CANopen device profile for generic I/O modules, and supports the CANopen protocol as defined in CiA 301 CANopen application layer and communication profile. This coupler makes it possible to use PDO/SDO configuration to access and manage I/O values, parameters, and diagnostics.
The table below shows functions supported by the TM3 CANopen bus coupler and their codes:
|
Function |
Function Code (Binary) |
Function Code (Hex) |
Resulting COB-ID (Decimal) |
|---|---|---|---|
|
NMT |
0000 |
0 |
0 |
|
SYNC |
0001 |
80 |
128 |
|
EMERGENCY (EMCY) |
0001 |
81 – FF |
129 – 255 |
|
TPDO1 (Tx) |
0011 |
181 – 1FF |
385 – 511 |
|
RPDO1 (Rx) |
0100 |
201 – 27F |
513 – 639 |
|
TPDO2 (Tx) |
0101 |
281 – 2FF |
641 – 767 |
|
RPDO2 (Rx) |
0110 |
301 – 37F |
769 – 895 |
|
TPDO3 (Tx) |
0111 |
381 – 3FF |
897 – 1023 |
|
RPDO3 (Rx) |
1000 |
401 – 47F |
1025 – 1151 |
|
TPDO4 (Tx) |
1001 |
481 – 4FF |
1153 – 1279 |
|
RPDO4 (Rx) |
1010 |
501 – 57F |
1281 – 1407 |
|
SDO (Tx) |
1011 |
581 – 5FF |
1409 – 1535 |
|
SDO (Rx) |
1100 |
601 – 67F |
1537 – 1663 |
|
NMT Error Control |
1110 |
701 – 77F |
1793 - 1919 |
NOTE: If additional TPDO/RPDO (from 5th to the last) are required, the COB-IDs are allocated automatically by EcoStruxure Machine Expert and can also be defined manually.
CANopen Boot-up and Operating Modes
The following diagram shows the operating modes of the TM3 CANopen bus coupler:
|
Number |
Description |
|---|---|
|
1 |
Device power up. |
|
2 |
After initiation, the device automatically goes into PRE-OPERATIONAL state. |
|
3 |
The device is configured and the controller takes control of the device. NMT START NODE command received from the controller. |
|
4 |
The following conditions can cause this transition: oA timeout or a CANopen bus error has occurred and the value in the 1029H object is 00H (PRE-OPERATIONAL) oA NMT ENTER PRE-OPERATIONAL command is received from the controller |
|
5 |
The following conditions can cause this transition: oA timeout or a CANopen bus error has occurred and the value in the 1029H object is 02H (STOPPED) oA NMT STOP NODE command is received from the controller |
|
6 |
The device has recovered and the controller sent a NMT ENTER PRE-OPERATIONAL command. |
|
7 |
The device has recovered and the controller sent a NMT START NODE command. |
|
8 |
A NMT RESET COMMUNICATION command is sent from the controller. Communication Profile Objects are reset to default values. |
|
9 |
The controller sent a NMT RESET NODE command. All Objects are reset to default values. |
|
10 |
The controller sent a NMT STOP NODE command. |
The Objects must be well-configured before entering OPERATIONAL state for bus coupler to be properly functional. Specifically, objects related to TM3 configuration must be re-configured prior to entering OPERATIONAL state. For relevant objects, refer to the object in Manufacturer-specific zone section.
The supported CAN bus format is CAN2.0A for CANopen.
