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CANopen Slave V3 Protocol API 06 EN

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22 views151 pages

CANopen Slave V3 Protocol API 06 EN

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Protocol API

CANopen Slave

V3.7.0

Hilscher Gesellschaft für Systemautomation mbH

Table of Contents
1 Introduction ............................................................................................................................................. 4
1.1 Abstract .......................................................................................................................................... 4
1.2 List of Revisions ............................................................................................................................. 4
1.3 System Requirements .................................................................................................................... 4
1.4 Intended Audience ......................................................................................................................... 4
1.5 Specifications ................................................................................................................................. 5
1.5.1 Technical Data .................................................................................................................................. 5
1.6 Terms, Abbreviations and Definitions ............................................................................................ 9
1.7 References to Documents.............................................................................................................. 9
1.8 Legal Notes .................................................................................................................................. 10
1.8.1 Copyright ......................................................................................................................................... 10
1.8.2 Important Notes ............................................................................................................................... 10
1.8.3 Exclusion of Liability ........................................................................................................................ 11
1.8.4 Export .............................................................................................................................................. 11
1.8.5 Registered Trademarks ................................................................................................................... 11
2 Getting Started ...................................................................................................................................... 12
2.1 Task Structure of the CANopen Slave V3 Stack.......................................................................... 12
2.2 Configuration ................................................................................................................................ 13
2.3 CANopen – Basic Topics ............................................................................................................. 14
2.3.1 NMT Slave State Machine ............................................................................................................... 14
2.3.2 Communication Objects, COB-IDs and Priority of Processing ........................................................ 17
2.3.3 Relation between Communication Objects and NMT States ........................................................... 19
2.3.4 Events ............................................................................................................................................. 19
2.3.5 Process Data Objects (PDO)........................................................................................................... 28
2.4 Standard Mode vs. Extended Mode ............................................................................................. 35
2.4.1 How to decide between Operation in Standard Mode and Extended Mode .................................... 35
2.4.2 Where can I switch between Standard Mode and Extended Mode? ............................................... 35
2.4.3 Standard Mode ................................................................................................................................ 36
2.4.4 Extended Mode ............................................................................................................................... 38
2.4.5 Object Dictionary with Firmware Functionality ................................................................................. 40
3 The Application Interface .................................................................................................................... 42
3.1 Configuration ................................................................................................................................ 42
3.1.1 CANOPEN_APS_SET_CONFIGURATION_REQ/CNF – Set Configuration ................................... 43
3.1.2 Bus parameter ................................................................................................................................. 45
3.2 CANopen Slave Services ............................................................................................................. 50
3.2.1 CANOPEN_SLAVE_STARTSTOP_REQ/CNF – Start/Stop CANopen Network ............................. 51
3.2.2 CANOPEN_SLAVE_EXCHANGE_DATA_REQ/CNF – Exchange Data ......................................... 54
3.2.3 CANOPEN_SLAVE_SEND_EMCY_REQ/CNF – Send Emergency Message ................................ 58
3.2.4 CANOPEN_SLAVE_SEND_EMCY_IND/RES – Emergency Message Indication........................... 61
3.2.5 CANOPEN_SLAVE_SET_NMT_STATE_REQ/CNF – Set NMT State............................................ 64
3.2.6 CANOPEN_SLAVE_SEND_TIME_STAMP_REQ/CNF – Send Time Stamp .................................. 67
3.2.7 CANOPEN_SLAVE_RECV_TIME_STAMP_IND/RES – Receive Time Stamp Indication.............. 70
3.2.8 CANOPEN_SLAVE_SEND_TXPDO_REQ – Send TxPDO Request .............................................. 73
3.2.9 CANOPEN_SLAVE_RECV_RXPDO_REQ/CNF – Receive RxPDO Request ................................ 76
3.2.10 CANOPEN_SLAVE_RECV_RXPDO_IND/RES – Receive RxPDO Indication ................................ 79
3.2.11 CANOPEN_SLAVE_SET_EVENTS_INDICATED_REQ/CNF – Set Events Indicated Request...... 82
3.2.12 CANOPEN_SLAVE_GET_IO_INFO_REQ/CNF – Get I/O Info ....................................................... 86
3.2.13 CANOPEN_SLAVE_NMT_STATE_CHANGE_IND/RES – NMT State Change Indication ............. 88
3.2.14 CANOPEN_SLAVE_ERR_CTRL_EVENT_IND/RES – Error Control Event Indication ................... 91
3.2.15 CANOPEN_SLAVE_NMT_COMMAND_IND/RES – NMT Command Indication............................. 95
3.2.16 CANOPEN_SLAVE_SETUP_PDO_INDICATION_REQ/CNF – Setup PDO Indication .................. 99
3.2.17 CANOPEN_SLAVE_RECEIVE_PDO_IND/RES – Receive PDO Indication ................................. 102
3.3 Hardware Switches for the Adjustment of Slave Address and Baudrate ...................................105
3.4 CAN-DL Task ............................................................................................................................. 107
3.5 ODV3 Task ................................................................................................................................. 107
4 Status information .............................................................................................................................. 109
4.1 Extended Status ......................................................................................................................... 109
4.2 Extended Status Block ............................................................................................................... 110
5 Special Topics .................................................................................................................................... 113
5.1 Using LOM ................................................................................................................................. 113

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5.2 Packages for LOM ..................................................................................................................... 114
5.2.1 Overview ....................................................................................................................................... 114
5.2.2 CANOPEN_SLAVE_REGISTER_REQ/CNF – Register Application ............................................. 115
5.2.3 CANOPEN_SLAVE_INITIALIZE_REQ/CNF – Initialization of CANopen Slave ............................ 118
5.2.4 CANOPEN_SLAVE_STATE_CHANGE_IND/RES – Change of Task State Indication ................. 121
5.2.5 CANOPEN_SLAVE_SET_BUSPARAM_REQ/CNF – Set Bus Parameters .................................. 127
5.2.6 CANOPEN_SLAVE_SET_API_PARAM_REQ/CNF – Set API Parameter .................................... 131
5.2.7 CANOPEN_SLAVE_GET_BUSPARAM_REQ/CNF – Get Bus Parameters ................................. 134
5.2.8 CANOPEN_SLAVE_SET_WATCHDOG_FAIL_REQ/CNF – Set Watchdog Fail ......................... 137
5.3 Other Packages ......................................................................................................................... 139
5.3.1 CANOPEN_APS_GET_STATE_REQ/CNF – Get State of AP task .............................................. 139
6 Status/Error Codes Overview ............................................................................................................ 141
6.1.1 Codes of the CANopen-APS-Task ................................................................................................ 141
6.1.2 Error Messages ............................................................................................................................. 141
6.2 Codes of the CANopen Slave-Task ........................................................................................... 143
6.2.1 Error Messages ............................................................................................................................. 143
6.3 Codes of CAN-DL Task .............................................................................................................. 145
6.4 Codes of ODV3 .......................................................................................................................... 145
6.5 Emergency Telegram ................................................................................................................. 146
6.5.1 Emergency Error Codes ................................................................................................................ 146
6.5.2 Error Register ................................................................................................................................ 147
6.5.3 Manufacturer-specific Error Codes ................................................................................................ 147
7 Appendix ............................................................................................................................................. 149
7.1 List of Tables .............................................................................................................................. 149
7.2 List of Figures ............................................................................................................................. 150
7.3 Contacts ..................................................................................................................................... 151

CANopen Slave | Protocol API

1 Introduction
1.1 Abstract
This manual describes the application interface of the CANopen Slave stack.

1.2 List of Revisions

Rev Date Name Revisions
5 2013-10-29 RG/ES Firmware/stack version V3.6.2.x
Reference to Object Dictionary V3.3.2.x
Reference to CAN_DL V2.0.27.0
Technical data updated (number of consumers for netX51/52)
Small corrections
Error corrections in description of hardware switches
6 2016-06-27 HH, RG Firmware/stack version V3.7.0
Manual revised: Sections Status information and Special Topics created.
Reference to Object Dictionary V3.3.2.x
Reference to CAN_DL V2.0.27.0
Section Bus parameter: Bit 20 in ulCanOpenFlags added: Enable reject if
restricted CAN ID is confugured.
Section Manufacturer-specific Error Codes added.
Table 1: List of Revisions

1.3 System Requirements

The software package has the following system requirements to its environment:
 netX Chip as CPU hardware platform
 Operating system for task scheduling required

1.4 Intended Audience

This manual is suitable for software developers with the following background:
 Knowledge of the programming language C
 Knowledge of the use of the real-time operating system rcX
 Knowledge of the Hilscher Task Layer Reference Model
 Knowledge of the CiA Work Draft 301 specification

CANopen Slave | Protocol API

1.5 Specifications
The data below applies to CANopen Slave firmware and stack version 3.7.0. The firmware/stack
has been designed in order to meet the CiA Work Draft 301 V4.02 specification (see reference [2]).

1.5.1 Technical Data

Technical Data

Features Parameter
Maximum number of input data Depends on the used mode and settings. See below.
Maximum number of output data Depends on the used mode and settings. See below.
Maximum number of receive PDOs Depends on the used mode and settings. See below.
Maximum number of transmit PDOs Depends on the used mode and settings. See below.
Exchange of process data via PDO transfer (synchronized, remotely requested,
event driven (change of date)), requested by application
(via packet))
Acyclic communication SDO Up- and Download (Server only),
Emergency message (producer),
Timestamp (producer/consumer)
Functions Node guarding / life guarding,
heartbeat
1 producer
max. 64 consumer (netX 50/51/100/500)
max. 32 consumer (netX 52)
max. 4 consumer (netX 10)
PDO Mapping
NMT Slave
SYNC protocol (consumer)
Error behavior in state operational:
change to state pre-operational
no state change
change to state stopped
Baud rates 10 kBit/s to 1 MBit/s
Automatic detection
Data transport layer CAN Frames
can be accessed by programming the CAN DL layer, see
reference [5]
CAN Frame type 11 Bit
11/29 Bit layer 2 transparent
Table 2: Technical Data - Protocol Stack

Firmware/stack available for netX

netX Available
netX 10 yes
netX 50 yes
netX 51 yes (from stack V3.3.1)
netX 52 yes (from stack V3.5.1)
netX 100, netX 500 yes
Table 3: Technical Data – Available for netX

CANopen Slave | Protocol API

Features Parameter
DMA Support for PCI targets yes
Table 4: Technical Data – PCI-DMA

Slot Number

Features Devices
Slot number supported for CIFX 50-CO, CIFX 50E-CO, CIFX 70E-CO
Table 5: Technical Data – Slot Number

Configuration
For configuration of standard mode with default settings:
 by SYCON.net configuration software (Download or exported configuration file named
config.nxd),
 by netX Configuration tool.
For configuration of standard mode with default settings and configured settings and extended
mode:
 by packet to transfer configuration parameters.

Diagnostic
Firmware supports common and extended diagnostic in the dual-port-memory for loadable
firmware

CANopen Slave | Protocol API

1.5.1.1 Technical Data (Standard Mode)

In standard mode, the following values and limitations apply:

Technical Data for default Settings

Features Parameter
Default number of input data 512 bytes (netX 50/100/500)
64 bytes (netX 10)
Default number of output data 512 bytes (netX 50/100/500)
64 bytes (netX 10)
Default number of receive PDOs 64 (netX 50/100/500)
8 (netX 10)
Default number of transmit PDOs 64 (netX 50/100/500)
8 (netX 10)
Table 6: Technical Data - Protocol Stack (Standard Mode – Default Settings)

Note: The EDS files for Hilscher standard products contain the functionality that matches
the default settings. SYCON.net and the netX Configuration tool only configure the
default settings.

Technical Data for configured Settings

Features Parameter
Maximum number of input data 1020 bytes
Maximum number of output data 1020 bytes
Number of receive PDOs 0 … 255 (netX 50/100/500)
for mapping objects 2200 … 2203
0 … 8 (netX 10)
for mapping objects 2200 … 2203
Number of transmit PDOs 0 … 255 (netX 50/100/500)
for mapping objects 2000 … 2003
0 … 8 (netX 10)
for mapping objects 2000 … 2003
Table 7: Technical Data - Protocol Stack (Standard Mode – Configured Settings)

Note 1: Using other settings than the default settings requires a suitable EDS file.

Note 2: The actual maximum number of IO Data and PDOs depends on the available
amount of memory.

Note 3: SYCON.net and netX configuration tool do not support the configuration of the
extended mode.

CANopen Slave | Protocol API

1.5.1.2 Technical Data (Extended Mode)

In extended mode, the stack offers extended functionality. To use these functions requires an
application program that configures and supports these functions, e.g. to create an own object
dictionary.
In extended mode, more input and output data can be used and transmit and receive PDOs can be
used.

Note: The actual maximum number of IO Data and PDOs depends on the available
amount of memory.

To use the extended mode requires creating a suitable EDS file. The knowledge of the EDS
specification is required.

Features Parameter
Maximum number of input data 2048 bytes
Maximum number of output data 2048 bytes
Maximum number of receive PDOs 256
Maximum number of transmit PDOs 256
Table 8: Technical Data - Protocol Stack (Extended Mode)

Other settings than default must be set via “Set Configuration Packet” and object dictionary
configuration.
Concerning the extended mode, also see section Standard Mode vs. Extended Mode on page 35.

Note: SYCON.net and netX configuration tool do not support the configuration of the
extended mode.

CANopen Slave | Protocol API

1.6 Terms, Abbreviations and Definitions

Term Description
AP Application on top of the Stack
Boot up Initial sequence of node during start-up
CAN Controller Area Network
CAN-DL CAN Data Link Layer
CiA CAN in Automation (CAN User Organization located in Erlangen, Germany)
COB-ID Communication Object Identifier
DPM Dual Port Memory
EMCY Emergency
Guarding Supervision of node
NMT Network Management
OD Object Dictionary
ODV3 Object Dictionary Version 3
PDO Process Data Object (process data channel)
PDO-Mapping Configurable process data per PDO
RTR Remote transmission request
RxPDO Receive PDO
SDO Service Data Object (representing an acyclic data channel)
SYNC Synchronization cycle of the CANopen slave
TxPDO Transmit PDO
Table 9: Terms, Abbreviations and Definitions

All variables, parameters and data used in this manual have basically the LSB/MSB (“Intel”) data
representation. This corresponds to the convention of the Microsoft C Compiler.

1.7 References to Documents

This document refers to the following documents:
[1] EN 50325/4 Specification
[2] CAN in Automation e.V., Nuremberg: CANopen Application Layer and Communication
Profile, CiA Public Specification 301, Version 4.2.0, 2011
[3] Hilscher Gesellschaft für Systemautomation mbH: Dual-Port Memory Interface Manual, netX
based products. Revision 12, English, 2008-2012
[4] Hilscher Gesellschaft für Systemautomation mbH: Object Dictionary Version 3 Manual, 2008-
2013
[5] Hilscher Gesellschaft für Systemautomation mbH: CAN Data Link Packet Interface Protocol
API Manual 1.0, 2010-2013
Table 10: References

CANopen Slave | Protocol API

1.8 Legal Notes

1.8.1 Copyright
©
2008-2016 Hilscher Gesellschaft für Systemautomation mbH
All rights reserved.
The images, photographs and texts in the accompanying material (user manual, accompanying
texts, documentation, etc.) are protected by German and international copyright law as well as
international trade and protection provisions. You are not authorized to duplicate these in whole or
in part using technical or mechanical methods (printing, photocopying or other methods), to
manipulate or transfer using electronic systems without prior written consent. You are not permitted
to make changes to copyright notices, markings, trademarks or ownership declarations. The
included diagrams do not take the patent situation into account. The company names and product
descriptions included in this document may be trademarks or brands of the respective owners and
may be trademarked or patented. Any form of further use requires the explicit consent of the
respective rights owner.

1.8.2 Important Notes

The user manual, accompanying texts and the documentation were created for the use of the
products by qualified experts, however, errors cannot be ruled out. For this reason, no guarantee
can be made and neither juristic responsibility for erroneous information nor any liability can be
assumed. Descriptions, accompanying texts and documentation included in the user manual do
not present a guarantee nor any information about proper use as stipulated in the contract or a
warranted feature. It cannot be ruled out that the user manual, the accompanying texts and the
documentation do not correspond exactly to the described features, standards or other data of the
delivered product. No warranty or guarantee regarding the correctness or accuracy of the
information is assumed.
We reserve the right to change our products and their specification as well as related user
manuals, accompanying texts and documentation at all times and without advance notice, without
obligation to report the change. Changes will be included in future manuals and do not constitute
any obligations. There is no entitlement to revisions of delivered documents. The manual delivered
with the product applies.
Hilscher Gesellschaft für Systemautomation mbH is not liable under any circumstances for direct,
indirect, incidental or follow-on damage or loss of earnings resulting from the use of the information
contained in this publication.

CANopen Slave | Protocol API

1.8.3 Exclusion of Liability

The software was produced and tested with utmost care by Hilscher Gesellschaft für
Systemautomation mbH and is made available as is. No warranty can be assumed for the
performance and flawlessness of the software for all usage conditions and cases and for the
results produced when utilized by the user. Liability for any damages that may result from the use
of the hardware or software or related documents, is limited to cases of intent or grossly negligent
violation of significant contractual obligations. Indemnity claims for the violation of significant
contractual obligations are limited to damages that are foreseeable and typical for this type of
contract.
It is strictly prohibited to use the software in the following areas:
 for military purposes or in weapon systems;
 for the design, construction, maintenance or operation of nuclear facilities;
 in air traffic control systems, air traffic or air traffic communication systems;
 in life support systems;
 in systems in which failures in the software could lead to personal injury or injuries leading to
death.
We inform you that the software was not developed for use in dangerous environments requiring
fail-proof control mechanisms. Use of the software in such an environment occurs at your own risk.
No liability is assumed for damages or losses due to unauthorized use.

1.8.4 Export
The delivered product (including the technical data) is subject to export or import laws as well as
the associated regulations of different counters, in particular those of Germany and the USA. The
software may not be exported to countries where this is prohibited by the United States Export
Administration Act and its additional provisions. You are obligated to comply with the regulations at
your personal responsibility. We wish to inform you that you may require permission from state
authorities to export, re-export or import the product.

1.8.5 Registered Trademarks

CANopen® is a registered trademark of CAN in AUTOMATION - International Users and
Manufacturers Group e.V. (CiA), Erlangen.
All other mentioned trademarks are property of their respective legal owners.

CANopen Slave | Protocol API

2 Getting Started
2.1 Task Structure of the CANopen Slave V3 Stack
The figure below shows the internal structure of the tasks which represent the CANopen Slave
stack:

Figure 1: Internal Structure of CANopen Slave V3 Firmware

The dual-port memory is used for exchange of information, data and packets. Configuration and IO
data will be transferred using this way.
The user application only accesses the task located in the highest layer namely the AP task which
constitutes the application interface of the CANopen Slave stack.

CANopen Slave | Protocol API

AP task
The AP task provides the interface to the user application and the control of the stack. It also
completely handles the Dual Port Memory interface of the communication channel. In detail, it is
responsible for the following:
 Handling the communication channels DPM-interface
 Configuration of the protocol stack
 IO Process data exchange
 Channel mailboxes
 Watchdog supervision
 Handling of applications packets
 Send/Receive packets

CANopen Slave Task

The CANopen Slave Task is the CANopen Slave stack implementation. It is responsible for the
protocol handling, the communication to/from CAN_DL layer and it is the counterpart of the AP
task.
The packets of the CANopen Slave task are described in section 3.1.1
“CANOPEN_APS_SET_CONFIGURATION_REQ/CNF – Set Configuration”

CAN_DL Task
The CAN_DL Task handles the interface of the XC CAN and is responsible for configuration,
events and sending and receiving of CAN-Frames.
The CAN_DL Task also provides its own API for low-level programming on level 2 (Data Link
Layer) of the OSI model of networking. This is described in a separate manual (namely reference
[5]).

ODV3 Task
The ODV3 task handles all SDO accesses (i.e. acyclic accesses) to the CANopen object dictionary
as described in the CANopen specification, section 9.5, p.79 (see reference [2]).

2.2 Configuration
The CANopen Slave stack requires configuration parameters e.g. node address. Configuration
parameters can be set
 from the application using the ‘Set Configuration’ packet
 using the configuration software SYCON.net (only applicable for Standard Mode)
 using the configuration software netX configuration tool (only applicable for Standard Mode)

CANopen Slave | Protocol API

2.3 CANopen – Basic Topics

2.3.1 NMT Slave State Machine
Each NMT Slave device implements the NMT Slave state machine. This state machine is
displayed in Figure 2: NMT Slave State Machine below.

Figure 2: NMT Slave State Machine

After power-on or a reset (via CANOPEN_SLAVE_INITIALIZE_REQ/CNF – Initialization of

CANopen Slave) and running through the initialization the state Pre-operational is reached
automatically.
In Pre-operational state,
 No PDO communication is allowed
 SDO communication is allowed (this allows configuration and parameterization)
Switching from Pre-operational state to Operational state (and vice versa) is done by the NMT
Master.
In Operational state,
 PDO communication is allowed
 SDO communication is allowed (Access to the Object Dictionary)

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In Stopped state,
 PDO communication is stopped
 SDO communication is stopped (No access to the Object Dictionary possible)
 Further services are also stopped (Time stamp, EMCY, SYNC).
 However, if active, Node Guarding or life-guarding will be continued.
The Initialization State can be subdivided into 3 sub-states in order to enable a complete or partial
reset. This is illustrated by Figure 3: Initialization State below:

Figure 3: Initialization State of NMT Slave

The Initialization Sub-state (red rectangle in Figure 3) performs the basic initialization actions. After
power-on, exactly this state is reached and automatically these actions are performed. When all
actions are performed, the slave finally reaches the Pre-operational state.
The Reset Communication Sub-state provides the possibility to perform the basic device
initialization. The parameters of the communication profile are set to their power-on values. After
this has been finished, the slave switches to Initialization Sub-state and proceeds with the basic
initialization actions.
The Reset Application sub-state provides the possibility to perform the profile initialization. The
parameters of the manufacturer-specific profile area and of the standardized device profile area
are set to their power-on or default values. After this has been finished, the slave switches to Reset
Communication Sub-state.
 The following mapping between the state of the CANopen Slave V3 State Machine and the
communication status (0x14 in Common Status) is as follows:
 If the CANopen Slave V3 Protocol Stack is in state Pre-operational, the communication state
is set to IDLE.
 If the CANopen Slave V3 Protocol Stack is in state Stopped, the communication state is set
to STOP.
 If the CANopen Slave V3 Protocol Stack is in state Operational, the communication state is
set to OPERATIONAL.

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NMT also defines 5 services which allow changing the state to the states
 Operational (Service name: Start)
 Stopped (Service name: Stop)
 Pre-operational (Service name: Enter Pre-operational)
and the following two sub-states of state Initialization
 Reset Application Sub-state (Service name: Reset Node)
 Reset Communication Sub-state (Service name: Reset Communication)
See Table 54: NMT States on page 88 for more information concerning this topic.
The CANopen Slave protocol stack supports this with the following two packets:
 Packet CANOPEN_SLAVE_SET_NMT_STATE_REQ/CNF – Set NMT State allows your
application to set the NMT state (and thus, to perform these 5 services mentioned above).
 Packet CANOPEN_SLAVE_NMT_STATE_CHANGE_IND/RES – NMT State Change
Indication informs you whenever the NMT Master requests a state change and gives you the
possibility to react appropriately.

CANopen Slave | Protocol API

2.3.2 Communication Objects, COB-IDs and Priority of Processing

The CAN standard defines 2048 Communication Objects (COBs). A COB can contain at maximum
8 bytes of data. It represents a unit of data transportation in a CAN network. All data transport is
done exclusively via COBs.
Communication Objects provide specific functionalities defined in the CANopen specification such
as
 Process Data Objects
 Service Data Objects
 Synchronization Object
 Emergency Object
 Time-Stamp Object
 Boot-up Object
 Network Management Objects such as Node Guarding, Life-Guarding or Heartbeat Objects
which will be explained later in this document
In order to uniquely identify the COBs within the CAN network, the available COBs are numbered
from 0 to 2047. These 11 bit numbers uniquely identifying the COBs are called CAN identifiers.
The CAN identifier of a COB is stored together with some bits (valid/invalid bit, remote frame
support bit, frame format bit) as an object within the object dictionary. This object mainly containing
the COB’s CAN identifier is also called the COB-ID (i.e. COB-IDentifier). However, the term COB-
ID is also often used for the single CAN identifier related to the COB. This manual also uses the
term COB-ID in this sense.
The COB-ID plays an important role in CAN bus arbitration: (in the MAC layer): It determines the
priority of processing for the COB. Lower values of the COB-ID mean higher priority.

2.3.2.1 Predefined Connection Set

The designer of a CANopen network must assign the COB-IDs to the various objects. He has a lot
of freedom to do so. In order to easily setup smaller networks, there is a set of recommended and
good running assignments provided by the specification: the predefined connection set. A factory
new CANopen device will work with this predefined connection set when reaching the PRE-
OPERATIONAL state for the first time (and, if no explicit changes have been stored, every time it
reaches this state).
The predefined connection set works as follows:
The 11 bit CAN identifiers (COB-IDs) are separated in to a leading part of 4 bits denominated as
the function code (Bits 10 to 7) and the trailing 7 bits (Bits 6 to 0) which represent the Node ID
holding the addressing information within the CAN network.
The predefined connection set supports the following communication objects:
 4 Receive-PDOs
 4 Transmit-PDOs
 1 SDO
 1 Emergency Object
 and the NMT objects.

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The following table shows which function codes (and thus ranges of COB-IDs) are assigned to
which objects within the predefined connection set.
Additionally, it contains
 the index within the object dictionary where to adjust the communication parameters of that
object
 the information whether this object is a broadcast object (communication to all participants on
the network) or a peer-to-peer object (communication between master and slave or slave
and slave).

Object Function code Resulting Range of Index of Broadcast/Peer-

(binary notation) COB-IDs communication to-Peer
parameters
NMT 0000 0 - Broadcast
SYNC 0001 128 0x1005—0x1007 Broadcast
EMERGENCY 0001 129-255 0x1014—0x1015 Peer-to-Peer
TIME STAMP 0010 256 0x1012—0x1013 Broadcast
PDO1(tx) 0011 385-511 0x1800 Peer-to-Peer
PDO1(rx) 0100 513-639 0x1400 Peer-to-Peer
PDO2(tx) 0101 641-767 0x1801 Peer-to-Peer
PDO2(rx) 0110 769-895 0x1401 Peer-to-Peer
PDO3(tx) 0111 897-1023 0x1802 Peer-to-Peer
PDO3(rx) 1000 1025-1151 0x1402 Peer-to-Peer
PDO4(tx) 1001 1153-1279 0x1803 Peer-to-Peer
PDO4(rx) 1010 1281-1407 0x1403 Peer-to-Peer
SDO (tx) 1011 1409-1535 0x1200 Peer-to-Peer
SDO (rx) 1100 1537-1663 0x1200 Peer-to-Peer
NMT Error Control 1110 1793-1919 0x1016—0x1017 Peer-to-Peer
Table 11: Objects of the Predefined Connection Set (seen from Point of View of the Device)

The following COB-IDs are restricted and may therefore not be used by all configurable COBs and
by PDO, SDO, SYNC, TIME STAMP and EMCY:
COB-ID Cause
0 Used by NMT Service, fixed assignment
1 Reserved
257-384 Reserved for Safety-relevant Data Objects (in CANopen Safety Framework)
1409-1535 Used by default SDO (tx) , fixed assignment
1537-1663 Used by default PDO (rx) , fixed assignment
1760 Reserved
1793-1919 Used by NMT Error Control, fixed assignment
2020-2047 Reserved
Table 12: COB-IDs with Restrictions of Use

CANopen Slave | Protocol API

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2.3.3 Relation between Communication Objects and NMT States
The following table provides the matrix which kinds of communication objects may exist during
which states:
State INITIALISING PRE-OPERATIONAL OPERATIONAL STOPPED
Object
SDO
SYNC
TIME STAMP
EMCY
Boot-up object
NMT objects

 Green fields indicate the object may operate in this state.

 Red fields indicate the object cannot operate in this state.

2.3.4 Events
2.3.4.1 NMT State Change Events
NMT State Change Events happen every time the NMT Slave state changes. For a description of
the NMT Slave State Machine, see section 2.3.1 “NMT Slave State Machine” on page 14.
Various reasons may have caused this change of NMT state:
 External request by the CANopen Master via NMT object for module control services. This is
the most usual case.
 Internal request; an application event initiated a module control service (for instance, a
CANOPEN_SLAVE_SET_NMT_STATE_REQ/CNF – Set NMT State request.)
 A hardware reset occurred.
The NMT State Change Event is related to the following packets of the CANopen Slave protocol
stack:
 CANOPEN_SLAVE_SET_NMT_STATE_REQ/CNF – Set NMT State for setting the state of
the NMT Slave State Machine from your application.
 CANOPEN_SLAVE_NMT_STATE_CHANGE_IND/RES – NMT State Change Indication for
making your application aware of state changes in the NMT Slave State Machine.
 CANOPEN_SLAVE_NMT_COMMAND_IND/RES – NMT Command Indication for enabling
the host application to react to the requests for Module Control Services issued by the
CANopen Master.

CANopen Slave | Protocol API

2.3.4.2 Time Stamp Events

The time stamp service allows to send time stamps from one node (CANopen Master or Slave) to
another one. In terms of the Producer Consumer Model, a CANopen Slave can act (within a push
model) both as a producer and as a consumer,
In either case, the data transferred between producer and consumer are the current calendar date
and time divided in to a milliseconds part and a days part. These are transferred within one
communication object with a 6 Byte on the CANopen network. The time stamp communication
object is usually assigned to the COB-ID 256.
For details of specifying the date and time parameters see the descriptions of the packets
mentioned below.

The Time Stamp Event is related to the following packets of the CANopen Slave protocol stack:
 CANOPEN_SLAVE_SEND_TIME_STAMP_REQ/CNF – Send Time Stamp allows your
application to send a time stamp according to the CANopen time stamp protocol. In this
case, the CANopen Slave acts as a producer. A time stamp event is caused at the side of
the consumer(s) (recipient(s) of the time stamp message.
 CANOPEN_SLAVE_RECV_TIME_STAMP_IND/RES – Receive Time Stamp Indication for
making your application aware of the reception of a time stamp sent by the Time Stamp
Producer via the Time Stamp Protocol. In this case, the CANopen Slave acts as a consumer.
Here, the time stamp event occurs at the CANopen Slave and needs to be handled there by
your application.

CANopen Slave | Protocol API

2.3.4.3 NMT Error Control Events

One of the tasks of Network Management (NMT) is the detection of failures within the CANopen
network such as absent stations no more regularly transmitting PDOs. For this purpose, NMT
provides the three NMT Error Control Events offering different error control services based on the
periodic transmission of messages.
The CANopen Slave protocol stack supports the following kinds of NMT Error Control Events:
 Node Guarding / Life Guarding
 Heartbeat
It is mandatory to support one of these services. (However, a supported service may be
deactivated at rub-time.)
The NMT Error Control Events are related to the following packet of the CANopen Slave protocol
stack:
 CANOPEN_SLAVE_ERR_CTRL_EVENT_IND/RES – Error Control Event Indication for
making your application aware of changes of the error control state within the entire
CANopen network.

Node Guarding
The concept of node guarding consists mainly of the NMT Master maintaining a database
containing the expected states of all connected NMT Slave devices (besides other information) and
comparing these with their actual states which are regularly requested from the NMT Slave
devices.
The Node Guarding Protocol works as follows:
The NMT Master cyclically polls in order to check whether the NMT Slave is still present at the bus.
This polling is denominated as the guarding request. Actually, this is accomplished by sending a
CAN remote frame to the NMT Slave.
The NMT Slave reacts by sending a CAN Data Frame with 1 Byte data. The most significant bit is
toggled every time, i.e. it is 0 when it was 1 last time and vice versa. Bits 0 to 6 are used to
transmit the state to the NMT State.
This is illustrated in Figure 4: Node Guarding Protocol.
The time between two guarding requests of the Master is denominated as the guard time.
Node Guarding can take place during the following states of the slave:
 Pre-operational
 Operational
 Stopped

CANopen Slave | Protocol API

Figure 4: Node Guarding Protocol

Life Guarding
Additionally, the slaves try to detect possible failure of the Master. If they do not receive guarding
requests within an (adjustable) time, they recognize this as failure of the Master (life-guarding
event). This time is denominated as life time of the CANopen node. It must be longer than the
guard time. The life time is usually specified as life-time factor which is then multiplied with the
guard time in order to determine the life-time of the NMT Slave.
The guard time can be specified in object 0x100C of the object dictionary. The life time factor can
be adjusted in object 0x100D. Both values set to 0 indicates the guarding feature is currently
disabled. (In this case, it would be mandatory to use the Heartbeat feature described subsequently.

CANopen Slave | Protocol API

Heartbeat
Alternatively, there is another error control service available which avoids sending remote frames:
the Heartbeat Mechanism.
In the CANopen network, there may be one Heartbeat Producer cyclically sending heartbeat
requests. The time between to such Heartbeat requests is denominated as the Heartbeat Producer
Time.
There may be multiple Heartbeat Consumers within the CANopen network on which the Heartbeat
signal is received and causes an indication. The Heartbeat Consumer supervises these
indications. If in an (adjustable) time no such indication occurs, the Heartbeat Consumer assumes
the Heartbeat Producer has failed and indicates a Heartbeat event. This time is denominated as
Heartbeat Consumer Time. It is specified in multiples of 1 ms in object 0x1016 of the object
dictionary.
The Producer Heartbeat Time set to 0 indicates the Heartbeat feature is currently disabled. (In this
case, it would be mandatory to use the Node Guarding feature described above.

Figure 5: Heartbeat Protocol

Each CANopen device must implement Node Guarding/life-guarding or the heartbeat mechanism
or both. If both are implemented, they may not both be active at the same time. It is recommended
to use the heartbeat mechanism.
The CANOPEN_SLAVE_ERR_CTRL_EVENT_IND/RES – Error Control Event Indication informs
you whenever anode guarding or heartbeat error occurs on the CANopen network or a CANopen
Slave on the network starts or stops supervision by node guarding/life guarding or by heartbeat.

CANopen Slave | Protocol API

2.3.4.4 Receive PDO Events

The PDO service allows to send application objects synchronously or asynchronously from one
node (CANopen Master or Slave) to another one. In terms of the Producer Consumer Model, a
CANopen Slave can act within a push model as a producer, and within a pull model both as a
producer and as a consumer
The Receive PDO Event is related to the following packets of the CANopen Slave protocol stack:
 CANOPEN_SLAVE_SEND_TXPDO_REQ – Send TxPDO Request for sending a TxPDO to
one or more communication partner(s) on the CANopen network and causing a Receive
PDO Event there.
 CANOPEN_SLAVE_RECV_RXPDO_REQ/CNF – Receive RxPDO Request for sending an
RTR frame in order to request an RxPDO from a communication partner on the CANopen
network.
 CANOPEN_SLAVE_RECV_RXPDO_IND/RES – Receive RxPDO Indication for informing
your application about the reception of a PDO (coming from another communication partner
on the CANopen network).
The protocols of the 3 packets are illustrated at their packet descriptions.
As parameters, the requests contain an array of up to 16 affected PDO numbers. The confirmation
packet contains a status code indicating whether or not the processing of the PDO has been
successful. In case of failure you can evaluate this status code as error code for determining the
cause of the error.
For details of PDOs, see section Process Data Objects (PDO) on page 28.

CANopen Slave | Protocol API

2.3.4.5 NMT Command Events

NMT Command Events are used to inform the CANopen Slaves that the NMT Master requests a
change of the Slave’s NMT state.
The NMT Command Event service allows to NMT State change requests from the CANopen
Master to one or more CANopen Slaves using the NMT Protocol. In terms of the Producer
Consumer Model, a CANopen Slave acts within a push model as a consumer. The CANopen
Master acts as producer.
When receiving an NMT command request, the application should react in the following manner:
1. Determine which service needs to be executed
2. Execute requested service
3. Send response packet.
For determining which service should be executed, the value of variable ulNmtCommand must be
evaluated according to the following table:

Value Requested Service Action to take

1 Start CANopen Slave Set state to Operational

2 Stop CANopen Slave Set state to Stopped

128 Enter state Pre-operational Set state to Pre-operational

129 Reset node Set state to Initialising, sub-state

Reset node

130 Reset communication Set state to Initialising, sub-state

Reset communication
Table 13: NMT States

If the application has been previously registered for this event, the automatic switching to the new
state will be inhibited. For switching to the new local NMT state, the application is responsible
exclusively. You can then use the new local NMT state of the CANopen Slave after service
execution as value for parameter ulNmtState in the response packet.
If the application has not been registered for this event previously, switching to the new state will
be done automatically.

Figure 6: Node Start/Stop State Transition

The parameters are transferred within one communication object with 2 Byte on the CANopen
network. The NMT communication object is always assigned to the COB-ID 0 which is the COB-ID
with the highest priority at all.

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The NMT Command Events are related to the following packets of the CANopen Slave protocol
stack:
 CANOPEN_SLAVE_NMT_COMMAND_IND/RES – NMT Command Indication for making
your application aware of external requests for a state change in the NMT Slave State
Machine. The NMT Command Event occurs at the CANopen Slave.
 CANOPEN_SLAVE_NMT_STATE_CHANGE_IND/RES – NMT State Change Indication
indicating a change of the state within the CANopen Slave’s NMT State Machine and
allowing the application to react and perform all necessary application-internal changes
required after the change of NMT state.

2.3.4.6 Synchronization Event (SYNC)

The Synchronization Event is used to synchronize PDO processing with a highly precise time
signal.
This allows performing synchronous PDOs (Cyclic and acyclic). For details on synchronous PDOs,
see section “Process Data Objects (PDO)” on page 28. The part of the CANopen Slave device that
provides the SYNC signal is denominated as the SYNC Producer. SYNC Consumers are all parts
of the Slave which perform synchronized data processing.

The Synchronization Event does not transfer any data, therefore the signal is transferred within
one communication object with a data length of 0 Byte (or 1 Byte) on the CANopen network.
The recommended COB-ID for the NMT communication object is 128. This is the same value as
used in the predefined connection set.
The object dictionary contains three relevant values concerning the SYNC event.
 The actual value of the COB-ID of the SYNC object can be retrieved from object 0x1005
within the object dictionary.
 Object 0x1006 contains the communication cycle time. This value represents the time
between two subsequent SYNC events (this object is not supported by the CANopen Slave
V3 protocol stack).
 Object 0x1007 contains the synchronous window length. The synchronous window length
specifies the time within which the synchronous PDOs may be processed. Its value must be
smaller than the applied communication cycle time. (this object is not supported by the
CANopen Slave V3 protocol stack)
The SYNC Event is related to the working with synchronous PDOs, see section Synchronous vs.
asynchronous Data Transmission on page 31.

CANopen Slave | Protocol API

2.3.4.7 Emergency Event (EMCY)

Table 14: Emergency Protocol

The parameters are transferred within one communication object on the CANopen network. The
NMT communication object is usually assigned to a COB-ID in the range between 129 and 255.It
delivers
 An emergency error code
 An error register
 5 bytes of manufacturer-specific error information
The Emergency Event (EMCY) is related to the following packets of the CANopen Slave protocol
stack:
 CANOPEN_SLAVE_SEND_EMCY_REQ/CNF – Send Emergency Message allowing you to
send an emergency telegram from your application to any consumer within the CANopen
network.

CANopen Slave | Protocol API

2.3.5 Process Data Objects (PDO)

Process Data Objects (short: PDO) provide the fastest way for data transmission in CANopen. One
single PDO can be considered as a segment of the whole process data with a length of 8 Bytes.
On low level (CAN-DL), each PDO is transmitted as a single CAN telegram, and the length of CAN
telegrams is limited to 8 Bytes. Due to this fact there is an 8 byte limit of the PDO length.
One of the most important advantages of the PDO concept is that PDOs are transmitted without
any protocol overhead. This allows good performance.

2.3.5.1 Producer Consumer Model

PDO communication follows the Producer Consumer Model:

Figure 7: Producer Consumer Model

In the Producer Consumer Model, each node may send data at any time (for instance in case of a
pre-defined event happening). Each station may listen to the transmitted messages. When a
message is received, the node decides on its own whether the message is accepted, or not.
This offers the advantage of greater flexibility and easy establishment of event-driven processing
for instance compared to the Master-Slave Model.
Data transmission is done from a device (the Producer) to one or more other devices (the
Consumer(s)) without any confirmation (non-confirmed mode).The broadcast mechanism of the
CAN low-level protocol is used to accomplish this .The assignment is made via identifiers which
must match between Producer and Consumer.

CANopen Slave | Protocol API

2.3.5.2 Services
There are two services available for dealing with PDOs:
 The Write Service
The Write Service is implemented by the packet CANOPEN_SLAVE_SEND_TXPDO_REQ
– Send TxPDO Request. It acts on the Transmit-PDOs (TxPDOs).
 and the Read Service.
The Read Service is implemented by the packets CANOPEN_SLAVE_RECV_RXPDO_REQ/CNF
– Receive RxPDO Request and CANOPEN_SLAVE_RECV_RXPDO_IND/RES – Receive
RxPDO Indication. It acts on the Receive-PDOs (RxPDOs).
Important note: The perspective of view to be applied in this context is that of the
CANopen device. An IO device acting as CANopen Slave would send its input data
via its TxPDOs and receive its output data via its RxPDOs.
The CANopen Slave protocol stack limits the number of available TxPDOs and RxPDOs to 8 each
(for Hilscher devices with the netX 10 processor) and to 64 each (for any other netX-based
Hilscher devices).
The numbers and the length of the PDOs are application-specific and must be defined in the
device’s profile.

CANopen Slave | Protocol API

2.3.5.3 Modes of Communication

A PDO can be scheduled in three different ways. It can be driven:
 By an internal event or an event timer
 By a remote request
 Synchronously (cyclic or acyclic)

Figure 8: Modes of Communication: Event-driven, Polling, Synchronized

Event-driven communication
A PDO can be transmitted when a specific event that has been previously defined occurs locally at
the producer. This communication mode is called event-driven PDO communication. The driving
event may be any local event such as a change of an input or elapsing of a specific timer.
This case is equivalent to the push model described above.

CANopen Slave | Protocol API

Polling by CAN remote frames

A consumer can also stimulate the PDO transmission. This case is equivalent to the pull model
described above. This is internally accomplished by sending a RTR Frame to the producer. The
producer will then automatically “answer” by transmission of the PDO in a CAN Data Frame.

Synchronized communication
Transmission of a PDO can be triggered periodically (i.e. a repeated and precise time
synchronization signal is received). For this purpose, CANopen provides the SYNC object.
The PDO can be coupled to the SYNC object. This forces the CANopen Slave to process the
PDOs (TxPDOs and RxPDOs).
Let us now clarify the terms synchronous, asynchronous, cyclic and acyclic in context with data
transmission
2.3.5.4 Synchronous vs. asynchronous Data Transmission
CAN distinguishes between synchronous and asynchronous data transmission.
 Synchronous data transmission means in this context coupled to a synchronization signal
(such as the one supplied by the SYNC object). Synchronous data transmission takes place
within a well-defined time window following the SYNC signal. PDOs offer the only
mechanism for synchronous data transmission. It is strongly recommended that the priority of
synchronous PDOs should be higher than that of the asynchronous PDOs.
 Asynchronous data transmission means in this context event-driven. Asynchronous data
transmission can generally take place at any time without restriction.

CANopen Slave | Protocol API

2.3.5.5 Cyclic and acyclic Data Transmission

CAN also distinguishes between two forms of synchronous data transmission, namely cyclic data
transmission and acyclic data transmission.
 Cyclic data transmission means periodic data transmission coupled to the SYNC signal.
However, this does not necessary mean one transmission at every SYNC event. You can
define the transmission type, i.e. a number of SYNC events to occur between to synchronous
data transmissions. This number may be chosen from the range from 1 to 240. Thus
transmission type 1 means one transmission at every SYNC event, transmission type 2
means one transmission at every second SYNC event and so on.
 Acyclic data transmission means data transmission triggered by an application-specific
event. Message transmission occurs synchronized to the SYNC event but not periodically.

2.3.5.6 Transmission Types

There are also some other transmission types for special cases. The following table introduces the
complete rules that apply for the transmission types
Type # Cyclic Acyclic Synch. Asynch. RTR only
0 x x
1
1…240 x x
241…251 reserved
252 x x
253 x x
2
254 x
3
255 x
Table 15: PDO Transmission Types

1. This value specifies exactly the number of SNC events between two transmissions of the
PDO.
2. Device-specific application event
3. Device-profile defines application event
Transmission types 254 and 255 differ in the following aspect:
 Transmission type 254 is used for device-specific application events.
 Transmission type 255 is used for application events defined in the device profile.

CANopen Slave | Protocol API

2.3.5.7 Inhibit Time and Event Timer

Additionally, there are two important features that can be assigned only to TxPDOs, namely as the
 the Inhibit Time
 and the Event Timer.
The Inhibit Time is defined as the minimum time required to elapse between two consecutive
invocations of the service of a PDO. If this time is set to a value significantly larger than the time
need to process the synchronous PDO, this feature gives acyclic or asynchronous PDOs with
lower priority than the synchronous PDO better chances to be processed quickly. Values are
specified in units of 100 μs. As long as the PDO exists (this is indicated by bit 31 of subindex 1 of
the PDO’s index being 0), this value must not be changed any more!
The Event Timer
For asynchronous TxPDOs (i.e. such event-driven TxPDOs with transmission types 254 and 255),
additionally an Event Timer can be set. Values are specified in units of 1 ms. If the specified time
has elapsed, this will be considered as an event and will therefore cause the PDO to be
transmitted.
The Inhibit Time may specify the earliest time transmission can take place and, similarly, the Event
Timer may specify the latest time transmission can take place. This allows setting up a “virtual
transmission window” for the timely execution of the TxPDO’s transmission in case of
asynchronous. (This feature can be used for reducing bus-load).
2.3.5.8 Communication Parameters
In the object dictionary, there is a PDO communication parameter assigned to each PDO. It
describes the communication behavior of the PDO.
The communication parameter can be found at:
 0x1400-0x15FF (0x1400 for the first RxPDO)
 0x1800-0x19FF (0x1800 for the first TxPDO
The next PDO has an index which is increased by one and so forth.
The communication parameter has the following content:

Index # Subindex Description Data Type

0x1400-… 0x00 Number of entries Unsigned8
0x15FF (RxPDO) 0x01 CANopen identifier (COB-ID) Unsigned32
or
0x1800 … 0x02 Transmission Type Unsigned8
0x19FF (TxPDO) 0x03 Inhibit Time Unsigned16
0x04 Reserved Unsigned8
0x05 Event Timer Unsigned16
Table 16: PDO Communication Parameter

CANopen Slave | Protocol API

2.3.5.9 PDO Mapping

The PDOs provide the interface to the application objects. They are assigned to the entries in the
object dictionary. The process of assignment is denominated as PDO mapping and is practically
accomplished via a specific mapping structure in the object dictionary.
This mapping structure can be found at:
 0x1600-0x17FF (0x1600 for the first RxPDO)
 0x1A00-0x1BFF (0x1A00 for the first TxPDO

Figure 9: PDO Mapping

Figure 9: PDO Mapping explains the relationship between object dictionary (left upper part), PDO
mapping structure (right upper part) and the resulting PDO containing the application objects to be
mapped (lower part).
One entry in the PDO mapping table requires 32 bit. It consists of:
 16 bit containing the index of the object dictionary entry containing the application object to
be mapped
 8 bit containing the subindex of the object dictionary entry containing the application object to
be mapped
 8 bit containing the length information.
The PDO mapping table can at maximum contain 8 of such entries, therefore the number of
application objects in one PDO is also limited to 8.

CANopen Slave | Protocol API

2.4 Standard Mode vs. Extended Mode

The CANopen Slave V3 Protocol Stack offers two modes:
 Standard Mode (Object-based DPM content)
 Extended Mode (PDO based DPM content)

2.4.1 How to decide between Operation in Standard Mode and

Extended Mode
The choice of the mode has a large influence on the behavior, the internal operation and the
configuration facilities of the stack. The choice which one of these to use should be made
according to the following rules:

Standard Mode
1. If your intention is to run existing applications from CANopen Slave Stack V2, you should
definitely decide to use Standard Mode. Running existing applications with only slight
changes is possible as Standard Mode offers a high degree of compatibility to the CANopen
Slave Stack V2.
2. Also, if you want to avoid having to fill in larger amounts of objects into the object dictionary,
it is recommended to use the Standard Mode.

Extended Mode
On the other hand, it is recommended to use the Extended Mode, if you want to implement a
complete device profile, if you want to work with an object dictionary of your own, if you want
to map objects which had been added to the object dictionary by your application or if you do
not have any legacy applications. Only Extended Mode allows to fully exploit the new
possibilities of the CANopen Slave V3 Protocol Stack.

2.4.2 Where can I switch between Standard Mode and Extended

Mode?
If the Extended Mode Flag (= BIT29 of the CANopen flags in
CANOPEN_SLAVE_BUSPARAM_DATA_T) is set to TRUE (i.e. set to 1), then the CANopen Slave V3
Protocol Stack is in Extended Mode. If this flag is set to FALSE (i.e. set to zero), then the CANopen
Slave V3 Protocol Stack is in Standard Mode. For more information, see Table 24: Bus parameter
structure CANOPEN_SLAVE_BUSPARAM_DATA_T.
Let us now explain in detail the most important differences between Standard Mode and Extended
Mode.

CANopen Slave | Protocol API

2.4.3 Standard Mode

The Standard Mode is characterized by the following features:
 The Standard Mode has been designed for maximum compatibility to existing applications for
CANopen Slave V2.
 The bus parameter structure CANOPEN_SLAVE_STD_BUSPARAM_DATA_T is applied, see Table 24:
Bus parameter structure CANOPEN_SLAVE_BUSPARAM_DATA_T on page 45.
 Configuration can be done with tools (System configurator SYCON.net or netX Configuration Tool) or
by “Set Configuration” packet.
 The DPM contains the content of the objects 0x2000 to 0x2003 (TxPDOs) and 0x2200 to 0x2203
(RxPDOs).
 The object dictionary is completely filled with objects up to the maximum extent supported at that time.
According to the entries made in the EDS file, all entries are automatically created within the object
dictionary. For a precise list of supported entries, see subsection 2.4.5 ”Object Dictionary with
Firmware Functionality” on page 40 below.
 If further objects are added later, these cannot be PDO-mapped in Standard Mode.

2.4.3.1 Configuring the Standard Mode

The standard bus parameter structure CANOPEN_SLAVE_STD_BUSPARAM_DATA_T is used. It
consists of the following items:
Parameter Type Meaning Range of Values/
Default
ulVendorId UINT32 Vendor code if corresponding bit in parameter
ulCanopenFlags is set
ulProductCode UINT32 Product code if corresponding bit in parameter
ulCanopenFlags is set
ulSerialNumber UINT32 Serial number if corresponding bit in parameter
ulCanopenFlags is set
ulRevisionNumber UINT32 Revision number if corresponding bit in parameter
ulCanopenFlags is set
ulDeviceType UINT32 Device Type if corresponding bit in parameter
ulCanopenFlags is set
bObject2000Size UINT8 Size of object 0x2000
bObject2001Size UINT8 Size of object 0x2001
bObject2002Size UINT8 Size of object 0x2002
bObject2003Size UINT8 Size of object 0x2003
bObject2200Size UINT8 Size of object 0x2200
bObject2201Size UINT8 Size of object 0x2201
bObject2202Size UINT8 Size of object 0x2202
bObject2203Size UINT8 Size of object 0x2203
usNumOfRxPdo UINT16 Number of Receive PDOs 0...256
usNumOfTxPdo UINT16 Number of Transmit PDOs 0...256
aulReserved[2] UINT32[2] Reserved, set to zero
Table 17: Standard bus parameter structure CANOPEN_SLAVE_STD_BUSPARAM_DATA_T

The ulVendorId parameter provides the value for the Vendor ID entry in the object dictionary of
the CANopen slave (Object 0x1018, sub-index 1) if bit 4 in parameter ulCanopenFlags is set.
Otherwise, the vendor ID is set to zero.

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The ulProductCode parameter provides the value for the product code entry in the object
dictionary of the CANopen slave (Object 0x1018, sub-index 2) if bit 5 in parameter
ulCanopenFlags is set. Otherwise, the product code is set to zero.
The ulSerialNumber parameter provides the value for the serial number entry in the object
dictionary of the CANopen slave (Object 0x1018, sub-index 4) if bit 6 in parameter
ulCanopenFlags is set. Otherwise, the serial number is set to zero.
The ulRevisionNumber parameter provides the value for the revision number entry in the object
dictionary of the CANopen slave (Object 0x1018, sub-index 3) if bit 7 in parameter
ulCanopenFlags is set. Otherwise, the revision number is set to default.

2.4.3.2 Handling of Process Data in Standard Mode

The CANopen slave implementation V3 provides 4 objects (0x2000…0x2003) for send data and 4
objects of receive data (0x2200…0x2203); each object has up to 256 bytes of process data
(Standard: 128 bytes, minimum: 0 bytes) and is transferred via PDO according to the active
network configuration.
The data of these buffers are exchanged between the AP task and the CANopen slave-Task. The
AP task transfers data from the receive buffers to the DPM input image and from the DPM output
image to the send buffers.

Mapping of Input and Output Image to Send and Receive Objects

The data of the send and receive objects are mapped linearly to the input and output image of the
DPM as shown in the following table:
DPM input image byte offset Receive object index Receive object sub-index
0 2200h 01h
1 2200h 02h
.. .. ..
127 2200h 80h
128 2201h 01h
.. .. ..
510 2203h 7Fh
511 2203h 80h
Table 18: Mapping of Input Data (in case of unchanged object lengths and no netX 10 applied)

DPM output image byte offset Send object index Send object sub-index
0 2000h 01h
1 2000h 02h
.. .. ..
127 2000h 80h
128 2001h 01h
.. .. ..
510 2003h 7Fh
511 2003h 80h
Table 19: Mapping of Output Data (in case of unchanged object lengths and no netX 10 applied)

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2.4.4 Extended Mode
The Extended Mode is characterized by the following features:
 The Extended Mode has been designed for maximum flexibility, for instance, if you want to
create an object directory of your own or you want to create your own device profile.
 The extended bus parameter structure CANOPEN_SLAVE_EXT_BUSPARAM_DATA_T is
applied, see Table 20: Extended bus parameter structure
CANOPEN_SLAVE_EXT_BUSPARAM_DATA_T on page 38.
 The AUTOSTART option is not available.
 Configuration can only be done by “Set Configuration” packet. Currently, there are no
suitable configuration tools available.
 The DPM contains the PDOs (DPM Byte 0…7: PDO1, DPM Byte 8…15: PDO2, and so on.).
 The object dictionary must completely be set up manually. For each of the entries made in
the EDS file that you want to use, the according entries must be made in the object dictionary
(via ODV3/object create and write). For a precise list of entries that can be set up, see
subsection 2.4.5 ”Object Dictionary with Firmware Functionality” on page 40 below.
 If further objects are added later, these may be mapped in Extended Mode.

2.4.4.1 Configuring the Extended Mode

The extended bus parameter structure CANOPEN_SLAVE_EXT_BUSPARAM_DATA_T is used.
It consists of the following items:
Parameter Type Meaning Range of Values
usNumOfRxPdo UINT16 Number of Receive PDOs 0.. 256
usNumOfTxPdo UINT16 Number of Transmit PDOs 0.. 256
aulReserved[9] UINT32[9] Reserved, set to zero
Table 20: Extended bus parameter structure CANOPEN_SLAVE_EXT_BUSPARAM_DATA_T

2.4.4.2 Handling of Process Data in Extended Mode

The 4 objects (0x2000…0x2003) for send data and 4 objects of receive data (0x2200…0x2203)
are not used in Extended Mode. In the Extended Mode, the DPM contains PDOs instead of
objects.

CANopen Slave | Protocol API

2.4.4.3 Start Sequence of Extended Mode

The following sequence of steps is necessary to get the Extended Mode running after the bus
parameters have been set:
1. Create all necessary objects within the object dictionary. Only objects mentioned in Table 21:
Supported Object Dictionary Entries (Communication Profile, present in the EDS file) below
make sense in this context.
2. Register all required indications (however, a later registration is also possible).
3. Start communication. This causes a verification whether sufficient information is available to
start up the protocol stack. For example, if 3 PDOs are configured, the objects 0x1400,
0x1600, 0x1401, 0x1601, 0x1402 and 0x1602 must exist and will be checked for existence.
4. Then, no communication objects may be deleted anymore.

Note: In Extended Mode, configuration can only be done by “Set Configuration” packet.
However, the auto-start option is not available.

CANopen Slave | Protocol API

2.4.5 Object Dictionary with Firmware Functionality

The following contains a list of object dictionary entries with Firmware Functionality. These should
be exactly the ones mentioned within the EDS file. Only these object dictionary entries can be
managed by the CANopen Slave V3 Protocol Stack.
However, this is done in a quite different manner in Standard Mode and in Extended Mode.
 In Standard Mode; all these entries are created by the CANopen Slave by default and are
available. They may not be deleted.
 In Extended Mode, these entries will be supported by the firmware if you create them
manually using the ODV3 capabilities (object create/write). It does not make sense to create
other entries of the communication profile unless you completely implement the functionality
of such an entry on your own.
Now, this is the list of object dictionary entries with firmware functionality:

Index of Object Name of Object Comment

0x1000 Device type This object is mandatory
0x1001 Error register This object is mandatory
0x1005 COB-ID SYNC Consumer only
0x100C Guard Time
0x100D Life Time Factor
0x1012 COB-ID Time Stamp Producer and consumer
0x1014 COB-ID EMCY Producer
0x1015 Inhibit time Emergency
0x1016 Heartbeat Consumer Entries Contains up to 64 entries
0x1017 Producer Heartbeat Time
0x1018 Identity Object This object is mandatory
0x1029 Error Behavior The following error behaviors have between implemented
in the CANopen Slave V3 protocol stack:
Remain (no change of NMT state)
Stopped
Pre-operational (if operational)
0x1200 Server SDO Parameter 1
0x1400…143F RxPDO Communication Parameters Up to 8 mappable objects per PDO
0x1600…163F RxPDO Mapping Up to 8 mappable objects per PDO
0x1800…183F TxPDO Communication Parameters Up to 8 mappable objects per PDO
0x1A00.. 1A3F TxPDO Mapping Up to 8 mappable objects per PDO
Table 21: Supported Object Dictionary Entries (Communication Profile, present in the EDS file)

CANopen Slave | Protocol API

Index of Object Name of Object Default Minimum Maximum

(not for netX 10)
0x2000 Bytes in (1) 128 Bytes 0 Bytes 256 Bytes
0x2001 Bytes in (2) 128 Bytes 0 Bytes 256Bytes
0x2002 Bytes in (3) 128 Bytes 0 Bytes 256Bytes
0x2003 Bytes in (4) 128 Bytes 0 Bytes 256Bytes
0x2200 Bytes out (1) 128 Bytes 0 Bytes 256Bytes
0x2201 Bytes out (2) 128 Bytes 0 Bytes 256Bytes
0x2202 Bytes out (3) 128 Bytes 0 Bytes 256Bytes
0x2203 Bytes out (4) 128 Bytes 0 Bytes 256Bytes
Table 22: Supported Object Dictionary Entries (Manufacturer-specific Profile, present in the EDS file)

CANopen Slave | Protocol API

3 The Application Interface

This chapter describes the application interface of the CANopen slave stack.
The application task is named AP task. The AP task’s process queue is keeping track of all its
incoming packets and has to be addressed from the user application. It provides the
communication channel for the underlying CANopen slave stack. Once the CANopen slave stack
communication is established, events received by the stack are mapped to packets that are sent to
the AP task’s process queue. On one hand every packet has to be evaluated in the AP task’s
context and corresponding actions be executed. On the other hand, Initiator-Services that are be
requested by the AP task itself are sent via predefined queue macros to the underlying CANopen
slave stack queues via packets as well. The AP task will not route all commands to the CANopen
slave task. Some commands are used for internal communication between the AP- and CANopen
slave-Task only. Other requests are not possible in specific states.

3.1 Configuration
The user application can use this service in order to configure the AP task with parameters. After
the stack receives this request, the AP task will configure the CANopen Slave.

Behavior of the stack when receiving a Set Configuration Command

The following rules apply for the behavior of the CANopen Slave protocol stack when receiving a
set configuration command:
 The configuration packets name is CANOPEN_APS_SET_CONFIGURATION_REQ for the
request and CANOPEN_APS_SET_CONFIGURATION_CNF for the confirmation.
 The configuration data are checked for consistency and integrity.
 In case of failure no data are accepted.
 In case of success the configuration parameters are stored internally (within the RAM).
 The parameterized data will be activated only after a channel init has been performed.
 No automatic registration of the application at the stack happens.
 The confirmation packet CANOPEN_APS_SET_CONFIGURATION_CNF only transfers simple
status information, but does not repeat the whole parameter set.
 A “Set Configuration Command” will not be processed in case of the protocol stack has
already been configured via database prior to receiving this command.

CANopen Slave | Protocol API

3.1.1 CANOPEN_APS_SET_CONFIGURATION_REQ/CNF – Set

Configuration
The Set Configuration Packet contains the parameter system flag parameter, watchdog time
parameter and the structure with bus parameters.

Packet Structure Reference

/*************************************************************************************/
/** type of <code>CANOPEN_APS_SET_CONFIGURATION_REQ_DATA_Ttag</code> */
typedef struct CANOPEN_APS_SET_CONFIGURATION_REQ_DATA_Ttag
CANOPEN_APS_SET_CONFIGURATION_REQ_DATA_T;

#define CANOPEN_APS_SYS_FLAG_COM_CONTROLLED_RELEASE 0x00000001L /* Automatic start */

#define CANOPEN_APS_SYS_FLAG_IO_STATUS_ENABLED 0x00000002L /* Not supported */
#define CANOPEN_APS_SYS_FLAG_IO_STATUS_32_BIT 0x00000004L /* Not supported */

#define CANOPEN_APS_SYS_FLAG_ADDRESS_SWITCH 0x00000010L /* Switch for address */

#define CANOPEN_APS_SYS_FLAG_BAUD_SWITCH 0x00000020L /* Switch for baud */

#define CANOPEN_APS_WD_OFF 0x00000000L /* Watchdog disabled */

#define CANOPEN_APS_WD_MIN_TIMEOUT 0x00000014L /* Minimum watchdog */
#define CANOPEN_APS_WD_MAX_TIMEOUT 0x0000FFFFL /* Maximum watchdog */

__PACKED_PRE struct CANOPEN_APS_SET_CONFIGURATION_REQ_DATA_Ttag

{
TLR_UINT32 ulSystemFlags; /* System flags */
TLR_UINT32 ulWdgTime; /* Watchdog time */
CANOPEN_SLAVE_BUSPARAM_DATA_T tBusParam; /* Bus parameter */

}__PACKED_POST;

Packet Description

Structure CANOPEN_APS_PCK_SET_CONFIGURATION_REQ_T Type: Request

Variable Type Value / Description

Range

Structure TLR_PACKET_HEADER_T
ulDest UINT32 0x20/ Destination Queue-Handle of CANopen slave-task Process Queue
QUE_CANOPE
NAPS
32
ulSrc UINT32 0 ... 2 -1 Source Queue-Handle of AP task Process Queue
ulDestId UINT32 ulCANOPESL Destination End Point Identifier, specifying the final receiver of the
VT0Id packet within the Destination Process
ulSrcId UINT32 ulAPSS0Id Source End Point Identifier, specifying the origin of the packet inside
the Source Process
ulLen UINT32 68 Packet Data Length (In Bytes)
32
ulId UINT32 0 ... 2 -1 Packet Identification As Unique Number
ulSta UINT32 See section 6.1.1 Codes of the CANopen-APS-Task
ulCmd UINT32 0x00002E04 CANOPEN_APS_SET_CONFIGURATION_REQ - Command
ulExt UINT32 0 Extension not in use, set to zero for compatibility reasons
ulRout UINT32 x Routing, do not touch

CANopen Slave | Protocol API

Structure CANOPEN_APS_SET_CONFIGURATION_REQ_DATA_T
ulSystemFlags UINT32 System Flags
BIT 0: AUTOSTART / APPLICATION CONTROLLED
The start of the device can be performed either application controlled or
automatically:
Automatic: (not available in Extended Mode)
Network connections are opened automatically without taking care of
the state of the host application.
Application controlled:
The channel firmware is forced to wait for the host application to set the
Application Ready flag.
communication with a controller after a device start is allowed without
BUS_ON flag, but the communication will be stopped if the BUS_ON flag
changes state to 0
communication with controller is allowed only with the BUS_ON flag.

BIT 1: I/O STATUS DISABLED/ENABLED

Not supported yet

BIT 2: IO STATUS 32 BIT

Not supported yet

BIT 3: Reserved for further use, set to zero

BIT 4: ADDRESS_SWITCH
Should be set when hardware address switch is used and there is no
TAG present.

BIT 5: BAUD_SWITCH
Should be set when hardware baudrate switch is used and there is no
TAG present.

BIT 6 - 31: Reserved for further use, set to zero

ulWdgTime UINT32 Watchdog supervision
0 Watchdog supervision deactivated
20 .. 65535 Watchdog time in milliseconds
Watchdog time within which the device watchdog must be retriggered
from the application program while the application program monitoring
is activated. When the watchdog time value is equal to 0 respectively
the application program monitoring is deactivated.
tBusParam CANOPE Bus parameter structure
N_SLAVE
_BUSPAR
AM_DATA
_T
Table 23: CANOPEN_APS_PCK_SET_CONFIGURATION_REQ – Set Configuration Parameter Request

CANopen Slave | Protocol API

3.1.2 Bus parameter

The bus parameter structure CANOPEN_SLAVE_BUSPARAM_DATA_T related to parameter
tDeviceCfg consists of the following items:
Parameter Type Meaning Range of Values
ulSlaveNodeId UINT32 Node ID of CANopen Slave 1...127
ulBaudrate UINT32 Baudrate for CANopen network See Table 25 on page 46.
ulCanOpenFlags UINT32 CANopen Flags Flags
BIT 0: 29-BIT IDENTIFIER DISABLED/ENABLED
Not supported yet, set to zero
BIT 1-3: Reserved for further use, set to zero
(BIT4 up to BIT10 are only applicable in Standard Mode)
BIT 4: Evaluate Vendor ID DISABLED/ENABLED
BIT 5: Evaluate Product Code DISABLED/ENABLED
BIT 6: Evaluate Serial Number DISABLED/ENABLED
BIT 7: Evaluate Revision Number DISABLED/ENABLED
BIT 8: Evaluate Device Type DISABLED/ENABLED
BIT 9: Evaluate Object Size DISABLED/ENABLED
BIT 10: Evaluate PDO Count DISABLED/ENABLED
BIT 11-15: Reserved for further use, set to zero
BIT 16: Disable Send COS Synchronous Acyclic
BIT 17: Disable Send COS Manufacturer Spec.
BIT 18: Disable Send COS Profile Spec.
BIT 19: Reserved for further use, set to zero
BIT 20: Enable reject if restricted CAN ID is confugured.
BIT 21 - 23: Reserved for further use, set to zero
BIT 24: Hold last state
BIT 25-27: Reserved for further use, set to zero
BIT 28: Extended Mode Flag
BIT 29-31: Reserved for further use, set to zero
tStdBusParam or union This item either contains the standard parameters or the -
tExtBusParam extended parameters depending on bit 29.
Standard parameters (bit 29 = 0), see Table 17 on page
36. Extended parameters (bit 29 = 1), see Table 20 on
page 38.
ul29BitCode UINT32 29 bit code for acceptance filtering
ul29BitMask UINT32 29 bit mask for acceptance filtering
Table 24: Bus parameter structure CANOPEN_SLAVE_BUSPARAM_DATA_T

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The variable ulSlaveNodeId indicating the node ID of the CANopen slave is required for the
addressing of the device at the bus and has to be unique in the network. Therefore it is not allowed
to use this number two times in the same network. Allowed values range from 1 to 127.
The baud rate of the CANopen network can be set using the ulBaudRate variable. The settings
listed in the following table are applicable:

The standard bus parameter structure CANOPEN_SLAVE_STD_BUSPARAM_DATA_T and the

extended bus parameter structure CANOPEN_SLAVE_EXT_BUSPARAM_DATA_T are described in
Table 17: Standard bus parameter structure CANOPEN_SLAVE_STD_BUSPARAM_DATA_T on
page 36 and in Table 20: Extended bus parameter structure
CANOPEN_SLAVE_EXT_BUSPARAM_DATA_T on page 38.
The following table on page 47 explains the meaning of the CANopen Flags in a more detailed
manner:

CANopen Slave | Protocol API

Explanation of Parameter ulCanOpenFlags

Bit Name Comment Applicable Applicable

for for
Standard Extended
Mode Mode
0 29 bit identifier Currently, 29 bit identifiers are not supported. x x
DISABLED/ENABLED Therefore set this value to 0.
4 Evaluate Vendor ID The ulVendorId parameter provides the value for the x -
DISABLED/ENABLED Vendor ID entry in the object dictionary of the
CANopen slave (Object 0x1018, sub-index 1) if bit 4 in
parameter ulCanopenFlags is set. Otherwise, the
vendor ID is set to zero.
5 Evaluate Product Code The ulProductCode parameter provides the value x -
DISABLED/ENABLED for the product code entry in the object dictionary of the
CANopen slave (Object 0x1018, sub-index 2) if bit 5 in
parameter ulCanopenFlags is set. Otherwise, the
product code is set to zero.
6 Evaluate Serial Number The ulSerialNumber parameter provides the value x -
DISABLED/ENABLED for the serial number entry in the object dictionary of
the CANopen slave (Object 0x1018, sub-index 4) if bit
6 in parameter ulCanopenFlags is set. Otherwise,
the serial number is set to zero.
7 Evaluate Revision The ulRevisionNumber parameter provides the x -
Number value for the revision number entry in the object
DISABLED/ENABLED dictionary of the CANopen slave (Object 0x1018, sub-
index 3) if bit 7 in parameter ulCanopenFlags is set.
Otherwise, the revision number is set to default.
8 Evaluate Device Type x -
DISABLED/ENABLED
9 Evaluate Object Size x -
DISABLED/ENABLED
10 Evaluate PDO Count x -
DISABLED/ENABLED
16 Send COS Synchronous No automatic transmission of TxPDOs in transmission x x
Acyclic mode 0, else PDO sent automatically with start node
DISABLED/ENABLED and on data change with next SYNC.
17 Send COS Manufacturer No automatic transmission of TxPDOs in transmission x x
Spec. mode 254, else PDO sent automatically with start node
DISABLED/ENABLED and on data change.
18 Send COS Profile Spec. No automatic transmission of TxPDOs in transmission x x
DISABLED/ENABLED mode 255, else PDO sent automatically with start node
and on data change.
20 Enable reject if restricted If enabled the CANopen Slave stack will reject x
CAN ID is confugured. restricted CAN IDs.
24 Hold last state Hold last data in case of not operational, else data is x x
cleared.
28 Extended mode flag The extended mode flag switches on and off the x x
Extended Mode.
Table 26: Explanation of Parameter ulCanOpenFlags

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The following applies for filtering of 29 bit CANopen-IDs (only supported in Data Link Layer/CAN
DL Task):
A receive filter for the COB-IDs can be defined.

ul29BitMask
Here it is possible to define the bits, the filter uses. In other words: All bits currently not set will not
be filtered out.

ul29BitCode
Those are the bits set to filter the IDs. Those bits must have the value ‘1’ in the acceptance code
and the reaching COB-ID to pass the filter. If a bit is not set in the Acceptance Mask, the filter will
pass the message anyway.

Packet Structure Reference

/*************************************************************************************/
/** type of <code>CANOPEN_SLAVE_STD_BUSPARAM_DATA_Ttag</code> */
typedef struct CANOPEN_SLAVE_STD_BUSPARAM_DATA_Ttag
CANOPEN_SLAVE_STD_BUSPARAM_DATA_T;
/** type of <code>CANOPEN_SLAVE_EXT_BUSPARAM_DATA_Ttag</code> */
typedef struct CANOPEN_SLAVE_EXT_BUSPARAM_DATA_Ttag
CANOPEN_SLAVE_EXT_BUSPARAM_DATA_T;
/** type of <code>CANOPEN_SLAVE_BUSPARAM_DATA_Ttag</code> */
typedef struct CANOPEN_SLAVE_BUSPARAM_DATA_Ttag
CANOPEN_SLAVE_BUSPARAM_DATA_T;

struct CANOPEN_SLAVE_STD_BUSPARAM_DATA_Ttag
{
TLR_UINT32 ulVendorId; /* Vendor ID */
TLR_UINT32 ulProductCode; /* Product code */
TLR_UINT32 ulSerialNumber; /* Serial number */
TLR_UINT32 ulRevisionNumber; /* Revision number */
TLR_UINT32 ulDeviceType; /* Device Type */

TLR_UINT8 bObject2000Size; /* Size of object 2000 */

TLR_UINT8 bObject2001Size; /* Size of object 2001 */
TLR_UINT8 bObject2002Size; /* Size of object 2002 */
TLR_UINT8 bObject2003Size; /* Size of object 2003 */

TLR_UINT8 bObject2200Size; /* Size of object 2200 */

TLR_UINT8 bObject2201Size; /* Size of object 2201 */
TLR_UINT8 bObject2202Size; /* Size of object 2202 */
TLR_UINT8 bObject2203Size; /* Size of object 2203 */

TLR_UINT16 usNumOfRxPdo; /* Number of receive PDOs */

TLR_UINT16 usNumOfTxPdo; /* Number of transmit PDOs */

TLR_UINT32 aulReserved[2]; /* Reserved, set to zero */

};

struct CANOPEN_SLAVE_EXT_BUSPARAM_DATA_Ttag
{
TLR_UINT16 usNumOfRxPdo; /* Number of receive PDOs */
TLR_UINT16 usNumOfTxPdo; /* Number of transmit PDOs */
TLR_UINT32 aulReserved[9]; /* Reserved, set to zero */
};

/*********************************************************************************/
/** type of <code>CANOPEN_APS_SET_CONFIGURATION_REQ_DATA_Ttag</code> */
typedef struct CANOPEN_APS_SET_CONFIGURATION_REQ_DATA_Ttag
CANOPEN_APS_SET_CONFIGURATION_REQ_DATA_T;

#define CANOPEN_APS_SYS_FLAG_COM_CONTROLLED_RELEASE 0x00000001L /* Automatic start */

#define CANOPEN_APS_SYS_FLAG_IO_STATUS_ENABLED 0x00000002L /* Not supported */
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#define CANOPEN_APS_SYS_FLAG_IO_STATUS_32_BIT 0x00000004L /* Not supported */

#define CANOPEN_APS_SYS_FLAG_ADDRESS_SWITCH 0x00000010L /* Switch for address */

#define CANOPEN_APS_SYS_FLAG_BAUD_SWITCH 0x00000020L /* Switch for baud */

#define CANOPEN_APS_WD_OFF 0x00000000L /* Watchdog disabled */

#define CANOPEN_APS_WD_MIN_TIMEOUT 0x00000014L /* Minimum watchdog */
#define CANOPEN_APS_WD_MAX_TIMEOUT 0x0000FFFFL /* Maximum watchdog */

#define CANOPEN_SLAVE_MIN_SLAVE_NODE_ID 1
#define CANOPEN_SLAVE_MAX_SLAVE_NODE_ID 127

#define CANOPEN_SLAVE_CFG_BAUD_1000 0x00000000L /* 1MBaud */

#define CANOPEN_SLAVE_CFG_BAUD_800 0x00000001L /* 800kBaud */
#define CANOPEN_SLAVE_CFG_BAUD_500 0x00000002L /* 500kBaud */
#define CANOPEN_SLAVE_CFG_BAUD_250 0x00000003L /* 250kBaud */
#define CANOPEN_SLAVE_CFG_BAUD_125 0x00000004L /* 125kBaud */
#define CANOPEN_SLAVE_CFG_BAUD_100 0x00000005L /* 100kBaud */
#define CANOPEN_SLAVE_CFG_BAUD_50 0x00000006L /* 50kBaud */
#define CANOPEN_SLAVE_CFG_BAUD_20 0x00000007L /* 20kBaud */
#define CANOPEN_SLAVE_CFG_BAUD_10 0x00000008L /* 10kBaud */
#define CANOPEN_SLAVE_CFG_BAUD_AUTO_DETECTION 0x000000FFL /* Auto-Baud detection */

#define CANOPEN_SLAVE_STD_CFG_DEF_OBJECT_SIZE 128 /* Default object size in std mode */

#define CANOPEN_SLAVE_CFG_MAX_RXPDO 256 /* Maximum number of RxPDO */

#define CANOPEN_SLAVE_CFG_MAX_TXPDO 256 /* Maximum number of TxPDO */

struct CANOPEN_SLAVE_BUSPARAM_DATA_Ttag
{
TLR_UINT32 ulSlaveNodeId; /* Node ID */
TLR_UINT32 ulBaudrate; /* Baud-rate */
TLR_UINT32 ulCanOpenFlags; /* CANopen flags */

union
{
CANOPEN_SLAVE_STD_BUSPARAM_DATA_T tStdBusParam; /* Parameter for standard mode*/
CANOPEN_SLAVE_EXT_BUSPARAM_DATA_T tExtBusParam; /* Parameter for extended mode*/

} uMode;

TLR_UINT32 ul29BitCode; /* 29Bit Code */

TLR_UINT32 ul29BitMask; /* 29Bit Mask */

};

struct CANOPEN_APS_SET_CONFIGURATION_REQ_DATA_Ttag
{
TLR_UINT32 ulSystemFlags; /* System flags */
TLR_UINT32 ulWdgTime; /* Watchdog time */
CANOPEN_SLAVE_BUSPARAM_DATA_T tBusParam; /* Bus parameter */

};

/*********************************************************************************/
/** type of <code>CANOPEN_APS_SET_CONFIGURATION_REQ_Ttag</code> */
typedef struct CANOPEN_APS_SET_CONFIGURATION_REQ_Ttag
CANOPEN_APS_SET_CONFIGURATION_REQ_T;

struct CANOPEN_APS_SET_CONFIGURATION_REQ_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header */
CANOPEN_APS_SET_CONFIGURATION_REQ_DATA_T tData; /** packet data */
};

/*********************************************************************************/

CANopen Slave | Protocol API

3.2 CANopen Slave Services

This section describes the packages of the CANopen Slave services.
The CANopen Slave Protocol Stack V3 supports two different application situations:
 Loadable Firmware (LFW)
 Linkable Object Modules (LOM)
This section describes the packages if you use LFW or LOM. Section Packages for LOM on page
114 describes the packages which can be used with Linkable Object Modules (LOM) only.
The following table lists all packets that can be uses with LFW and LOM. Additionaly, the table lists
whether a package will be denied if the ‘Configuration Lock’ flag is set.
Section Name LFW LOM Denied
on Cfg.
Lock
3.2.1 CANOPEN_SLAVE_STARTSTOP_REQ/CNF – Start/Stop CANopen x x x
Network
3.2.2 CANOPEN_SLAVE_EXCHANGE_DATA_REQ/CNF – Exchange Data x x x
3.2.3 CANOPEN_SLAVE_SEND_EMCY_REQ/CNF – Send Emergency x x x
Message
3.2.4 CANOPEN_SLAVE_SEND_EMCY_IND/RES – Emergency Message x x x
Indication
3.2.5 CANOPEN_SLAVE_SET_NMT_STATE_REQ/CNF – Set NMT State x x x
3.2.6 CANOPEN_SLAVE_SEND_TIME_STAMP_REQ/CNF – Send Time x x x
Stamp
3.2.7 CANOPEN_SLAVE_RECV_TIME_STAMP_IND/RES – Receive Time x x x
Stamp Indication
3.2.8 CANOPEN_SLAVE_SEND_TXPDO_REQ – Send TxPDO Request x x x
3.2.9 CANOPEN_SLAVE_RECV_RXPDO_REQ/CNF – Receive RxPDO x x x
Request
3.2.10 CANOPEN_SLAVE_RECV_RXPDO_IND/RES – Receive RxPDO x x x
Indication
3.2.11 CANOPEN_SLAVE_SET_EVENTS_INDICATED_REQ/CNF – Set x x 0
Events Indicated Request
3.2.12 CANOPEN_SLAVE_GET_IO_INFO_REQ/CNF – Get I/O Info x x x
3.2.13 CANOPEN_SLAVE_NMT_STATE_CHANGE_IND/RES – NMT State x x x
Change Indication
3.2.14 CANOPEN_SLAVE_ERR_CTRL_EVENT_IND/RES – Error Control x x x
Event Indication
3.2.15 CANOPEN_SLAVE_NMT_COMMAND_IND/RES – NMT Command x x x
Indication
3.2.16 CANOPEN_SLAVE_SETUP_PDO_INDICATION_REQ/CNF – Setup x x x
PDO Indication
3.2.17 CANOPEN_SLAVE_RECEIVE_PDO_IND/RES – Receive PDO x x x
Indication
Table 27: Packets of CANopen Slave Protocol Stack V3 and Restrictions of Usage

The following packet of the CANopen Slave-Task will be denied if the ‘Configuration Lock’ flag is
set:
CANOPEN_SLAVE_SET_EVENTS_INDICATED_REQ/CNF – Set Events Indicated Request

CANopen Slave | Protocol API

3.2.1 CANOPEN_SLAVE_STARTSTOP_REQ/CNF – Start/Stop

CANopen Network
This packet starts or stops the communication with the CANopen network, depending on the value
of the ulMode parameter.
 If the ulMode parameter has the value 0 and the current NMT State is either Pre-operational
state or Operational state, the NMT State will switch to Stopped state.
 If the ulMode parameter has the value 1 and the current NMT State is either Pre-operational
state or Stopped state, the NMT State will switch to Operational state.
The BUS-ON/BUS-OFF flag is set accordingly (ulMode=0: BUS-OFF ulMode=1: BUS-ON)
For more information about NMT States, see section 2.3.1 NMT Slave State Machine.

Packet Structure Reference

/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_STARTSTOP_REQ_DATA_Ttag</code> */
typedef struct CANOPEN_SLAVE_STARTSTOP_REQ_DATA_Ttag
CANOPEN_SLAVE_STARTSTOP_REQ_DATA_T;

#define CANOPEN_SLAVE_STOP_CANOPEN 0x00000000L /* Stop CANopen */

#define CANOPEN_SLAVE_START_CANOPEN 0x00000001L /* Start CANopen */

/** Structure of task command start/stop CANopen request data */

struct CANOPEN_SLAVE_STARTSTOP_REQ_DATA_Ttag
{
TLR_UINT32 ulMode; /* Start or stop CANopen */
};

/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_PACKET_STARTSTOP_REQ_Ttag</code> */
typedef struct CANOPEN_SLAVE_PACKET_STARTSTOP_REQ_Ttag
CANOPEN_SLAVE_PACKET_STARTSTOP_REQ_T;

/** Structure of task command start/stop CANopen request */

struct CANOPEN_SLAVE_PACKET_STARTSTOP_REQ_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */
CANOPEN_SLAVE_STARTSTOP_REQ_DATA_T tData; /** packet request data. */

};
/*********************************************************************************/

CANopen Slave | Protocol API

Packet Description

Structure Information CANOPEN_SLAVE_PACKET_STARTSTOP_REQ_T Type: Request

Variable Type Value / Range Description

Structure TLR_PACKET_HEADER_T
ulDest UINT32 0x20/ Destination Queue-Handle of CANopen slave-Task Process Queue
QUE_CANOPE
NSLV
32
ulSrc UINT32 0 ... 2 -1 Source Queue-Handle of AP task Process Queue
ulDestId UINT32 ulCANOPENSL Destination End Point Identifier, specifying the final receiver of the
V0Id packet within the Destination Process
ulSrcId UINT32 ulAPSS0Id Source End Point Identifier, specifying the origin of the packet inside
the Source Process
ulLen UINT32 4 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 0 See section 6.2 “Codes of the CANopen Slave-Task
ulCmd UINT32 0x00002902 CANOPEN_SLAVE_STARTSTOP_REQ - Command
ulExt UINT32 0 Reserved
ulRout UINT32 x Routing Information
Structure CANOPEN_SLAVE_STARTSTOP_REQ_DATA_T
ulMode UINT32 Depending on this assignment, communication is either started or
stopped:
0 Stop CANopen
1 Start CANopen
Table 28: CANOPEN_SLAVE_PACKET_STARTSTOP_REQ_T – Start/Stop Communication Request

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Packet Structure Reference
/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_STARTSTOP_CNF_DATA_Ttag</code> */
typedef struct CANOPEN_SLAVE_STARTSTOP_CNF_DATA_Ttag
CANOPEN_SLAVE_STARTSTOP_CNF_DATA_T;

#define CANOPEN_SLAVE_STOP_CANOPEN 0x00000000L /* Stop CANopen */

#define CANOPEN_SLAVE_START_CANOPEN 0x00000001L /* Start CANopen */

/** Structure of task command start/stop CANopen confirmation data */

struct CANOPEN_SLAVE_STARTSTOP_CNF_DATA_Ttag
{
TLR_UINT32 ulMode; /* Start or stop CANopen */
};

/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_PACKET_STARTSTOP_CNF_Ttag</code> */
typedef struct CANOPEN_SLAVE_PACKET_STARTSTOP_CNF_Ttag
CANOPEN_SLAVE_PACKET_STARTSTOP_CNF_T;

/** Structure of task command start/stop CANopen confirmation */

struct CANOPEN_SLAVE_PACKET_STARTSTOP_CNF_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */
CANOPEN_SLAVE_STARTSTOP_CNF_DATA_T tData; /** packet confirmation data. */
};
/*********************************************************************************/

Packet Description
Structure Information CANOPEN_SLAVE_PACKET_STARTSTOP_CNF_T Type: Confirmation
Variable Type Value / Range Description

Structure TLR_PACKET_HEADER_T
ulDest UINT32 Destination Queue-Handle, untouched
ulSrc UINT32 Source Queue-Handle, untouched
ulDestId UINT32 ulAPSS0Id Destination End Point Identifier, untouched
ulSrcId UINT32 ulCANOPENSL Source End Point Identifier, untouched
V0Id
ulLen UINT32 4 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 See section 6.2 “Codes of the CANopen Slave-Task
ulCmd UINT32 0x00002903 CANOPEN_SLAVE_STARTSTOP_CNF - Command
ulExt UINT32 Extension, reserved
ulRout UINT32 Routing Information, do not change

structure CANOPEN_SLAVE_STARTSTOP_CNF_DATA_T
ulMode UINT32 Depending on this assignment, communication is either started or
stopped:
0 Stop CANopen
1 Start CANopen
Table 29: CANOPEN_SLAVE_PACKET_STARTSTOP_CNF_T – Start/Stop Communication Confirmation

CANopen Slave | Protocol API

3.2.2 CANOPEN_SLAVE_EXCHANGE_DATA_REQ/CNF – Exchange

Data
This packet can be used to exchange send and receive object data with the CANopen network. It
can be used instead of exchanging data with the input and output image of the DPM. With each
packet, data of one receive object can be read and data of one send object can be written.
This packet is only applicable in Standard Mode.

Packet Structure Reference

/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_EXCHANGE_DATA_REQ_DATA_Ttag</code> */
typedef struct CANOPEN_SLAVE_EXCHANGE_DATA_REQ_DATA_Ttag
CANOPEN_SLAVE_EXCHANGE_DATA_REQ_DATA_T;

/** Structure of task command start/stop CANopen request data */

struct CANOPEN_SLAVE_EXCHANGE_DATA_REQ_DATA_Ttag
{
TLR_UINT32 ulRecvIndex; /* Object index for recv data */
TLR_UINT32 ulRecvSubIndex; /* Object sub-index for recv data */
TLR_UINT32 ulRecvDataCnt; /* Recv data count */

TLR_UINT32 ulSendIndex; /* Object index for send Data */

TLR_UINT32 ulSendSubIndex; /* Object sub-index for send Data */
TLR_UINT32 ulSendDataCnt; /* Send data count */

TLR_UINT8 abSendData[CANOPEN_SLAVE_MAX_SEND_SUB_IDX];
};

#define CANOPEN_SLAVE_EXCHANGE_DATA_HEAD_SIZE (6 * sizeof(TLR_UINT32))

/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_PACKET_EXCHANGE_DATA_REQ_Ttag</code> */
typedef struct CANOPEN_SLAVE_PACKET_EXCHANGE_DATA_REQ_Ttag
CANOPEN_SLAVE_PACKET_EXCHANGE_DATA_REQ_T;

/** Structure of task command exchange data request*/

struct CANOPEN_SLAVE_PACKET_EXCHANGE_DATA_REQ_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */
CANOPEN_SLAVE_EXCHANGE_DATA_REQ_DATA_T tData; /** packet request data. */
};
/*********************************************************************************/

CANopen Slave | Protocol API

Packet Description
Structure Information CANOPEN_SLAVE_PACKET_EXCHANGE_DATA_REQ_T Type: Request

Variable Type Value / Range Description

Structure TLR_PACKET_HEADER_T
ulDest UINT32 0x20/ Destination Queue-Handle of CANopen slave-Task Process Queue
QUE_CANOPEN
SLV
32
ulSrc UINT32 0 ... 2 -1 Source Queue-Handle of AP task Process Queue
ulDestId UINT32 ulCANOPENSL Destination End Point Identifier, specifying the final receiver of the
V0Id packet within the Destination Process
ulSrcId UINT32 ulAPSS0Id Source End Point Identifier, specifying the origin of the packet inside
the Source Process
ulLen UINT32 24.. 279 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 0 See section 6.2 “Codes of the CANopen Slave-Task
ulCmd UINT32 0x290A CANOPEN_SLAVE_EXCHANGE_DATA_REQ - Command
ulExt UINT32 0 Reserved
ulRout UINT32 x Routing Information

Structure CANOPEN_SLAVE_EXCHANGE_DATA_REQ_DATA_T
ulRecvIndex UINT32 0x2200...0x220 Receive object index
3
ulRecvSub UINT32 1.. 255 Receive object sub-index
Index
ulRecvData UINT32 0 ...255 Number of data bytes to be read
Cnt
ulSendIndex UINT32 0x2000...0x200 Send object index
3
ulSendSub UINT32 1.. 255 Send object sub-index
Index
ulSendDataCn UINT32 0..255 Number of data bytes to be sent
t
abSendData UINT8[] Data to be sent
[255]
Table 30: CANOPEN_SLAVE_PACKET_EXCHANGE_DATA_REQ_T – Exchange Data Request

CANopen Slave | Protocol API

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Packet Structure Reference
/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_EXCHANGE_DATA_CNF_DATA_Ttag</code> */
typedef struct CANOPEN_SLAVE_EXCHANGE_DATA_CNF_DATA_Ttag
CANOPEN_SLAVE_EXCHANGE_DATA_CNF_DATA_T;

/** Structure of task command start/stop CANopen confirmation data */

struct CANOPEN_SLAVE_EXCHANGE_DATA_CNF_DATA_Ttag
{
TLR_UINT32 ulRecvIndex; /* Object index for recv data */
TLR_UINT32 ulRecvSubIndex; /* Object sub-index for recv data */
TLR_UINT32 ulRecvDataCnt; /* Recv data count */

TLR_UINT32 ulSendIndex; /* Object index for send Data */

TLR_UINT32 ulSendSubIndex; /* Object sub-index for send Data */
TLR_UINT32 ulSendDataCnt; /* Send data count */

TLR_UINT8 abRecvData[CANOPEN_SLAVE_MAX_RECV_SUB_IDX];
};

#define CANOPEN_SLAVE_EXCHANGE_DATA_HEAD_SIZE (6 * sizeof(TLR_UINT32))

/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_PACKET_EXCHANGE_DATA_CNF_Ttag</code> */
typedef struct CANOPEN_SLAVE_PACKET_EXCHANGE_DATA_CNF_Ttag
CANOPEN_SLAVE_PACKET_EXCHANGE_DATA_CNF_T;

/** Structure of task command exchange data confirmation */

struct CANOPEN_SLAVE_PACKET_EXCHANGE_DATA_CNF_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */
CANOPEN_SLAVE_EXCHANGE_DATA_CNF_DATA_T tData; /** packet confirmation data. */
};
/*********************************************************************************/

CANopen Slave | Protocol API

Packet Description
Structure Information CANOPEN_SLAVE_PACKET_EXCHANGE_DATA_CNF Type: Confirmation
Variable Type Value / Range Description
Structure TLR_PACKET_HEADER_T
ulDest UINT32 Destination Queue-Handle, untouched
ulSrc UINT32 Source Queue-Handle, untouched
ulDestId UINT32 ulAPSS0Id Destination End Point Identifier, untouched
ulSrcId UINT32 ulCANOPENSL Source End Point Identifier, untouched
V0Id
ulLen UINT32 24 .. 279 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 See section 6.2 “Codes of the CANopen Slave-Task
ulCmd UINT32 0x290B CANOPEN_SLAVE_EXCHANGE_DATA_CNF- Command
ulExt UINT32 Extension, reserved
ulRout UINT32 Routing Information, do not change

structure CANOPEN_SLAVE_EXCHANGE_DATA_CNF_DATA_T
ulRecvIndex UINT32 0x2200...0x220 Receive object index
3
ulRecvSub UINT32 1.. 255 Receive object sub-index
Index
ulRecvData UINT32 0 ..255 Number data byte to be read
Cnt
ulSendIndex UINT32 0x2000..0x2003 Send object index
ulSendSub UINT32 1.. 255 Send object sub-index
Index
ulSendDataCn UINT32 0 ..255 Number data byte to be sent
t
abRecvData UINT8[ ] Receive data
[255]
Table 31: CANOPEN_SLAVE_PACKET_EXCHANGE_DATA_CNF_T –Exchange Data Confirmation

CANopen Slave | Protocol API

3.2.3 CANOPEN_SLAVE_SEND_EMCY_REQ/CNF – Send Emergency

Message
This packet sends an emergency telegram to the CANopen network. The emergency error codes
are listed in section Emergency Error Codes on page 146. The content of the Error Register is
listed in section Error Register on page 147.
The field abManErrorCode[5] additionally provides the possibility to supply 5 bytes of
manufacturer-specific error information.

Packet Structure Reference

/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_SEND_EMCY_REQ_DATA_Ttag</code> */
typedef struct CANOPEN_SLAVE_SEND_EMCY_REQ_DATA_Ttag
CANOPEN_SLAVE_SEND_EMCY_REQ_DATA_T;

#define CANOPEN_SLAVE_EMCY_DATA_SIZE 5

#define CANOPEN_SLAVE_ERROR_REGISTER_ERROR_RESET 0x00

#define CANOPEN_SLAVE_ERROR_REGISTER_GENERIC_BIT 0x01
#define CANOPEN_SLAVE_ERROR_REGISTER_CURRENT_BIT 0x02
#define CANOPEN_SLAVE_ERROR_REGISTER_VOLTAGE_BIT 0x04
#define CANOPEN_SLAVE_ERROR_REGISTER_TEMPERATURE_BIT 0x08
#define CANOPEN_SLAVE_ERROR_REGISTER_COMM_ERROR_BIT 0x10
#define CANOPEN_SLAVE_ERROR_REGISTER_DEV_PROFILE_BIT 0x20
#define CANOPEN_SLAVE_ERROR_REGISTER_RESERVED_BIT 0x40
#define CANOPEN_SLAVE_ERROR_REGISTER_MANU_SPEC_BIT 0x80

struct CANOPEN_SLAVE_SEND_EMCY_REQ_DATA_Ttag
{
TLR_UINT16 usErrorCode;
TLR_UINT8 abManErrorCode[CANOPEN_SLAVE_EMCY_DATA_SIZE];
TLR_UINT8 bErrorRegister;
};

/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_PACKET_SEND_EMCY_REQ_Ttag</code> */
typedef struct CANOPEN_SLAVE_PACKET_SEND_EMCY_REQ_Ttag
CANOPEN_SLAVE_PACKET_SEND_EMCY_REQ_T;

struct CANOPEN_SLAVE_PACKET_SEND_EMCY_REQ_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */
CANOPEN_SLAVE_SEND_EMCY_REQ_DATA_T tData; /** packet request data. */
};
/*********************************************************************************/

CANopen Slave | Protocol API

Packet Description

Structure Information CANOPEN_SLAVE_PACKET_SEND_EMCY_REQ_T Type: Request

Variable Type Value / Range Description

Structure TLR_PACKET_HEADER_T
ulDest UINT32 0x20/ Destination Queue-Handle of CANopen slave-Task Process Queue
QUE_CANOPE
NSLV
32
ulSrc UINT32 0 ... 2 -1 Source Queue-Handle of AP task Process Queue
ulDestId UINT32 ulCANOPENSL Destination End Point Identifier, specifying the final receiver of the
V0Id packet within the Destination Process
ulSrcId UINT32 ulAPSS0Id Source End Point Identifier, specifying the origin of the packet inside
the Source Process
ulLen UINT32 8 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 0 See section 6.2 “Codes of the CANopen Slave-Task
ulCmd UINT32 0x2918 CANOPEN_SLAVE_SEND_EMCY_REQ - Command
ulExt UINT32 0 Reserved
ulRout UINT32 x Routing Information
Structure CANOPEN_SLAVE_SEND_EMCY_REQ_DATA_T
usErrorCode UINT16 Emergency Error Code, see Table 94.
abManError UINT8[] Area for manufacturer-specific error codes
Code[5]
bErrorRegister UINT8 Bit mask See Table 95.
Table 32: CANOPEN_SLAVE_PACKET_SEND_EMCY_REQ_T – Send Emergency Message Request

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Packet Structure Reference
/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_PACKET_SEND_EMCY_CNF_Ttag</code> */
typedef struct CANOPEN_SLAVE_PACKET_SEND_EMCY_CNF_Ttag
CANOPEN_SLAVE_PACKET_SEND_EMCY_CNF_T;

struct CANOPEN_SLAVE_PACKET_SEND_EMCY_CNF_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */
};
/*********************************************************************************/

Packet Description

Structure Information CANOPEN_SLAVE_PACKET_SEND_EMCY_CNF_T Type: Confirmation

Variable Type Value / Range Description

Structure TLR_PACKET_HEADER_T
ulDest UINT32 Destination Queue-Handle, untouched
ulSrc UINT32 Source Queue-Handle, untouched
ulDestId UINT32 ulAPSS0Id Destination End Point Identifier, untouched
ulSrcId UINT32 ulCANOPENSL Source End Point Identifier, untouched
V0Id
ulLen UINT32 0 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 See section 6.2 “Codes of the CANopen Slave-Task
ulCmd UINT32 0x2919 CANOPEN_SALVE_SEND_EMCY_CNF - Command
ulExt UINT32 Extension, reserved
ulRout UINT32 Routing Information, do not change
Table 33: CANOPEN_SLAVE_PACKET_SEND_EMCY_CNF_T – Send Emergency Message Confirmation

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3.2.4 CANOPEN_SLAVE_SEND_EMCY_IND/RES – Emergency
Message Indication
This indication informs the application about the sending of an emergency telegram by the
CANopen protocol stack. The emergency error codes are listed in section Emergency Error Codes
on page 146. The content of the Error Register is listed in section Error Register on page 147.
The field abManErrorCode[5] additionally provides the possibility to supply 5 bytes of
manufacturer-specific error codes.

Packet Structure Reference

/** type of <code>CANOPEN_SLAVE_SEND_EMCY_IND_DATA_Ttag</code> */
typedef struct CANOPEN_SLAVE_SEND_EMCY_IND_DATA_Ttag
CANOPEN_SLAVE_SEND_EMCY_IND_DATA_T;

struct CANOPEN_SLAVE_SEND_EMCY_IND_DATA_Ttag
{
TLR_UINT16 usErrorCode;
TLR_UINT8 abManErrorCode[CANOPEN_SLAVE_EMCY_DATA_SIZE];
TLR_UINT8 bErrorRegister;
};

/** type of <code>CANOPEN_SLAVE_PACKET_SEND_EMCY_IND_Ttag</code> */

typedef struct CANOPEN_SLAVE_PACKET_SEND_EMCY_IND_Ttag
CANOPEN_SLAVE_PACKET_SEND_EMCY_IND_T;

struct CANOPEN_SLAVE_PACKET_SEND_EMCY_IND_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */
CANOPEN_SLAVE_SEND_EMCY_IND_DATA_T tData; /** packet induest data. */
};

CANopen Slave | Protocol API

Packet Description

Structure Information CANOPEN_SLAVE_PACKET_SEND_EMCY_IND_T Type: Indication

Variable Type Value / Range Description

Structure TLR_PACKET_HEADER_T
ulDest UINT32 QUE_CANOPE Destination Queue-Handle of CANopen slave-Task Process Queue
NSLV
32
ulSrc UINT32 0 ... 2 -1 Source Queue-Handle of AP task Process Queue
ulDestId UINT32 ulAPSS0Id Destination End Point Identifier, specifying the final receiver of the
packet within the Destination Process
ulSrcId UINT32 ulCANOPENSL Source End Point Identifier, specifying the origin of the packet inside
V0Id the Source Process
ulLen UINT32 8 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 0 See section 6.2 “Codes of the CANopen Slave-Task
ulCmd UINT32 0x2938 CANOPEN_SLAVE_SEND_EMCY_IND - Command
ulExt UINT32 0 Reserved
ulRout UINT32 x Routing Information
Structure CANOPEN_SLAVE_SEND_EMCY_IND_DATA_T
usErrorCode UINT16 Emergency Error Code, see Table 94
abManError UINT8[] Area for manufacturer-specific error codes, see Table 96 and Table 97.
Code[5]
bErrorRegister UINT8 Bit mask See Table 95.
Table 34: CANOPEN_SLAVE_PACKET_SEND_EMCY_IND_T – Send Emergency Message Indication

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Packet Structure Reference
/** type of <code>CANOPEN_SLAVE_PACKET_SEND_EMCY_RES_Ttag</code> */
typedef struct CANOPEN_SLAVE_PACKET_SEND_EMCY_RES_Ttag
CANOPEN_SLAVE_PACKET_SEND_EMCY_RES_T;

struct CANOPEN_SLAVE_PACKET_SEND_EMCY_RES_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */
};

Packet Description

Structure Information CANOPEN_SLAVE_PACKET_SEND_EMCY_RES_T Type: Response

Variable Type Value / Range Description

Structure TLR_PACKET_HEADER_T
ulDest UINT32 QUE_CANOPE Destination Queue-Handle of CANopen slave-Task Process Queue
NSLV
32
ulSrc UINT32 0 ... 2 -1 Source Queue-Handle of AP task Process Queue
ulDestId UINT32 ulCANOPENSL Destination End Point Identifier, specifying the final receiver of the
V0Id packet within the Destination Process
ulSrcId UINT32 ulAPSS0Id Source End Point Identifier, specifying the origin of the packet inside
the Source Process
ulLen UINT32 8 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 0 See section 6.2 “Codes of the CANopen Slave-Task
ulCmd UINT32 0x2939 CANOPEN_SLAVE_SEND_EMCY_RES - Command
ulExt UINT32 0 Reserved
ulRout UINT32 x Routing Information
Table 35: CANOPEN_SLAVE_PACKET_SEND_EMCY_RES_T – Response to Send Emergency Message Indication

CANopen Slave | Protocol API

3.2.5 CANOPEN_SLAVE_SET_NMT_STATE_REQ/CNF – Set NMT

State
This packet allows the host application to set the NMT state of the CANopen slave.
Normally the state is set by the NMT Master using the CANOPEN_SLAVE_NMT_COMMAND_IND
indication, but sometimes it may be necessary to control the state manually from the host
application.
Which state is set depends on the value of the variable ulNmtState, which may have the values
described in the following table:

Value Symbolic Name Meaning

1 CANOPEN_SLAVE_SET_NMT_STATE_OPERATIONAL Operational
2 CANOPEN_SLAVE_SET_NMT_STATE_STOP Stop
128 CANOPEN_SLAVE_SET_NMT_STATE_PRE_OPERATIONAL Pre-operational
129 CANOPEN_SLAVE_SET_NMT_STATE_RESET_NODE Reset node
130 CANOPEN_SLAVE_SET_NMT_STATE_RESET_COMM Reset communication
Table 36: NMT States

The value 1 for Operational is only supported for compatibility reasons. However, according to the
CANopen specification, only the NMT Master is allowed to set the NMT state to Operational.

Packet Structure Reference

/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_SET_NMT_STATE_REQ_DATA_Ttag</code> */
typedef struct CANOPEN_SLAVE_SET_NMT_STATE_REQ_DATA_Ttag
CANOPEN_SLAVE_SET_NMT_STATE_REQ_DATA_T;

#define CANOPEN_SLAVE_SET_NMT_STATE_OPERATIONAL 0x00000001L

#define CANOPEN_SLAVE_SET_NMT_STATE_STOP 0x00000002L
#define CANOPEN_SLAVE_SET_NMT_STATE_PRE_OPERATIONAL 0x00000080L
#define CANOPEN_SLAVE_SET_NMT_STATE_RESET_NODE 0x00000081L
#define CANOPEN_SLAVE_SET_NMT_STATE_RESET_COMM 0x00000082L

struct CANOPEN_SLAVE_SET_NMT_STATE_REQ_DATA_Ttag
{
TLR_UINT32 ulNmtState; /* NMT state */
};

/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_PACKET_SET_NMT_STATE_REQ_Ttag</code> */
typedef struct CANOPEN_SLAVE_PACKET_SET_NMT_STATE_REQ_Ttag
CANOPEN_SLAVE_PACKET_SET_NMT_STATE_REQ_T;

struct CANOPEN_SLAVE_PACKET_SET_NMT_STATE_REQ_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */
CANOPEN_SLAVE_SET_NMT_STATE_REQ_DATA_T tData; /** packet data. */
};

/*********************************************************************************/

CANopen Slave | Protocol API

Packet Description

Structure Information CANOPEN_SLAVE_PACKET_SET_NMT_STATE_REQ_T Type: Request

Variable Type Value / Range Description

Structure TLR_PACKET_HEADER_T
ulDest UINT32 0x20/ Destination Queue-Handle of CANopen slave-Task Process Queue
QUE_CANOPEN
SLV
32
ulSrc UINT32 0 ... 2 -1 Source Queue-Handle of AP task Process Queue
ulDestId UINT32 ulCANOPENSL Destination End Point Identifier, specifying the final receiver of the
V0Id packet within the Destination Process
ulSrcId UINT32 ulAPSS0Id Source End Point Identifier, specifying the origin of the packet inside
the Source Process
ulLen UINT32 4 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 0 See section 6.2 “Codes of the CANopen Slave-Task
ulCmd UINT32 0x0000291A CANOPEN_SLAVE_SET_NMT_STATE_REQ - Command
ulExt UINT32 0 Reserved
ulRout UINT32 x Routing Information

Structure CANOPEN_SLAVE_NODE_NMT_COMMAND_REQ_DATA_T
ulNmtState UINT32 1,2,128..130 State requested to be set
See Table 36: NMT States
Table 37: CANOPEN_SLAVE_PACKET_SET_NMT_STATE_REQ_T – Set NMT State Request

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The Application Interface 66/151
Packet Structure Reference
/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_SET_NMT_STATE_CNF_DATA_Ttag</code> */
typedef struct CANOPEN_SLAVE_SET_NMT_STATE_CNF_DATA_Ttag
CANOPEN_SLAVE_SET_NMT_STATE_CNF_DATA_T;

struct CANOPEN_SLAVE_SET_NMT_STATE_CNF_DATA_Ttag
{
TLR_UINT32 ulNmtState; /* NMT state */
};
/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_PACKET_SET_NMT_STATE_CNF_Ttag</code> */
typedef struct CANOPEN_SLAVE_PACKET_SET_NMT_STATE_CNF_Ttag
CANOPEN_SLAVE_PACKET_SET_NMT_STATE_CNF_T;

struct CANOPEN_SLAVE_PACKET_SET_NMT_STATE_CNF_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */
CANOPEN_SLAVE_SET_NMT_STATE_CNF_DATA_T tData; /** packet data. */
};
/*********************************************************************************/

Packet Description

Structure Information CANOPEN_SLAVE_PACKET_SET_NMT_STATE_CNF_T Type: Confirmation

Variable Type Value / Range Description

Structure TLR_PACKET_HEADER_T
ulDest UINT32 Destination Queue-Handle, untouched
ulSrc UINT32 Source Queue-Handle, untouched
ulDestId UINT32 ulAPSS0Id Destination End Point Identifier, untouched
ulSrcId UINT32 ulCANOPENSL Source End Point Identifier, untouched
V0Id
ulLen UINT32 4 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 See section 6.2 “Codes of the CANopen Slave-Task
ulCmd UINT32 0x0000291B CANOPEN_SLAVE_SET_NMT_STATE_CNF - Command
ulExt UINT32 Extension, reserved
ulRout UINT32 Routing Information, do not change
Structure CANOPEN_SLAVE_NODE_NMT_COMMAND_REQ_DATA_T
ulNmtState UINT32 1,2,128..130 NMT State having really been set
See Table 36: NMT States
Table 38: CANOPEN_SLAVE_PACKET_SET_NMT_STATE_CNF_T – Set NMT State Confirmation

CANopen Slave | Protocol API

3.2.6 CANOPEN_SLAVE_SEND_TIME_STAMP_REQ/CNF – Send

Time Stamp
This packet allows to send a time stamp according to the CANopen time stamp protocol, if the
CANopen Slave is a valid time stamp producer.
See Figure 10: CANopen Time Stamp Protocol below:

Figure 10: CANopen Time Stamp Protocol

The contents of the time stamp is divided into a milliseconds part and a days part:
 The milliseconds part (variable ulMilliseconds) contains the number of milliseconds that
have occurred since midnight.
 The days part (variable usDays) contains the number of days that have occurred since
January 1, 1984.

Packet Structure Reference

/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_SEND_TIME_STAMP_REQ_DATA_Ttag</code> */
typedef struct CANOPEN_SLAVE_SEND_TIME_STAMP_REQ_DATA_Ttag
CANOPEN_SLAVE_SEND_TIME_STAMP_REQ_DATA_T;

struct CANOPEN_SLAVE_SEND_TIME_STAMP_REQ_DATA_Ttag
{
TLR_UINT32 ulMilliseconds;
TLR_UINT16 usDays;
};

/*********************************************************************************/

/** type of <code>CANOPEN_SLAVE_PACKET_SEND_TIME_STAMP_REQ_Ttag</code> */

typedef struct CANOPEN_SLAVE_PACKET_SEND_TIME_STAMP_REQ_Ttag
CANOPEN_SLAVE_PACKET_SEND_TIME_STAMP_REQ_T;

struct CANOPEN_SLAVE_PACKET_SEND_TIME_STAMP_REQ_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */
CANOPEN_SLAVE_SEND_TIME_STAMP_REQ_DATA_T tData; /** packet request data. */
};

/*********************************************************************************/

CANopen Slave | Protocol API

Packet Description

structure CANOPEN_SLAVE_PACKET_SEND_TIME_STAMP_REQ_T Type: Request

Variable Type Value / Range Description

structure TLR_PACKET_HEADER_T
ulDest UINT32 0x20/ Destination Queue-Handle
QUE_CANOPE
NSLV
32
ulSrc UINT32 0 ... 2 -1 Source Queue-Handle
ulDestId UINT32 ulCANOPENSL Destination End Point Identifier, specifying the final receiver of the
V0Id packet within the Destination Process. Set to 0 for the Initialization
Packet
ulSrcId UINT32 ulAPSS0Id Source End Point Identifier, specifying the origin of the packet inside
the Source Process
ulLen UINT32 6 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 0 See section 6.2 Codes of the CANopen Slave-Task
ulCmd UINT32 0x291E CANOPEN_SLAVE_SEND_TIME_STAMP_REQ - Command
ulExt UINT32 0 Extension not in use, set to zero for compatibility reasons
ulRout UINT32 x Routing, do not touch

structure CANOPEN_SLAVE_SEND_TIME_STAMP_REQ_DATA_T
ulMilliseconds UINT32 0 ... 86.399.999 Milliseconds part of time stamp (number of milliseconds that have
occurred since last midnight)
usDays UINT16 0..65535 Days part of time stamp (number of days that have occurred since
January 1, 1984)
Table 39: CANOPEN_SLAVE_PACKET_SEND_TIME_STAMP_REQ_T - Send Time Stamp Request

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Packet Structure Reference
/*********************************************************************************/

/** type of <code>CANOPEN_SLAVE_PACKET_SEND_TIME_STAMP_CNF_Ttag</code> */

typedef struct CANOPEN_SLAVE_PACKET_SEND_TIME_STAMP_CNF_Ttag
CANOPEN_SLAVE_PACKET_SEND_TIME_STAMP_CNF_T;

struct CANOPEN_SLAVE_PACKET_SEND_TIME_STAMP_CNF_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */

};
/*********************************************************************************/

Packet Description

structure CANOPEN_SLAVE_PACKET_SEND_TIME_STAMP_CNF_T Type: Confirmation

Variable Type Value / Range Description

structure TLR_PACKET_HEADER_T
ulDest UINT32 Destination Queue-Handle
ulSrc UINT32 Source Queue-Handle
ulDestId UINT32 ulAPSS0Id Destination End Point Identifier, specifying the final receiver of the
packet within the Destination Process. Set to 0 for the Initialization
Packet
ulSrcId UINT32 ulCANOPENSL Source End Point Identifier, specifying the origin of the packet inside
V0Id the Source Process
ulLen UINT32 0 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 See section 6.2 Codes of the CANopen Slave-Task
ulCmd UINT32 0x291F CANOPEN_SLAVE_SEND_TIME_STAMP_CNF - Command
ulExt UINT32 0 Extension not in use, set to zero for compatibility reasons
ulRout UINT32 x Routing, do not touch
Table 40: CANOPEN_SLAVE_PACKET_SEND_TIME_STAMP_CNF_T – Confirmation to Send Time Stamp Request

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3.2.7 CANOPEN_SLAVE_RECV_TIME_STAMP_IND/RES – Receive
Time Stamp Indication
This indication packet is received when the Time Stamp Producer sends a time stamp by issuing a
time service (TIME). The time service and the time protocol are described in section 9.2.4 of
CANopen document DR301. Also, see Figure 10: CANopen Time Stamp Protocol in the preceding
subsection:
The content of the time stamp is divided into a milliseconds part and a days part:
 The milliseconds part (variable ulMilliseconds) contains the number of milliseconds that
have occurred since midnight.
 The days part (variable usDays) contains the number of days that have occurred since
January 1, 1984.

Packet Structure Reference

/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_RECV_TIME_STAMP_IND_DATA_Ttag</code> */
typedef struct CANOPEN_SLAVE_RECV_TIME_STAMP_IND_DATA_Ttag
CANOPEN_SLAVE_RECV_TIME_STAMP_IND_DATA_T;

struct CANOPEN_SLAVE_RECV_TIME_STAMP_IND_DATA_Ttag
{
TLR_UINT32 ulMilliseconds;
TLR_UINT16 usDays;
};

/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_PACKET_RECV_TIME_STAMP_IND_Ttag</code> */
typedef struct CANOPEN_SLAVE_PACKET_RECV_TIME_STAMP_IND_Ttag
CANOPEN_SLAVE_PACKET_RECV_TIME_STAMP_IND_T;

struct CANOPEN_SLAVE_PACKET_RECV_TIME_STAMP_IND_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */
CANOPEN_SLAVE_RECV_TIME_STAMP_IND_DATA_T tData; /** packet request data. */
};
/*********************************************************************************/

CANopen Slave | Protocol API

Packet Description

structure CANOPEN_SLAVE_PACKET_RECV_TIME_STAMP_IND_T Type: Indication

Variable Type Value / Range Description

structure TLR_PACKET_HEADER_T
ulDest UINT32 Destination Queue-Handle
ulSrc UINT32 Source Queue-Handle
ulDestId UINT32 ulAPSS0Id Destination End Point Identifier, specifying the final receiver of the
packet within the Destination Process. Set to 0 for the Initialization
Packet
ulSrcId UINT32 ulCANOPENSL Source End Point Identifier, specifying the origin of the packet inside
V0Id the Source Process
ulLen UINT32 6 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 See section 6.2 Codes of the CANopen Slave-Task
ulCmd UINT32 0x2920 CANOPEN_SLAVE_RECV_TIME_STAMP_IND - Command
ulExt UINT32 0 Extension not in use, set to zero for compatibility reasons
ulRout UINT32 x Routing, do not touch

structure CANOPEN_SLAVE_RECV_TIME_STAMP_IND_DATA_T
ulMilliseconds UINT32 0 ... 86.399.999 Milliseconds part of time stamp (number of milliseconds that have
occurred since last midnight)
usDays UINT16 0..65535 Days part of time stamp (number of days that have occurred since
January 1, 1984)
Table 41: CANOPEN_SLAVE_PACKET_RECV_TIME_STAMP_IND_T - Receive Time Stamp Indication

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Packet Structure Reference
/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_PACKET_RECV_TIME_STAMP_RES_Ttag</code> */
typedef struct CANOPEN_SLAVE_PACKET_RECV_TIME_STAMP_RES_Ttag
CANOPEN_SLAVE_PACKET_RECV_TIME_STAMP_RES_T;

struct CANOPEN_SLAVE_PACKET_RECV_TIME_STAMP_RES_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */

};
/*********************************************************************************/

Packet Description

structure CANOPEN_SLAVE_PACKET_RECV_TIME_STAMP_RES_T Type: Response

Variable Type Value / Range Description

structure TLR_PACKET_HEADER_T
ulDest UINT32 Destination Queue-Handle
ulSrc UINT32 Source Queue-Handle
ulDestId UINT32 ulCANOPENSL Destination End Point Identifier, specifying the final receiver of the
V0Id packet within the Destination Process. Set to 0 for the Initialization
Packet
ulSrcId UINT32 ulAPSS0Id Source End Point Identifier, specifying the origin of the packet inside
the Source Process
ulLen UINT32 0 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 See section 6.2 Codes of the CANopen Slave-Task
ulCmd UINT32 0x2921 CANOPEN_SLAVE_RECV_TIME_STAMP_RES - Command
ulExt UINT32 0 Extension not in use, set to zero for compatibility reasons
ulRout UINT32 x Routing, do not touch
Table 42: CANOPEN_SLAVE_PACKET_RECV_TIME_STAMP_RES- Response to Receive Time Stamp Indication

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3.2.8 CANOPEN_SLAVE_SEND_TXPDO_REQ – Send TxPDO Request
This packet allows to send one or more TxPDOs to a communication partner (CANopen Master or
Slave) on the CANopen network using the Write PDO.Protocol, see upper part of Figure 11:
CANopen PDO.Protocol.

Figure 11: CANopen PDO.Protocol

This can be done simultaneously for up to 16 TxPDOs, whose numbers must be assigned to the
members of array aulRecvRxPdoNumber[] of the request packet.
The 16 TxPDOs will be processed separately and for each the resulting status code
(success/error) will be stored in array aulRecvRxPdoResult[] of the confirmation packet

Packet Structure Reference

/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_SEND_TXPDO_REQ_DATA_Ttag</code> */
typedef struct CANOPEN_SLAVE_SEND_TXPDO_REQ_DATA_Ttag
CANOPEN_SLAVE_SEND_TXPDO_REQ_DATA_T;

#define CANOPEN_SLAVE_SEND_TXPDO_REQ_MAX 16

struct CANOPEN_SLAVE_SEND_TXPDO_REQ_DATA_Ttag
{
TLR_UINT32 aulSendTxPdoNumber[CANOPEN_SLAVE_SEND_TXPDO_REQ_MAX];
};

/** type of <code>CANOPEN_SLAVE_PACKET_SEND_TXPDO_REQ_Ttag</code> */

typedef struct CANOPEN_SLAVE_PACKET_SEND_TXPDO_REQ_Ttag
CANOPEN_SLAVE_PACKET_SEND_TXPDO_REQ_T;

struct CANOPEN_SLAVE_PACKET_SEND_TXPDO_REQ_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */
CANOPEN_SLAVE_SEND_TXPDO_REQ_DATA_T tData; /** packet data. */
};

/*********************************************************************************/

CANopen Slave | Protocol API

Packet Description

structure CANOPEN_SLAVE_PACKET_SEND_TXPDO_REQ_T Type: Request

Variable Type Value / Range Description

structure TLR_PACKET_HEADER_T
ulDest UINT32 0x20/ Destination Queue-Handle
QUE_CANOPE
NSLV
32
ulSrc UINT32 0 ... 2 -1 Source Queue-Handle
ulDestId UINT32 ulCANOPENSL Destination End Point Identifier, specifying the final receiver of the
V0Id packet within the Destination Process. Set to 0 for the Initialization
Packet
ulSrcId UINT32 ulAPSS0Id Source End Point Identifier, specifying the origin of the packet inside
the Source Process
ulLen UINT32 64 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 0 See section 6.2 Codes of the CANopen Slave-Task
ulCmd UINT32 0x2922 CANOPEN_SLAVE_SEND_TXPDO_REQ - Command
ulExt UINT32 0 Extension not in use, set to zero for compatibility reasons
ulRout UINT32 x Routing, do not touch

structure CANOPEN_SLAVE_SEND_TXPDO_REQ_DATA_T
aulSendTxPdoNu UINT32[ 1..255 for each Array of numbers of TxPDOs for sending
mber[] 16] number
Table 43: CANOPEN_SLAVE_PACKET_SEND_TXPDO_REQ_T – Send TxPDO Request

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Packet Structure Reference
/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_SEND_TXPDO_CNF_DATA_Ttag</code> */
typedef struct CANOPEN_SLAVE_SEND_TXPDO_CNF_DATA_Ttag
CANOPEN_SLAVE_SEND_TXPDO_CNF_DATA_T;

#define CANOPEN_SLAVE_SEND_TXPDO_REQ_MAX 16

struct CANOPEN_SLAVE_SEND_TXPDO_CNF_DATA_Ttag
{
TLR_UINT32 aulSendTxPdoResult[CANOPEN_SLAVE_SEND_TXPDO_REQ_MAX];
};

/** type of <code>CANOPEN_SLAVE_PACKET_SEND_TXPDO_CNF_Ttag</code> */

typedef struct CANOPEN_SLAVE_PACKET_SEND_TXPDO_CNF_Ttag
CANOPEN_SLAVE_PACKET_SEND_TXPDO_CNF_T;

struct CANOPEN_SLAVE_PACKET_SEND_TXPDO_CNF_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */
CANOPEN_SLAVE_SEND_TXPDO_CNF_DATA_T tData; /** packet data. */
};
/*********************************************************************************/

Packet Description

structure CANOPEN_SLAVE_PACKET_SEND_TXPDO_CNF_T Type: Confirmation

Variable Type Value / Range Description

structure TLR_PACKET_HEADER_T
ulDest UINT32 Destination Queue-Handle
ulSrc UINT32 Source Queue-Handle
ulDestId UINT32 ulAPSS0Id Destination End Point Identifier, specifying the final receiver of the
packet within the Destination Process. Set to 0 for the Initialization
Packet
ulSrcId UINT32 ulCANOPENSL Source End Point Identifier, specifying the origin of the packet inside
V0Id the Source Process
ulLen UINT32 64 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 See section 6.2 Codes of the CANopen Slave-Task
ulCmd UINT32 0x2923 CANOPEN_SLAVE_SEND_TXPDO_CNF - Command
ulExt UINT32 0 Extension not in use, set to zero for compatibility reasons
ulRout UINT32 x Routing, do not touch

structure CANOPEN_SLAVE_SEND_TXPDO_CNF_DATA_T
aulSendTxPdoRe UINT32[ Array of Results of sending TxPDOs
sult[] 16]
Table 44: CANOPEN_SLAVE_PACKET_SEND_TXPDO_CNF_T – Confirmation to Send TxPDO Request

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3.2.9 CANOPEN_SLAVE_RECV_RXPDO_REQ/CNF – Receive RxPDO
Request
This packet sends one or more RTR Telegrams (CAN Remote Frames) to the CANopen network in
order to request a RxPDO from a communication partner (CANopen Master or Slave). Issuing the
request packet CANOPEN_SLAVE_RECV_RXPDO_REQ causes a CAN Remote Frame to be sent
causing an indication at the communication partner. It is up to the communication partner to
decide, whether it wants to react to this RTR Telegram, or not. In case of a positive decision, the
communication partner will send a response with the requested application to the CANopen Slave.
Requesting can be done simultaneously for up to 16 RxPDOs, whose numbers must be assigned
to the members of array aulRecvRxPdoNumber[] of the request packet.
The 16 RxPDOs will be processed separately and for each the resulting status code
(success/error) will be stored in array aulRecvRxPdoResult[] of the confirmation packet
For details of the protocol, see the lower part of Figure 12: CANopen PDO Protocol.
In Figure 12: CANopen PDO Protocol, request(s) there relates to the
CANOPEN_SLAVE_RECV_RXPDO_REQ packet and confirmation(s) to the
CANOPEN_SLAVE_RECV_RXPDO_CNF packet.

Figure 12: CANopen PDO Protocol

Packet Structure Reference

/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_RECV_RXPDO_REQ_DATA_Ttag</code> */
typedef struct CANOPEN_SLAVE_RECV_RXPDO_REQ_DATA_Ttag
CANOPEN_SLAVE_RECV_RXPDO_REQ_DATA_T;

#define CANOPEN_SLAVE_RECV_RXPDO_REQ_MAX 16

struct CANOPEN_SLAVE_RECV_RXPDO_REQ_DATA_Ttag
{
TLR_UINT32 aulRecvRxPdoNumber[CANOPEN_SLAVE_RECV_RXPDO_REQ_MAX];
};

/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_PACKET_RECV_RXPDO_REQ_Ttag</code> */
typedef struct CANOPEN_SLAVE_PACKET_RECV_RXPDO_REQ_Ttag
CANOPEN_SLAVE_PACKET_RECV_RXPDO_REQ_T;

struct CANOPEN_SLAVE_PACKET_RECV_RXPDO_REQ_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */
CANOPEN_SLAVE_RECV_RXPDO_REQ_DATA_T tData; /** packet data. */
};

/*********************************************************************************/

CANopen Slave | Protocol API

Packet Description

structure CANOPEN_SLAVE_PACKET_RECV_RXPDO_REQ_T Type: Request

Variable Type Value / Range Description

structure TLR_PACKET_HEADER_T
ulDest UINT32 Destination Queue-Handle
ulSrc UINT32 Source Queue-Handle
ulDestId UINT32 Destination End Point Identifier, specifying the final receiver of the
packet within the Destination Process. Set to 0 for the Initialization
Packet
ulSrcId UINT32 Source End Point Identifier, specifying the origin of the packet inside
the Source Process
ulLen UINT32 64 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 0 See section 6.2 Codes of the CANopen Slave-Task
ulCmd UINT32 0x2924 CANOPEN_SLAVE_RECV_RXPDO_REQ - Command
ulExt UINT32 0 Extension not in use, set to zero for compatibility reasons
ulRout UINT32 x Routing, do not touch

structure CANOPEN_SLAVE_RECV_RXPDO_REQ_DATA_T
aulRecvRxPdoNu UINT32[ 1..255 for each Array of numbers of RxPDOs to be received
mber[] 16] number
Table 45: CANOPEN_SLAVE_PACKET_RECV_RXPDO_REQ_T - Receive RxPDO Request

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Packet Structure Reference
/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_RECV_RXPDO_CNF_DATA_Ttag</code> */
typedef struct CANOPEN_SLAVE_RECV_RXPDO_CNF_DATA_Ttag
CANOPEN_SLAVE_RECV_RXPDO_CNF_DATA_T;

#define CANOPEN_SLAVE_RECV_RXPDO_REQ_MAX 16

struct CANOPEN_SLAVE_RECV_RXPDO_CNF_DATA_Ttag
{
TLR_UINT32 aulRecvRxPdoResult[CANOPEN_SLAVE_RECV_RXPDO_REQ_MAX];
};

/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_PACKET_RECV_RXPDO_CNF_Ttag</code> */
typedef struct CANOPEN_SLAVE_PACKET_RECV_RXPDO_CNF_Ttag
CANOPEN_SLAVE_PACKET_RECV_RXPDO_CNF_T;

struct CANOPEN_SLAVE_PACKET_RECV_RXPDO_CNF_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */
CANOPEN_SLAVE_RECV_RXPDO_CNF_DATA_T tData; /** packet data. */
};
/*********************************************************************************/

Packet Description

structure CANOPEN_SLAVE_PACKET_RECV_RXPDO_CNF_T Type: Confirmation

Variable Type Value / Range Description

structure TLR_PACKET_HEADER_T
ulDest UINT32 Destination Queue-Handle
ulSrc UINT32 Source Queue-Handle
ulDestId UINT32 Destination End Point Identifier, specifying the final receiver of the
packet within the Destination Process. Set to 0 for the Initialization
Packet
ulSrcId UINT32 Source End Point Identifier, specifying the origin of the packet inside
the Source Process
ulLen UINT32 64 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 See section 6.2 Codes of the CANopen Slave-Task
ulCmd UINT32 0x2925 CANOPEN_SLAVE_RECV_RXPDO_CNF - Command
ulExt UINT32 0 Extension not in use, set to zero for compatibility reasons
ulRout UINT32 x Routing, do not touch

structure CANOPEN_SLAVE_RECV_RXPDO_CNF_DATA_T
aulRecvRxPdoRe UINT32[ Array of Results of received RxPDOs
sult[] 16]
Table 46: CANOPEN_SLAVE_PACKET_RECV_RXPDO_CNF_T – Confirmation to Receive RxPDO Request

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3.2.10 CANOPEN_SLAVE_RECV_RXPDO_IND/RES – Receive RxPDO
Indication
This packet indicates the arrival of new process data from a communication partner (CANopen
Master or a Slave), i.e. the reception of one or more PDOs. Sending a response does not send
new telegrams or execute other reactions.
The packet can simultaneously indicate requests of the communication partner for up to 16
RxPDOs, whose numbers are transmitted by the members of array aulRecvRxPdoNumber[] of
the request packet.
The 16 RxPDOs will be processed separately and for each the resulting status code
(success/error) will be stored in the parameter array aulRecvRxPdoResult[] of the indication
packet.
The response packet does not have any parameters
PDO communication works based on the producer/consumer model:
 the CANopen Slave acts as a consumer here,
 the communication partner acts as producer.
For details of the protocol, see the lower part of Figure 13: CANopen PDO Protocol.
Indication there relates to the CANOPEN_SLAVE_RECV_RXPDO_IND packet and Response to the
CANOPEN_SLAVE_RECV_RXPDO_RES packet.

Figure 13: CANopen PDO Protocol

CANopen Slave | Protocol API

Packet Structure Reference

/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_RECV_RXPDO_IND_DATA_Ttag</code> */
typedef struct CANOPEN_SLAVE_RECV_RXPDO_IND_DATA_Ttag
CANOPEN_SLAVE_RECV_RXPDO_IND_DATA_T;

#define CANOPEN_SLAVE_RECV_RXPDO_IND_MAX 16

struct CANOPEN_SLAVE_RECV_RXPDO_IND_DATA_Ttag
{
TLR_UINT32 aulRecvRxPdoNumber[CANOPEN_SLAVE_RECV_RXPDO_IND_MAX];

};
/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_PACKET_RECV_RXPDO_IND_Ttag</code> */
typedef struct CANOPEN_SLAVE_PACKET_RECV_RXPDO_IND_Ttag
CANOPEN_SLAVE_PACKET_RECV_RXPDO_IND_T;

struct CANOPEN_SLAVE_PACKET_RECV_RXPDO_IND_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */
CANOPEN_SLAVE_RECV_RXPDO_IND_DATA_T tData; /** packet data. */

};
/*********************************************************************************/

Packet Description

structure CANOPEN_SLAVE_PACKET_RECV_RXPDO_IND_T Type: Indication

Variable Type Value / Range Description

structure TLR_PACKET_HEADER_T
ulDest UINT32 Destination Queue-Handle
ulSrc UINT32 Source Queue-Handle
ulDestId UINT32 ulAPSS0Id Destination End Point Identifier, specifying the final receiver of the
packet within the Destination Process. Set to 0 for the Initialization
Packet
ulSrcId UINT32 ulCANOPENSL Source End Point Identifier, specifying the origin of the packet inside
V0Id the Source Process
ulLen UINT32 64 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 See section 6.2 Codes of the CANopen Slave-Task
ulCmd UINT32 0x2926 CANOPEN_SLAVE_RECV_RXPDO_IND - Command
ulExt UINT32 0 Extension not in use, set to zero for compatibility reasons
ulRout UINT32 x Routing, do not touch

structure CANOPEN_SLAVE_RECV_RXPDO_IND_DATA_T
aulRecvRxPdoNu UINT32[ 1..255 for each Array of numbers of received RxPDOs
mber [] 16] number
Table 47: CANOPEN_SLAVE_PACKET_RECV_RXPDO_IND_T –Receive RxPDO Indication

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Packet Structure Reference
/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_PACKET_RECV_RXPDO_RES_Ttag</code> */
typedef struct CANOPEN_SLAVE_PACKET_RECV_RXPDO_RES_Ttag
CANOPEN_SLAVE_PACKET_RECV_RXPDO_RES_T;

struct CANOPEN_SLAVE_PACKET_RECV_RXPDO_RES_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */
};
/*********************************************************************************/

Packet Description

structure CANOPEN_SLAVE_PACKET_RECV_RXPDO_RES_T Type: Response

Variable Type Value / Range Description

structure TLR_PACKET_HEADER_T
ulDest UINT32 Destination Queue-Handle
ulSrc UINT32 Source Queue-Handle
ulDestId UINT32 ulCANOPENSL Destination End Point Identifier, specifying the final receiver of the
V0Id packet within the Destination Process. Set to 0 for the Initialization
Packet
ulSrcId UINT32 ulAPSS0Id Source End Point Identifier, specifying the origin of the packet inside
the Source Process
ulLen UINT32 0 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 See section 6.2 Codes of the CANopen Slave-Task
ulCmd UINT32 0x2927 CANOPEN_SLAVE_RECV_RXPDO_RES - Command
ulExt UINT32 0 Extension not in use, set to zero for compatibility reasons
ulRout UINT32 x Routing, do not touch
Table 48: CANOPEN_SLAVE_PACKET_RECV_RXPDO_RES_T – Response to Receive RxPDO Indication

CANopen Slave | Protocol API

Note: This packet will be denied in case of being called as long as the
‘Configuration lock’ flag of the netX is set!

The following types of indications may occur in the CANopen Protocol Stack V3 and indicate that a
specific event has happened:
 NMT State Change Event (CANOPEN_SLAVE_NMT_STATE_CHANGE_IND/RES – NMT
State Change Indication, for more information see page 88)
 Time Stamp Event (CANOPEN_SLAVE_RECV_TIME_STAMP_IND/RES – Receive Time
Stamp Indication, for more information see page 70)
 Error Control Event (CANOPEN_SLAVE_ERR_CTRL_EVENT_IND/RES – Error Control
Event Indication, for more information see page 91)
 Receive PDO Event (CANOPEN_SLAVE_RECV_RXPDO_IND/RES – Receive RxPDO
Indication, for more information see page 79)
 NMT Command Event (CANOPEN_SLAVE_NMT_COMMAND_IND/RES – NMT Command
Indication, for more information see page 95)
 Send EMCY Event (CANOPEN_SLAVE_SEND_EMCY_IND/RES – Emergency Message
Indication, for more information see page 61)
Each type of indication is associated to a bit of the bit mask contained in variable
ulEventsIndicated in the following manner:
Type Bit No. Mask Mask (symbolic name)
(numeric
value)
NMT State 0 0x01 CANOPEN_SLAVE_EVENT_NMT_STATE_CHANGE_MSK
Change Event
Time Stamp 1 0x02 CANOPEN_SLAVE_EVENT_TIME_STAMP_MSK
Event
Error Control 2 0x04 CANOPEN_SLAVE_EVENT_ERR_CTRL_MSK
Event
Receive PDO 3 0x08 CANOPEN_SLAVE_EVENT_RECV_RXPDO_MSK
Event
NMT 4 0x10 CANOPEN_SLAVE_EVENT_NMT_COMMAND_MSK
Command
Event
Send EMCY 5 0x20 CANOPEN_SLAVE_EVENT_SEND_EMCY_MSK
Event
Table 49: Bit Mask ulEventsIndicated

Each of these bits within the bit mask of ulEventsIndicated allows switching on (when set to 1)
and off (when set to 0) the associated type of event indication.
The higher bits of ulEventsIndicated should always be set to 0.
The NMT State Change Events include the Module Control Services described in the CANopen
Specification CiA Draft Standard 301, subsection 9.2.6.1.1.
These are:
 Start Remote Node
 Stop Remote Node
 Enter Pre-Operational

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 Reset Node
 Reset Communication
The Error Control Events allow detecting errors within the CAN network. They include the following
types of events described in the CANopen Specification CiA Draft Standard 301, subsection
9.2.6.1.2:
 Node Guarding Event
 Life Guarding Event
 Heartbeat Event
There is one single type of Time Stamp Event defined in CANopen which can be handled by the
CANOPEN_SLAVE_RECV_TIME_STAMP_IND/RES – Receive Time Stamp Indication in the
CANopen Slave V3 protocol stack.

Packet Structure Reference

/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_SET_EVENTS_INDICATED_REQ_DATA_Ttag</code> */
typedef struct CANOPEN_SLAVE_SET_EVENTS_INDICATED_REQ_DATA_Ttag
CANOPEN_SLAVE_SET_EVENTS_INDICATED_REQ_DATA_T;

#define CANOPEN_SLAVE_EVENT_NMT_STATE_CHANGE_MSK 0x00000001L

#define CANOPEN_SLAVE_EVENT_TIME_STAMP_MSK 0x00000002L
#define CANOPEN_SLAVE_EVENT_ERR_CTRL_MSK 0x00000004L
#define CANOPEN_SLAVE_EVENT_RECV_RXPDO_MSK 0x00000008L
#define CANOPEN_SLAVE_EVENT_NMT_COMMAND_MSK 0x00000010L
#define CANOPEN_SLAVE_EVENT_SEND_EMCY_MSK 0x00000020L
#define CANOPEN_SLAVE_EVENT_RESERVED_MSK 0xFFFFFFC0L

struct CANOPEN_SLAVE_SET_EVENTS_INDICATED_REQ_DATA_Ttag
{
TLR_UINT32 ulEventsIndicated;

};

/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_PACKET_SET_EVENTS_INDICATED_REQ_Ttag</code> */
typedef struct CANOPEN_SLAVE_PACKET_SET_EVENTS_INDICATED_REQ_Ttag
CANOPEN_SLAVE_PACKET_SET_EVENTS_INDICATED_REQ_T;

struct CANOPEN_SLAVE_PACKET_SET_EVENTS_INDICATED_REQ_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */
CANOPEN_SLAVE_SET_EVENTS_INDICATED_REQ_DATA_T tData; /** packet data. */
};
/*********************************************************************************/

CANopen Slave | Protocol API

Packet Description

structure CANOPEN_SLAVE_PACKET_SET_EVENTS_INDICATED_REQ_T Type: Request

Variable Type Value / Range Description

structure TLR_PACKET_HEADER_T
ulDest UINT32 0x20/ Destination Queue-Handle
QUE_CANOPE
NSLV
32
ulSrc UINT32 0 ... 2 -1 Source Queue-Handle
ulDestId UINT32 ulCANOPENSL Destination End Point Identifier, specifying the final receiver of the
V0Id packet within the Destination Process. Set to 0 for the Initialization
Packet
ulSrcId UINT32 ulAPSS0Id Source End Point Identifier, specifying the origin of the packet inside
the Source Process
ulLen UINT32 4 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 0 See section 6.2 Codes of the CANopen Slave-Task
ulCmd UINT32 0x2928 CANOPEN_SLAVE_SET_EVENTS_INDICATED_REQ - Command
ulExt UINT32 0 Extension not in use, set to zero for compatibility reasons
ulRout UINT32 x Routing, do not touch

structure CANOPEN_SLAVE_SET_EVENTS_INDICATED_REQ_DATA_T
ulEventsIndicated UINT32 Bit mask Indicated events
Table 50: CANOPEN_SLAVE_PACKET_SET_EVENTS_INDICATED_REQ_T - Set Events Indicated Request

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Packet Structure Reference
/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_PACKET_SET_EVENTS_INDICATED_CNF_Ttag</code> */
typedef struct CANOPEN_SLAVE_PACKET_SET_EVENTS_INDICATED_CNF_Ttag
CANOPEN_SLAVE_PACKET_SET_EVENTS_INDICATED_CNF_T;

struct CANOPEN_SLAVE_PACKET_SET_EVENTS_INDICATED_CNF_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */

};
/*********************************************************************************/

Packet Description

structure CANOPEN_SLAVE_PACKET_SET_EVENTS_INDICATED_CNF_T Type: Confirmation

Variable Type Value / Range Description

structure TLR_PACKET_HEADER_T
ulDest UINT32 Destination Queue-Handle
ulSrc UINT32 Source Queue-Handle
ulDestId UINT32 Destination End Point Identifier, specifying the final receiver of the
packet within the Destination Process. Set to 0 for the Initialization
Packet
ulSrcId UINT32 Source End Point Identifier, specifying the origin of the packet inside
the Source Process
ulLen UINT32 0 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 See section 6.2 Codes of the CANopen Slave-Task
ulCmd UINT32 0x2929 CANOPEN_SLAVE_SET_EVENTS_INDICATED_CNF - Command
ulExt UINT32 0 Extension not in use, set to zero for compatibility reasons
ulRout UINT32 x Routing, do not touch
Table 51: CANOPEN_SLAVE_PACKET_SET_EVENTS_INDICATED_CNF_T – Confirmation to Set Events Indicated
Request

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3.2.12 CANOPEN_SLAVE_GET_IO_INFO_REQ/CNF – Get I/O Info
This packet can be used to retrieve the counts of received data (Variable ulRecvDataCnt of
confirmation packet) and send data (Variable ulSendDataCnt of confirmation packet) in
CANopen data communication.

Note: This information is also part of the slave state, see section 5.2.4
.CANOPEN_SLAVE_STATE_CHANGE_IND/RES – Change of Task State
Indication.

Packet Structure Reference

/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_PACKET_GET_IO_INFO_REQ_Ttag</code> */
typedef struct CANOPEN_SLAVE_PACKET_GET_IO_INFO_REQ_Ttag
CANOPEN_SLAVE_PACKET_GET_IO_INFO_REQ_T;

struct CANOPEN_SLAVE_PACKET_GET_IO_INFO_REQ_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */
};

/*********************************************************************************/

Packet Description

structure CANOPEN_SLAVE_PACKET_GET_IO_INFO_REQ_T Type: Request

Variable Type Value / Range Description

structure TLR_PACKET_HEADER_T
ulDest UINT32 0x20/ Destination Queue-Handle
QUE_CANOPE
NSLV
32
ulSrc UINT32 0 ... 2 -1 Source Queue-Handle
ulDestId UINT32 ulCANOPENSL Destination End Point Identifier, specifying the final receiver of the
V0Id packet within the Destination Process. Set to 0 for the Initialization
Packet
ulSrcId UINT32 ulAPSS0Id Source End Point Identifier, specifying the origin of the packet inside
the Source Process
ulLen UINT32 0 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 0 See section 6.2 Codes of the CANopen Slave-Task
ulCmd UINT32 0x292A CANOPEN_SLAVE_GET_IO_INFO_REQ - Command
ulExt UINT32 0 Extension not in use, set to zero for compatibility reasons
ulRout UINT32 x Routing, do not touch
Table 52: CANOPEN_SLAVE_PACKET_GET_IO_INFO_REQ_T - Get I/O Info Request

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Packet Structure Reference
/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_GET_IO_INFO_CNF_DATA_Ttag</code> */
typedef struct CANOPEN_SLAVE_GET_IO_INFO_CNF_DATA_Ttag
CANOPEN_SLAVE_GET_IO_INFO_CNF_DATA_T;

struct CANOPEN_SLAVE_GET_IO_INFO_CNF_DATA_Ttag
{
TLR_UINT32 ulRecvDataCnt;
TLR_UINT32 ulSendDataCnt;
};

/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_PACKET_GET_IO_INFO_CNF_Ttag</code> */
typedef struct CANOPEN_SLAVE_PACKET_GET_IO_INFO_CNF_Ttag
CANOPEN_SLAVE_PACKET_GET_IO_INFO_CNF_T;

struct CANOPEN_SLAVE_PACKET_GET_IO_INFO_CNF_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */
CANOPEN_SLAVE_GET_IO_INFO_CNF_DATA_T tData; /** packet confirmation data. */
};

/*********************************************************************************/

Packet Description

structure CANOPEN_SLAVE_PACKET_GET_IO_INFO_CNF_T Type: Confirmation

Variable Type Value / Range Description

structure TLR_PACKET_HEADER_T
ulDest UINT32 Destination Queue-Handle
ulSrc UINT32 Source Queue-Handle
ulDestId UINT32 ulAPSS0Id Destination End Point Identifier, specifying the final receiver of the
packet within the Destination Process. Set to 0 for the Initialization
Packet
ulSrcId UINT32 ulCANOPENSL Source End Point Identifier, specifying the origin of the packet inside
V0Id the Source Process
ulLen UINT32 8 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 See section 6.2 Codes of the CANopen Slave-Task
ulCmd UINT32 0x292B CANOPEN_SLAVE_GET_IO_INFO_CNF - Command
ulExt UINT32 0 Extension not in use, set to zero for compatibility reasons
ulRout UINT32 x Routing, do not touch

structure CANOPEN_SLAVE_GET_IO_INFO_CNF_DATA_T
32
ulRecvDataCnt UINT32 0 ... 2 -1 Receive Data Count
32
ulSendDataCnt UINT32 0 ... 2 -1 Send Data Count
Table 53: CANOPEN_SLAVE_PACKET_GET_IO_INFO_CNF_T – Confirmation to Get I/O Info Request

CANopen Slave | Protocol API

3.2.13 CANOPEN_SLAVE_NMT_STATE_CHANGE_IND/RES – NMT

State Change Indication
This packet indicates a change in the CANopen Slave’s own NMT State Machine. The new state is
delivered with the indication packets ulNmtState variable.
The relation between the values and the states is as follows:

Value Symbolic Name State Sub-state

1 CANOPEN_SLAVE_NMT_STATE_OPERATIONAL Operational -
2 CANOPEN_SLAVE_NMT_STATE_STOP Stop -
128 CANOPEN_SLAVE_NMT_STATE_PRE_OPERATIONAL Pre-operational -
129 CANOPEN_SLAVE_NMT_STATE_RESET_NODE Initialization Reset Node
130 CANOPEN_SLAVE_NMT_STATE_RESET_COMM Initialization Reset Communication
Table 54: NMT States

This indication packet allows the application to react and perform all necessary application-internal
changes after the change of NMT state. After having performed these, the application should send
the CANOPEN_SLAVE_NMT_STATE_CHANGE_RES response packet to the CANopen Master.
For possible reasons of changes of NMT Slave states see section “NMT State Change Events” on
page 19.

Packet Structure Reference

/*************************************************************************************/
/** type of <code>CANOPEN_SLAVE_NMT_STATE_CHANGE_IND_DATA_Ttag</code> */
typedef struct CANOPEN_SLAVE_NMT_STATE_CHANGE_IND_DATA_Ttag
CANOPEN_SLAVE_NMT_STATE_CHANGE_IND_DATA_T;

struct CANOPEN_SLAVE_NMT_STATE_CHANGE_IND_DATA_Ttag
{
TLR_UINT32 ulNmtState;
};

/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_PACKET_NMT_STATE_CHANGE_IND_Ttag</code> */
typedef struct CANOPEN_SLAVE_PACKET_NMT_STATE_CHANGE_IND_Ttag
CANOPEN_SLAVE_PACKET_NMT_STATE_CHANGE_IND_T;

struct CANOPEN_SLAVE_PACKET_NMT_STATE_CHANGE_IND_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */
CANOPEN_SLAVE_NMT_STATE_CHANGE_IND_DATA_T tData; /** packet data. */
};
/*********************************************************************************/

CANopen Slave | Protocol API

Packet Description

structure CANOPEN_SLAVE_PACKET_NMT_STATE_CHANGE_IND_T Type: Indication

Variable Type Value / Range Description

structure TLR_PACKET_HEADER_T
ulDest UINT32 Destination Queue-Handle
ulSrc UINT32 Source Queue-Handle
ulDestId UINT32 ulAPSS0Id Destination End Point Identifier, specifying the final receiver of the
packet within the Destination Process. Set to 0 for the Initialization
Packet
ulSrcId UINT32 ulCANOPENSL Source End Point Identifier, specifying the origin of the packet inside
V0Id the Source Process
ulLen UINT32 4 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 See section 6.2 Codes of the CANopen Slave-Task
ulCmd UINT32 0x292E CANOPEN_SLAVE_NMT_STATE_CHANGE_IND - Command
ulExt UINT32 0 Extension not in use, set to zero for compatibility reasons
ulRout UINT32 x Routing, do not touch

structure CANOPEN_SLAVE_NMT_STATE_CHANGE_IND_DATA_T
ulNmtState UINT32 1,2,128..130 New NMT State, see Table 36: NMT States
Table 55: CANOPEN_SLAVE_PACKET_NMT_STATE_CHANGE_IND_T - NMT State Change Indication

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Packet Structure Reference
/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_PACKET_NMT_STATE_CHANGE_RES_Ttag</code> */
typedef struct CANOPEN_SLAVE_PACKET_NMT_STATE_CHANGE_RES_Ttag
CANOPEN_SLAVE_PACKET_NMT_STATE_CHANGE_RES_T;

struct CANOPEN_SLAVE_PACKET_NMT_STATE_CHANGE_RES_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */
};
/*********************************************************************************/

Packet Description

structure CANOPEN_SLAVE_PACKET_NMT_STATE_CHANGE_RES_T Type: Response

Variable Type Value / Range Description

structure TLR_PACKET_HEADER_T
ulDest UINT32 Destination Queue-Handle
ulSrc UINT32 Source Queue-Handle
ulDestId UINT32 ulCANOPENSL Destination End Point Identifier, specifying the final receiver of the
V0Id packet within the Destination Process. Set to 0 for the Initialization
Packet
ulSrcId UINT32 ulAPSS0Id Source End Point Identifier, specifying the origin of the packet inside
the Source Process
ulLen UINT32 0 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 See section 6.2 Codes of the CANopen Slave-Task
ulCmd UINT32 0x292F CANOPEN_SLAVE_NMT_STATE_CHANGE_RES - Command
ulExt UINT32 0 Extension not in use, set to zero for compatibility reasons
ulRout UINT32 x Routing, do not touch
Table 56: CANOPEN_SLAVE_PACKET_NMT_STATE_CHANGE_RES_T – Response to NMT State Change Indication

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3.2.14 CANOPEN_SLAVE_ERR_CTRL_EVENT_IND/RES – Error
Control Event Indication
In a CANopen network, the Master supervises the error control of the entire network and is aware
of all changes of the error control state. Additionally, it even shares this knowledge with the slaves
by informing these on the most current changes.
This is exactly done with the indication packet CANOPEN_SLAVE_ERR_CTRL_EVENT_IND
described here, which indicates the occurrence of one or more Error Control Event(s) i.e. changes
of the error control state within the entire CANopen network, and informs the CANopen Slave.
Error Control Events allow detecting errors within the CAN network. They include the following
types of events occurring at the slave described in the CANopen Specification CiA Draft Standard
301, subsection 9.2.6.1.2:
 Life Guarding Event
 Heartbeat Event
For each change of a node’s error control state there is an entry in the array of structures
atErrCtrlEvent[16]. Each array element contains the following structure:

Name Meaning Data type Range of Values

ulEvent Type of event that has happened UINT32 1…6
ulNodeId Node-ID UINT32 1…127
Table 57: Array Elements of atErrCtrlEvent[16]

The meaning of the values of ulEvent is defined as follows:

Value Symbolic Name Meaning

1 CANOPEN_SLAVE_HEARTBEAT_STARTED Heartbeat Start for affected node with ID ulNodeId
2 CANOPEN_SLAVE_HEARTBEAT_ERROR Heartbeat Error for affected node with ID ulNodeId
3 CANOPEN_SLAVE_HEARTBEAT_STOPPED Heartbeat Stop for affected node with ID ulNodeId
4 CANOPEN_SLAVE_LIFE_GUARD_STARTED Lifeguard Start for affected node with ID 0
5 CANOPEN_SLAVE_LIFE_GUARD_ERROR Lifeguard Error for affected node with ID 0
6 CANOPEN_SLAVE_LIFE_GUARD_STOPPED Lifeguard Stop for affected node with ID 0
Table 58: Possible Values of ulEvent and their Meanings

CANopen Slave | Protocol API

/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_ERR_CTRL_EVENT_IND_DATA_Ttag</code> */
typedef struct CANOPEN_SLAVE_ERR_CTRL_EVENT_IND_DATA_Ttag
CANOPEN_SLAVE_ERR_CTRL_EVENT_IND_DATA_T;
/** type of <code>CANOPEN_SLAVE_ERR_CTRL_EVENT_Ttag</code> */
typedef struct CANOPEN_SLAVE_ERR_CTRL_EVENT_Ttag
CANOPEN_SLAVE_ERR_CTRL_EVENT_T;

#define CANOPEN_SLAVE_MAX_ERR_CTRL_EVENT 16

#define CANOPEN_SLAVE_HEARTBEAT_STARTED 0x00000001L

#define CANOPEN_SLAVE_HEARTBEAT_ERROR 0x00000002L
#define CANOPEN_SLAVE_HEARTBEAT_STOPPED 0x00000003L

#define CANOPEN_SLAVE_LIFE_GUARD_STARTED 0x00000004L

#define CANOPEN_SLAVE_LIFE_GUARD_ERROR 0x00000005L
#define CANOPEN_SLAVE_LIFE_GUARD_STOPPED 0x00000006L

struct CANOPEN_SLAVE_ERR_CTRL_EVENT_Ttag
{
TLR_UINT32 ulEvent;
TLR_UINT32 ulNodeId;

};

struct CANOPEN_SLAVE_ERR_CTRL_EVENT_IND_DATA_Ttag
{
CANOPEN_SLAVE_ERR_CTRL_EVENT_T atErrCtrlEvent[CANOPEN_SLAVE_MAX_ERR_CTRL_EVENT];
};

/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_PACKET_ERR_CTRL_EVENT_IND_Ttag</code> */
typedef struct CANOPEN_SLAVE_PACKET_ERR_CTRL_EVENT_IND_Ttag
CANOPEN_SLAVE_PACKET_ERR_CTRL_EVENT_IND_T;

struct CANOPEN_SLAVE_PACKET_ERR_CTRL_EVENT_IND_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */
CANOPEN_SLAVE_ERR_CTRL_EVENT_IND_DATA_T tData; /** packet data. */
};
/*********************************************************************************/

CANopen Slave | Protocol API

Packet Description

structure CANOPEN_SLAVE_PACKET_ERR_CTRL_EVENT_IND_T Type: Indication

Variable Type Value / Range Description

structure TLR_PACKET_HEADER_T
ulDest UINT32 Destination Queue-Handle
ulSrc UINT32 Source Queue-Handle
ulDestId UINT32 ulAPSS0Id Destination End Point Identifier, specifying the final receiver of the
packet within the Destination Process. Set to 0 for the Initialization
Packet
ulSrcId UINT32 ulCANOPENSL Source End Point Identifier, specifying the origin of the packet inside
V0Id the Source Process
ulLen UINT32 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 See section 6.2 Codes of the CANopen Slave-Task
ulCmd UINT32 0x2930 CANOPEN_SLAVE_ERR_CTRL_EVENT_IND - Command
ulExt UINT32 0 Extension not in use, set to zero for compatibility reasons
ulRout UINT32 x Routing, do not touch

structure CANOPEN_SLAVE_ERR_CTRL_EVENT_IND_DATA_T
atErrCtrlEvent[] CANOP Structure containing up to 16 Error Control Events.
EN_SLA Also see Table 57: Array Elements of atErrCtrlEvent[16] and
VE_ER Table 58: Possible Values of ulEvent and their Meanings.
R_CTRL
_EVENT
_T[16]
Table 59: CANOPEN_SLAVE_PACKET_ERR_CTRL_EVENT_IND_T - Error Control Event Indication

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Packet Structure Reference
/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_PACKET_NMT_STATE_CHANGE_RES_Ttag</code> */
typedef struct CANOPEN_SLAVE_PACKET_ERR_CTRL_EVENT_RES_Ttag
CANOPEN_SLAVE_PACKET_ERR_CTRL_EVENT_RES_T;

struct CANOPEN_SLAVE_PACKET_ERR_CTRL_EVENT_RES_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */

};
/*********************************************************************************/

Packet Description

structure CANOPEN_SLAVE_PACKET_ERR_CTRL_EVENT_RES_T Type: Response

Variable Type Value / Range Description

structure TLR_PACKET_HEADER_T
ulDest UINT32 Destination Queue-Handle
ulSrc UINT32 Source Queue-Handle
ulDestId UINT32 ulCANOPENSL Destination End Point Identifier, specifying the final receiver of the
V0Id packet within the Destination Process. Set to 0 for the Initialization
Packet
ulSrcId UINT32 ulAPSS0Id Source End Point Identifier, specifying the origin of the packet inside
the Source Process
ulLen UINT32 0 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 See section 6.2 Codes of the CANopen Slave-Task
ulCmd UINT32 0x2931 CANOPEN_SLAVE_ERR_CTRL_EVENT_RES - Command
ulExt UINT32 0 Extension not in use, set to zero for compatibility reasons
ulRout UINT32 x Routing, do not touch
Table 60: CANOPEN_SLAVE_PACKET_ERR_CTRL_EVENT_RES_T – Response to Error Control Event Indication

CANopen Slave | Protocol API

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3.2.15 CANOPEN_SLAVE_NMT_COMMAND_IND/RES – NMT
Command Indication
The CANopen Network Management (NMT) within the CANopen Master provides services for
initializing, starting, monitoring, resetting and stopping CANopen Slaves. These are also called the
Module Control Services
Each time such a service is requested, a CANOPEN_SLAVE_NMT_COMMAND_IND indication is
received. This enables the host application to react to the requests of the CANopen Master. Which
action should be taken, depends on the value of variable ulNmtCommand in the following manner:

Value Symbolic Name Meaning/ Action to take

1 CANOPEN_SLAVE_NMT_STATE_OPERATIONAL Set state to Operational
2 CANOPEN_SLAVE_NMT_STATE_STOP Set state to Stopped
128 CANOPEN_SLAVE_NMT_STATE_PRE_OPERATIONAL Set state to Pre-operational
129 CANOPEN_SLAVE_NMT_STATE_RESET_NODE Reset node
130 CANOPEN_SLAVE_NMT_STATE_RESET_COMM Reset communication
Table 61: NMT States

Reset communication should set the state to Initialization, sub-state Reset Communication.
This means first restoring the communication profile area of the Object Dictionary with the power-
on values and then run the initialization process like after power-on.
Reset node should set the state to Initialization, sub-state Reset Application.
This means first restoring the manufacturer-specific area and the device profile area of the slave’s
Object Dictionary with the default values, then restoring the communication profile area of the
Object Dictionary with the power-on values and finally run the initialization process like after power-
on.
The NMT Protocol associated with the NMT Command Event is illustrated in Figure 14: NMT
Protocol.

Figure 14: NMT Protocol

In this figure, CS (Command Specifier) means the value of variable ulNmtCommand.

When the application receives the CANOPEN_SLAVE_NMT_COMMAND_IND indication, it should try
to do everything required to set the slave into the state having been requested. However, this may
not be possible in all situations. So there is the possibility to leave the slave in another state than
the requested one.
In any case, the application needs to send a response packet. The current state after processing
the CANOPEN_SLAVE_NMT_COMMAND_IND indication needs to be supplied in the response
packets ulNmtState variable. As NMT is an unconfirmed service, the response is not sent to the
CANopen Master, but required for internal use at the CANopen Slave.

CANopen Slave | Protocol API

Packet Structure Reference

/*********************************************************************************/
* NMT states for CANOPEN SLAVE SET NMT STATE REQ,
* CANOPEN SLAVE NMT STATE CHANGE IND and
* CANOPEN SLAVE NMT COMMAND IND
/*********************************************************************************/
#define CANOPEN_SLAVE_NMT_STATE_OPERATIONAL 0x01
#define CANOPEN_SLAVE_NMT_STATE_STOP 0x02
#define CANOPEN_SLAVE_NMT_STATE_PRE_OPERATIONAL 0x80
#define CANOPEN_SLAVE_NMT_STATE_RESET_NODE 0x81
#define CANOPEN_SLAVE_NMT_STATE_RESET_COMM 0x82
/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_NMT_COMMAND_IND_DATA_Ttag</code> */
typedef struct CANOPEN_SLAVE_NMT_COMMAND_IND_DATA_Ttag
CANOPEN_SLAVE_NMT_COMMAND_IND_DATA_T;

struct CANOPEN_SLAVE_NMT_COMMAND_IND_DATA_Ttag
{
TLR_UINT32 ulNmtCommand; /* Request NMT command from NMT master */

};/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_PACKET_NMT_COMMAND_IND_Ttag</code> */
typedef struct CANOPEN_SLAVE_PACKET_NMT_COMMAND_IND_Ttag
CANOPEN_SLAVE_PACKET_NMT_COMMAND_IND_T;

struct CANOPEN_SLAVE_PACKET_NMT_COMMAND_IND_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */
CANOPEN_SLAVE_NMT_COMMAND_IND_DATA_T tData; /** packet data. */
};
/*********************************************************************************/

CANopen Slave | Protocol API

Packet Description

structure CANOPEN_SLAVE_PACKET_NMT_COMMAND_IND_T Type: Indication

Variable Type Value / Range Description

structure TLR_PACKET_HEADER_T
ulDest UINT32 Destination Queue-Handle
ulSrc UINT32 Source Queue-Handle
ulDestId UINT32 ulAPSS0Id Destination End Point Identifier, specifying the final receiver of the
packet within the Destination Process. Set to 0 for the Initialization
Packet
ulSrcId UINT32 ulCANOPENSL Source End Point Identifier, specifying the origin of the packet inside
V0Id the Source Process
ulLen UINT32 4 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 See section 6.2 Codes of the CANopen Slave-Task
ulCmd UINT32 0x2932 CANOPEN_SLAVE_NMT_COMMAND_IND - Command
ulExt UINT32 0 Extension not in use, set to zero for compatibility reasons
ulRout UINT32 x Routing, do not touch

structure CANOPEN_SLAVE_NMT_COMMAND_IND_DATA_T
ulNmtCommand UINT32 Valid NMT Requested NMT command from NMT master
command
Table 62: CANOPEN_SLAVE_PACKET_NMT_COMMAND_IND_T - NMT Command Indication

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Packet Structure Reference
/*********************************************************************************/
typedef struct CANOPEN_SLAVE_NMT_COMMAND_RES_DATA_Ttag
CANOPEN_SLAVE_NMT_COMMAND_RES_DATA_T;

struct CANOPEN_SLAVE_NMT_COMMAND_RES_DATA_Ttag
{
TLR_UINT32 ulNmtState; /* New local NMT state */

};

/*********************************************************************************//**
type of <code>CANOPEN_SLAVE_PACKET_NMT_COMMAND_RES_Ttag</code> */
typedef struct CANOPEN_SLAVE_PACKET_NMT_COMMAND_RES_Ttag
CANOPEN_SLAVE_PACKET_NMT_COMMAND_RES_T;

struct CANOPEN_SLAVE_PACKET_NMT_COMMAND_RES_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */
CANOPEN_SLAVE_NMT_COMMAND_RES_DATA_T tData; /** packet data. */

};
/*********************************************************************************/

Packet Description

structure CANOPEN_SLAVE_PACKET_NMT_COMMAND_RES_T Type: Response

Variable Type Value / Range Description

structure TLR_PACKET_HEADER_T
ulDest UINT32 Destination Queue-Handle
ulSrc UINT32 Source Queue-Handle
ulDestId UINT32 ulCANOPENSL Destination End Point Identifier, specifying the final receiver of the
V0Id packet within the Destination Process. Set to 0 for the Initialization
Packet
ulSrcId UINT32 ulAPSS0Id Source End Point Identifier, specifying the origin of the packet inside
the Source Process
ulLen UINT32 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 See section 6.2 Codes of the CANopen Slave-Task
ulCmd UINT32 0x2933 CANOPEN_SLAVE_NMT_COMMAND_RES - Command
ulExt UINT32 0 Extension not in use, set to zero for compatibility reasons
ulRout UINT32 x Routing, do not touch

structure CANOPEN_SLAVE_NMT_COMMAND_RES_DATA_T
ulNmtState UINT32 Valid NMT New local NMT state
State
Table 63: CANOPEN_SLAVE_PACKET_NMT_COMMAND_RES_T – Response to NMT Command Indication

CANopen Slave | Protocol API

3.2.16 CANOPEN_SLAVE_SETUP_PDO_INDICATION_REQ/CNF –
Setup PDO Indication
This request can be used by the application for enabling and disabling PDO indications. While
enabled, the CANopen slave sends an indication with each received PDO to the application. The
PDO indication is described in section CANOPEN_SLAVE_RECEIVE_PDO_IND/RES – Receive
PDO in this manual.
The parameter ulSetupPdoIndication can be used to decide whether you want to disable (1)
or enable PDO indications (2 or 3) and whether you want to send multiple PDOs within a single
packet

Packet Structure Reference

/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_SETUP_PDO_INDICATION_REQ_DATA_Ttag</code> */
typedef struct CANOPEN_SLAVE_SETUP_PDO_INDICATION_REQ_DATA_Ttag
CANOPEN_SLAVE_SETUP_PDO_INDICATION_REQ_DATA_T;

#define CANOPEN_SLAVE_SETUP_PDO_INDICATION_DISABLE 0x000000001L

#define CANOPEN_SLAVE_SETUP_PDO_INDICATION_ENABLE 0x000000002L
#define CANOPEN_SLAVE_SETUP_PDO_INDICATION_ENABLE_EXT 0x000000003L

struct CANOPEN_SLAVE_SETUP_PDO_INDICATION_REQ_DATA_Ttag
{
TLR_UINT32 ulSetupPdoIndication; /* Parameter for PDO indications*/

};

/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_PACKET_SETUP_PDO_INDICATION_REQ_Ttag</code> */
typedef struct CANOPEN_SLAVE_PACKET_SETUP_PDO_INDICATION_REQ_Ttag
CANOPEN_SLAVE_PACKET_SETUP_PDO_INDICATION_REQ_T;

struct CANOPEN_SLAVE_PACKET_SETUP_PDO_INDICATION_REQ_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */
CANOPEN_SLAVE_SETUP_PDO_INDICATION_REQ_DATA_T tData; /** packet data. */

};
/*********************************************************************************/

CANopen Slave | Protocol API

Packet Description

Structure Information Type: Request

CANOPEN_SLAVE_PACKET_SETUP_PDO_INDICATION_REQ_T

Variable Type Value / Range Description

Structure TLR_PACKET_HEADER_T
ulDest UINT32 0x20/ Destination Queue-Handle of CANopen slave-Task Process Queue
QUE_CANOPE
NSLV
32
ulSrc UINT32 0 ... 2 -1 Source Queue-Handle of AP task Process Queue
ulDestId UINT32 ulCANOPENSL Destination End Point Identifier, specifying the final receiver of the
V0Id packet within the Destination Process
ulSrcId UINT32 ulAPSS0Id Source End Point Identifier, specifying the origin of the packet inside
the Source Process
ulLen UINT32 4 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 0 See section 6.2 Codes of the CANopen Slave-Task
ulCmd UINT32 0x29BA CANOPEN_SLAVE_SETUP_PDO_INDICATION_REQ- Command
ulExt UINT32 0 Reserved
ulRout UINT32 x Routing Information
Structure CANOPEN_SLAVE_SETUP_PDO_INDICATION_REQ_DATA_T
ulSetupPdoIndic UINT32 0x00000001 Disable PDO Indications
ation 0x00000002 Enable PDO Indication
0x00000003 Enable PDO Indication (for multiple PDO transfer)
Table 64: CANOPEN_SLAVE_PACKET_SETUP_PDO_INDICATION_REQ_T – Setup PDO Indication Request

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Packet Structure Reference
/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_PACKET_SETUP_PDO_INDICATION_CNF_Ttag</code> */
typedef struct CANOPEN_SLAVE_PACKET_SETUP_PDO_INDICATION_CNF_Ttag
CANOPEN_SLAVE_PACKET_SETUP_PDO_INDICATION_CNF_T;

struct CANOPEN_SLAVE_PACKET_SETUP_PDO_INDICATION_CNF_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */

};
/*********************************************************************************/

Packet Description

Structure Information Type: Confirmation

CANOPEN_SLAVE_PACKET_SETUP_PDO_INDICATION_CNF_T

Variable Type Value / Range Description

Structure TLR_PACKET_HEADER_T
ulDest UINT32 Destination Queue-Handle, untouched
ulSrc UINT32 Source Queue-Handle, untouched
ulDestId UINT32 ulAPSS0Id Destination End Point Identifier, untouched
ulSrcId UINT32 ulCANOPENSL Source End Point Identifier, untouched
V0Id
ulLen UINT32 0 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 See section 6.2 Codes of the CANopen Slave-Task
ulCmd UINT32 0x29BB CANOPEN_SLAVE_SETUP_PDO_INDICATION_CNF– Command
ulExt UINT32 Extension, reserved
ulRout UINT32 Routing Information, do not change
Table 65: CANOPEN_SLAVE_PACKET_SETUP_PDO_INDICATION_CNF_T – Setup PDO Indication Confirmation

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3.2.17 CANOPEN_SLAVE_RECEIVE_PDO_IND/RES – Receive PDO
Indication
The following indication is sent from the CANopen slave to the application each time a PDO is
received. The indication includes
 the PDO number,
 the identifier (COB-ID),
 the length and
 the data.

Note: No PDO indications are sent to the application until this functionality is explicitly
enabled. Enabling PDO indications is described in this manual in section
CANOPEN_SLAVE_SETUP_PDO_INDICATION_REQ/CNF – Setup PDO Indication.
Enabling can be done for single or multiple PDO transfer with one packet.

Packet Structure Reference

/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_RECEIVE_PDO_IND_DATA_Ttag</code> */
typedef struct CANOPEN_SLAVE_RECEIVE_PDO_IND_DATA_Ttag
CANOPEN_SLAVE_RECEIVE_PDO_IND_DATA_T;
/** type of <code>CANOPEN_SLAVE_PDO_DATA_Ttag</code> */
typedef struct CANOPEN_SLAVE_PDO_DATA_Ttag
CANOPEN_SLAVE_PDO_DATA_T;

#define CANOPEN_SLAVE_RECEIVE_PDO_IND_MAX 16
#define CANOPEN_SLAVE_RECEIVE_PDO_IND_MAX_DATA 8

struct CANOPEN_SLAVE_PDO_DATA_Ttag
{
TLR_UINT32 ulPdoNumber; /* PDO number */
TLR_UINT32 ulIdentifier; /* CAN identifier */
TLR_UINT32 ulLength; /* Data length */
TLR_UINT8 abPdoData[CANOPEN_SLAVE_RECEIVE_PDO_IND_MAX_DATA]; /* PDO data */
};

struct CANOPEN_SLAVE_RECEIVE_PDO_IND_DATA_Ttag
{
CANOPEN_SLAVE_PDO_DATA_T atPdoData[CANOPEN_SLAVE_RECEIVE_PDO_IND_MAX];
}; /*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_PACKET_RECEIVE_PDO_IND_Ttag</code> */
typedef struct CANOPEN_SLAVE_PACKET_RECEIVE_PDO_IND_Ttag
CANOPEN_SLAVE_PACKET_RECEIVE_PDO_IND_T;

struct CANOPEN_SLAVE_PACKET_RECEIVE_PDO_IND_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */
CANOPEN_SLAVE_RECEIVE_PDO_IND_DATA_T tData; /** packet data. */

};
/*********************************************************************************/

CANopen Slave | Protocol API

Packet Description

Structure Information CANOPEN_SLAVE_PACKET_RECEIVE_PDO_IND_T Type: Indication

Variable Type Value / Range Description

Structure TLR_PACKET_HEADER_T
ulDest UINT32 Destination Queue-Handle of AP task Process Queue
ulSrc UINT32 Source Queue-Handle of CANopen slave-Task Process Queue
ulDestId UINT32 ulAPSS0Id Destination End Point Identifier, specifying the final receiver of the
packet within the Destination Process
ulSrcId UINT32 ulCANOPENS Source End Point Identifier, specifying the origin of the packet inside
LV0Id the Source Process
ulLen UINT32 12.. 20 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 See section 6.2 Codes of the CANopen Slave-Task
ulCmd UINT32 0x000029BC CANOPEN_SLAVE_RECEIVE_PDO_IND- Indication
ulExt UINT32 0 Reserved
ulRout UINT32 x Routing Information
Structure CANOPEN_SLAVE_RECEIVE_PDO_IND_DATA_T
ulPdoNumber UINT32 1..255 Number of received PDO
ulIdentifier UINT32 0..2047 Identifier (COB-ID) of received PDO
ulLength UINT32 0..8 Length of received PDO
abPdoData[8] UINT8[8] Data of received PDO
Table 66: CANOPEN_SLAVE_PACKET_RECEIVE_PDO_IND_T – Receive PDO Indication

CANopen Slave | Protocol API

struct CANOPEN_SLAVE_PACKET_RECEIVE_PDO_RES_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */
};

Packet Description

Structure Information CANOPEN_SLAVE_PACKET_RECEIVE_PDO_RES_T Type: Response

Variable Type Value / Range Description

Structure TLR_PACKET_HEADER_T
ulDest UINT32 Destination Queue-Handle of CANopen slave-Task Process Queue
ulSrc UINT32 Source Queue-Handle of AP task Process Queue
ulDestId UINT32 ulCANOPENSL Destination End Point Identifier, specifying the final receiver of the
V0Id packet within the Destination Process. Set to 0 for the Initialization
Packet
ulSrcId UINT32 ulAPSS0Id Source End Point Identifier, specifying the origin of the packet inside
the Source Process
ulLen UINT32 0 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 See section 6.2 Codes of the CANopen Slave-Task
ulCmd UINT32 0x000029BD CANOPEN_SLAVE_RECEIVE_PDO_RES - Command
ulExt UINT32 Extension, reserved
ulRout UINT32 Routing Information, do not change
Table 67: CANOPEN_SLAVE_PACKET_RECEIVE_PDO_RES_T – Receive PDO Response

CANopen Slave | Protocol API

3.3 Hardware Switches for the Adjustment of Slave Address

and Baudrate
For handling address and baud rate switches on a netX device, the firmware must be enabled to
evaluate the switch values from the hardware. This can be done by setting a special TAG via the
“Tag List Editor” tool. In this case, the values which are configured via database or packet interface
will be ignored.
If the hardware switch function is not enabled via TAG, then the firmware uses the values set either
via NXD or IniBatch database or via packet interface (SET_CONFIGURATION_REQ or
RCX_SET_FW_PARAMETER_REQ)

Enabling and disabling Address and Baudrate Switching

On database files and SET_CONFIGURATION_REQ evaluating the switches can be activated or
deactivated. This information is located at the System Flags
 CANOPEN_APS_SYS_FLAG_ADDRESS_SWITCH = 0x10
 CANOPEN_APS_SYS_FLAG_BAUD_SWITCH = 0x20.
Also see section 3.1.1 “CANOPEN_APS_SET_CONFIGURATION_REQ/CNF – Set
Configuration”.

Behavior at Start-up
In general, the firmware stack can be configured in different ways. Only one type of configuration
can be active at a certain time. These are evaluated at start-up in the following order:
 SYCON.net database
 iniBatch database (via netX Configuration Tool)
 Warmstart Request packet (compatibility)
 Set Configuration Request packet
After a Restart the stack will first search for the SYCON.net database files (config.nxd). If these
are found all other configuration methods will not be accepted. If no SYCON.net database exists,
but an iniBatch database exists, its configuration will be used and configuration packets will be not
accepted.
If no database is found the stack is unconfigured until the receipt of the first configuration packet. In
this case the firmware waits for the SET_CONFIGURATION_REQ or WARMSTART_REQ packet. Once
one of these packets (i.e. SET_CONFIGURATION_REQ) was received, the other one (i.e.
WARMSTART_REQ) will be rejected.
The host has the possibility to modify the configuration with the packet
RCX_SET_FW_PARAMETER_REQ/CNF (Set the Value of the Firmware Parameter).
Using the hardware switches for adjusting of slave address and baudrate requires the option
Application_controlled being active (either when configuring using SET_CONFIGURATION_REQ
packet (see CANOPEN_APS_SET_CONFIGURATION_REQ/CNF – Set Configuration on page
43) or in the SYCON.net database file config.nxd).
The stack will start the device with the received configuration as soon as the application ready flag
is set by the host application.
On starting the stack the hardware switches are evaluated if hardware switches are enabled via
the TAG. The values from the hardware switches will overwrite the values, which was set via
database or packet previously. This can be avoided if the hardware switches are disabled via the
“Tag List Editor” tool. A description of the “Tag List Editor” tool is given in reference [3].

CANopen Slave | Protocol API

Power On

Database
No
available

Wait for packet configuration

Yes

No Automatic Start

Modify configuraPion wiPO

RCX_SET_FW_PARAMETER_REQ,
WaiP for ApplicaPion Ready
Yes

HW switch
enabled?

Yes

Get HW switch values,

No
modify configuration

Configure stack

Figure 15: Start-up Process

CANopen Slave | Protocol API

3.4 CAN-DL Task

If working with Loadable Firmware, you can also use the functionality of the CAN-DL Task for
programming CAN on the level of Data Link Layer (Layer 2 in OSI Layer Model).
The packet interface of CAN DL is described within a separate manual, the CAN Data Link Packet
Interface Protocol API Manual. See reference [5].
The following packets of CAN DL can be used without restrictions:
 CAN_DL_CMD_DATA_REQ
 CAN_DL_CMD_DATA_HI_REQ
 CAN_DL_CMD_DIAG_REQ
 CAN_DL_CMD_TX_ABORT_REQ
 CAN_DL_CMD_AP_REGISTER_REQ
 CAN_DL_CMD_EVENT_ACK_REQ
The following packets of CAN DL will be denied as long as the ‘Configuration Lock’ flag is set:
 CAN_DL_CMD_ENABLE_RXID_REQ
 CAN_DL_CMD_SET_EVENTS_TO_INDICATE_REQ
Whether or not indications are sent to your application, depends on which CAN-DL events have
been notified!
Contrary to the CANopen Slave Task, the CAN-DL Task also supports 29 bit CAN identifiers. If it is
intended to use these 29 bit CAN identifiers, the application has to registered at the CAN-DL Task
using CAN_DL_CMD_AP_REGISTER_REQ with parameter ulInitMode set to 0.

3.5 ODV3 Task

If working with Loadable Firmware, you can also use the SDO functionality of the ODV3 Task for
accessing the object dictionary.
The packet interface of the Object Dictionary V3 is described within a separate manual, the Object
Dictionary V3 Protocol API Manual. See reference # 4.
The following packets of Object Dictionary V3 can be used without any restrictions:
 ODV3_READ_OBJECT_REQ
 ODV3_WRITE_OBJECT_REQ
 ODV3_GET_OBJECT_LIST_REQ
 ODV3_GET_OBJECT_INFO_REQ
 ODV3_GET_SUBOBJECT_INFO_REQ
 ODV3_GET_OBJECT_ACCESS_INFO_REQ
 ODV3_GET_OBJECT_SIZE_REQ
 ODV3_READ_OBJECT_NO_IND_REQ
 ODV3_GET_OBJECT_COUNT_REQ
 ODV3_WRITE_ALL_BY_INDEX_REQ
 ODV3_READ_ALL_BY_INDEX_REQ
 ODV3_WRITE_MULTIPLE_PARAMETER_BY_INDEX_REQ
 ODV3_READ_MULTIPLE_PARAMETER_BY_INDEX_REQ
 ODV3_GET_TIMEOUT_REQ

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The following packets of Object Dictionary V3 will be denied as long as the ‘Configuration Lock’
flag is set:
 ODV3_CREATE_OBJECT_REQ
 ODV3_CREATE_SUBOBJECT_REQ
 ODV3_DELETE_OBJECT_REQ
 ODV3_DELETE_SUBOBJECT_REQ
 ODV3_REGISTER_OBJECT_NOTIFY_REQ
 ODV3_UNREGISTER_OBJECT_NOTIFY_REQ
 ODV3_REGISTER_SUBOBJECT_NOTIFY_REQ
 ODV3_UNREGISTER_SUBOBJECT_NOTIFY_REQ
 ODV3_REGISTER_UNDEFINED_NOTIFY_REQ
 ODV3_UNREGISTER_UNDEFINED_NOTIFY_REQ
 ODV3_REGISTER_OBJINFO_NOTIFY_REQ
 ODV3_UNREGISTER_OBJINFO_NOTIFY_REQ
 ODV3_CREATE_DATATYPE_REQ
 ODV3_DELETE_DATATYPE_REQ
 ODV3_SET_TIMEOUT_REQ
 ODV3_SET_OBJECT_NAME_REQ
 ODV3_SET_SUBOBJECT_NAME_REQ
 ODV3_LOCK_OBJECT_DELETION_REQ
 ODV3_UNLOCK_OBJECT_DELETION_REQ
Whether or not indications are sent to your application, depends on which ODV3 events have been
notified!

CANopen Slave | Protocol API

4 Status information
4.1 Extended Status
The content of the channel specific extended status block is specific to the implementation.
Depending on the protocol, a status area may or may not be present in the dual-port memory. It is
always available in the default memory map (see section 3.2.1 of netX Dual-Port Memory Manual).

Note: Have in mind, that all offsets mentioned in this section are relative to the beginning
of the common status block, as the start offset of this block depends on the size and
location of the preceding blocks.

Extended Status Block

Offset Type Name Description

0x0050 UINT8[ ] abExtendedStatus[432] Extended Status Area
Protocol Stack Specific Status
Area
Table 68: Extended Status Block (General Structure)

Extended Status Block Structure

typedef struct CANOPEN_SLAVE_EXTENDED_STATE_Ttag
CANOPEN_SLAVE_EXTENDED_STATE_T;

#define CANOPEN_SLAVE_EXT_STATE_FLAG_CAN_INIT 0x00000001L

#define CANOPEN_SLAVE_EXT_STATE_FLAG_CAN_ACTIVE 0x00000002L
#define CANOPEN_SLAVE_EXT_STATE_FLAG_PASSIVE 0x00000004L
#define CANOPEN_SLAVE_EXT_STATE_FLAG_BUS_OFF 0x00000008L
#define CANOPEN_SLAVE_EXT_STATE_FLAG_RX_OVERFLOW 0x00000010L
#define CANOPEN_SLAVE_EXT_STATE_FLAG_TX_OVERFLOW 0x00000020L
#define CANOPEN_SLAVE_EXT_STATE_FLAG_WDG 0x00000100L
#define CANOPEN_SLAVE_EXT_STATE_CTRL 0x00001000L
#define CANOPEN_SLAVE_EXT_STATE_NRDY 0x00002000L
#define CANOPEN_SLAVE_EXT_STATE_TIMEOUT 0x00004000L

#define CANOPEN_SLAVE_EXT_STATE_UNKNOWN 0x00000000L

#define CANOPEN_SLAVE_EXT_STATE_OPERATIONAL 0x00000001L
#define CANOPEN_SLAVE_EXT_STATE_STOP 0x00000002L
#define CANOPEN_SLAVE_EXT_STATE_PRE_OPERATIONAL 0x00000080L
#define CANOPEN_SLAVE_EXT_STATE_INITIALISING 0x000000FFL

#define CANOPEN_SLAVE_ADD_DETAIL_SIZE 0x00000003L

struct CANOPEN_SLAVE_EXTENDED_STATE_Ttag
{
TLR_UINT32 ulFlags;
TLR_UINT32 ulNodeState;
TLR_UINT32 ulBusOffEveCnt;
TLR_UINT32 ulErrorPassiveEveCnt;
TLR_UINT32 ulRxOverflowCnt;
TLR_UINT32 ulTxOverflowCnt;
TLR_UINT32 ulReserved;
TLR_UINT32 ulTimeoutCnt;

TLR_UINT32 aulReserved[4];

TLR_UINT32 ulDiagInfoCount;
TLR_UINT32 ulLastDiagInfo;
TLR_UINT32 ulMaxRecvIdx;
TLR_UINT32 ulMaxSendIdx;
TLR_UINT32 aulAddDetail[CANOPEN_SLAVE_ADD_DETAIL_SIZE];
};

CANopen Slave | Protocol API

4.2 Extended Status Block

Additional Info Block for CANopen Slave

Offset Type Name Description

0x50 unsigned ulFlags Bit field for Flags
long
0x54 unsigned ulNodeState Current Node State
long
0x58 unsigned ulBusOffEveCnt Counter for bus off events
long
0x5C unsigned ulErrorPassiveEveCnt Counter for passive event errors
long
0x60 unsigned ulRxOverflowCnt Counter for receive overflows
long
0x64 unsigned ulTxOverflowCnt Counter for transmit overflows
long
0x68 unsigned ulErrorWarningCnt Count of errors and Warnings
long
0x6C unsigned ulTimeoutCnt Number of timeouts
long
0x70 unsigned aulReserved[3] Reserved for further use
long[]
0x7C unsigned ulIndLostCnt Count of Lost Indications
long
0x80 unsigned ulDiagInfoCount Number of diagnostic entries
long
0x84 unsigned ulLastDiagInfo Last diagnostic entry
long
0x88 unsigned ulMaxRecvIdx Maximum Object Index Value for Receive Data
long
0x8C unsigned ulMaxSendIdx Maximum Object Index Value for Send Data
long
0x90 unsigned aulAddDetail[3] Additional detail for diagnostic entry
long[]
Table 69: Additional Info Block

CANopen Slave | Protocol API

Bit Name Description

D31.. Reserved Reserved for further use
D17
D16 CANOPEN_SLAVE_EXT_STATE_ A warning has been issued
FLAG_WARNING
D15 Reserved Reserved for further use
D14 CANOPEN_SLAVE_EXT_STATE_ The DEVICE has detected an overstepped timeout supervision time
TIMEOUT of at least one CAN message to be sent. The transmission of this
message was aborted. The data is lost. Its an indication that no
other CAN device was connected or responsive at this time to
acknowledge the sent message requests. The bit will be set when
the first timeout was detected and will not be deleted any more.
D13 CANOPEN_SLAVE_EXT_STATE_ Indicates if the HOST program has set its state to operative or not.
NRDY If the bit is set the HOST program is not ready to communicate.
D12 CANOPEN_SLAVE_EXT_STATE_ Parameterization error or severe run time error
CTRL
D11.. Reserved Reserved for further use
D10
D9 CANOPEN_SLAVE_EXT_STATE_ An error has been issued from the slave
FLAG_SLAVE_ERROR
D8 CANOPEN_SLAVE_EXT_STATE_ Watchdog error detected
FLAG_WDG
D7 Reserved Reserved for further use
D6 CANOPEN_SLAVE_EXT_STATE_ Indication has been lost
FLAG_IND_LOST
D5 CANOPEN_SLAVE_EXT_STATE_ Transmit overflow detected
FLAG_TX_OVERFLOW
D4 CANOPEN_SLAVE_EXT_STATE_ Receive overflow detected
FLAG_RX_OVERFLOW
D3 CANOPEN_SLAVE_EXT_STATE_ CAN is in Bus-off state
FLAG_BUS_OFF
D2 CANOPEN_SLAVE_EXT_STATE_ CAN is in error passive state
FLAG_PASSIVE
D1 CANOPEN_SLAVE_EXT_STATE_ CAN is activated
FLAG_CAN_ACTIVE
D0 CANOPEN_SLAVE_EXT_STATE_ CAN is initialized
FLAG_CAN_INIT
Table 70: Additional Info Flags

ulNodeState
Internal node state of node:
0: Unknown state
1: Operational state
2: Stop
128: Pre-operational state
255: Initializing

CANopen Slave | Protocol API

ulBusOffEveCnt
Number of Bus-off events
ulErrorPassiveEveCnt

Number of error passive events

ulRxOverflowCnt
Number of receive overrun events
ulTxOverflowCnt

Number of transmit overrun events

ulErrorWarningCnt
Total count of errors and warnings
ulTimeoutCnt
Each CAN message is supervised by the card to be sent during 20ms by the CAN chip. If not
possible, because the chip for example gets no acknowledging partner on the bus, this counter is
incremented by one.
aulReserved[ ]

Reserved for further use

ulIndLostCnt

Count of lost indications

ulDiagInfoCount
Number of diagnostic entries
ulLastDiagInfo
Last diagnostic entry
ulMaxRecvIdx

Number of highest PDO mapped receive object index

ulMaxSendIdx
Number of highest PDO mapped send object index
aulAddDetail[ ]

Additional detail for diagnostic entry

CANopen Slave | Protocol API

5 Special Topics
5.1 Using LOM
To get the handle of the process queue of the CANopen APS task the Macro TLR_QUE_IDENTIFY()
needs to be used.

ASCII queue name Description

"QUE_CANOPENAPS” Name of the APS-Task process queue

Table 71: APM-Task Process Queue

The returned handle has to be used as value ulDest in all request packets to be sent to the AP
task. This handle is the same handle that has to be used in conjunction with the macros like
TLR_QUE_SENDPACKET_FIFO/LIFO() for sending a packet to the AP task.
To get the handle of the process queue of the CANopen slave-task the Macro TLR_QUE_IDENTIFY()
needs to be used.
ASCII queue name Description
“QUE_CANOPENSLV” Name of the CANopen slave-task process queue

“QUE_COS_ODV3” Name of the CANopen slave-task ODV3 process queue

Table 72 CANopen Slave-Task Process Queue

The returned handle has to be used as value ulDest in all request packets to be sent to the
CANopen slave-Task. This handle is the same handle that has to be used in conjunction with the
macros like TLR_QUE_SENDPACKET_FIFO/LIFO() for sending a packet to the CANopen slave-
Task.

CANopen Slave | Protocol API

5.2 Packages for LOM

5.2.1 Overview
The following table lists the packages which can be used with Linkable Object Modules (LOM)
only. Additionaly, the table lists whether a package will be denied if the ‘Configuration Lock’ flag is
set.

Section Name LFW LOM Denied

on Cfg.
Lock
5.2.2 CANOPEN_SLAVE_REGISTER_REQ/CNF – Register Application 0 x x
5.2.3 CANOPEN_SLAVE_INITIALIZE_REQ/CNF – Initialization of CANopen 0 x x
Slave
5.2.4 CANOPEN_SLAVE_STATE_CHANGE_IND/RES – Change of Task 0 x x
State Indication
5.2.5 CANOPEN_SLAVE_SET_BUSPARAM_REQ/CNF – Set Bus 0 x 0
Parameters
5.2.6 CANOPEN_SLAVE_SET_API_PARAM_REQ/CNF – Set API Parameter 0 x x
5.2.7 CANOPEN_SLAVE_GET_BUSPARAM_REQ/CNF – Get Bus 0 x x
Parameters
5.2.8 CANOPEN_SLAVE_SET_WATCHDOG_FAIL_REQ/CNF – 0 x x
Set Watchdog Fail
Table 73: Packets of CANopen Slave Protocol Stack V3 and Restrictions of Usage

CANopen Slave | Protocol API

5.2.2 CANOPEN_SLAVE_REGISTER_REQ/CNF – Register

Application
This packet is used in order to register to the CANopen slave task. After this request is performed
successfully, indication packets are sent from the CANopen slave task to the source queue of this
request packet.

Note: Use this packet only when working with linkable object modules. It has not been
designed for usage in the context of loadable firmware.

Note: This packet is used by the AP task only and will not be routed from the user
application to the CANopen Slave-task.

Packet Structure Reference

/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_REGISTER_REQ_DATA_Ttag</code> */
typedef struct CANOPEN_SLAVE_REGISTER_REQ_DATA_Ttag
CANOPEN_SLAVE_REGISTER_REQ_DATA_T;

struct CANOPEN_SLAVE_REGISTER_REQ_DATA_Ttag
{
TLR_UINT8 bReserved; /* Reserved for further use, set to zero*/

};
/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_PACKET_REGISTER_REQ_Ttag</code> */
typedef struct CANOPEN_SLAVE_PACKET_REGISTER_REQ_Ttag
CANOPEN_SLAVE_PACKET_REGISTER_REQ_T;

/** Structure of task command application register request*/

struct CANOPEN_SLAVE_PACKET_REGISTER_REQ_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */
CANOPEN_SLAVE_REGISTER_REQ_DATA_T tData; /** packet request data. */

};
/*********************************************************************************/

CANopen Slave | Protocol API

Packet Description

Structure Information CANOPEN_SLAVE_PACKET_REGISTER_REQ_T Type: Request

Variable Type Value / Range Description
Structure TLR_PACKET_HEADER_T
ulDest UINT32 QUE_CANOPE Destination Queue-Handle of CANopen slave-Task Process Queue
NSLV
32
ulSrc UINT32 0 ... 2 -1 Source Queue-Handle of AP task Process Queue
ulDestId UINT32 ulCANOPENSL Destination End Point Identifier, specifying the final receiver of the
V0Id packet within the Destination Process
ulSrcId UINT32 ulAPSS0Id Source End Point Identifier, specifying the origin of the packet inside
the Source Process
ulLen UINT32 4 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 0 See section 6.2 “Codes of the CANopen Slave-Task”
ulCmd UINT32 0x2900 CANOPEN_SLAVE_REGISTER_REQ - Command
ulExt UINT32 0 Reserved
ulRout UINT32 x Routing Information

structure CANOPEN_SLAVE_REGISTER_REQ_DATA_T
bReserved UINT32 0 Reserved for further use, set to zero
Table 74: CANOPEN_SLAVE_PACKET_APP_REGISTER_REQ_T – Register Application Request

CANopen Slave | Protocol API

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Packet Structure Reference
/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_REGISTER_CNF_DATA_Ttag</code> */
typedef struct CANOPEN_SLAVE_REGISTER_CNF_DATA_Ttag
CANOPEN_SLAVE_REGISTER_CNF_DATA_T;

struct CANOPEN_SLAVE_REGISTER_CNF_DATA_Ttag
{
TLR_UINT8 bReserved; /* Reserved for further use */
};

/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_PACKET_REGISTER_CNF_Ttag</code> */
typedef struct CANOPEN_SLAVE_PACKET_REGISTER_CNF_Ttag
CANOPEN_SLAVE_PACKET_REGISTER_CNF_T;

/** Structure of task command application register confirmation */

struct CANOPEN_SLAVE_PACKET_REGISTER_CNF_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */
CANOPEN_SLAVE_REGISTER_CNF_DATA_T tData; /** packet confirmation data. */
};
/*********************************************************************************/

Packet Description

Structure Information CANOPEN_SLAVE_PACKET_APP_REGISTER_CNF Type: Confirmation

Variable Type Value / Range Description

Structure TLR_PACKET_HEADER_T
ulDest UINT32 Destination Queue-Handle, untouched
ulSrc UINT32 Source Queue-Handle, untouched
ulDestId UINT32 ulAPSS0Id Destination End Point Identifier, untouched
ulSrcId UINT32 ulCANOPENSL Source End Point Identifier, untouched
V0Id
ulLen UINT32 4 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 See section 6.2 “Codes of the CANopen Slave-Task”
ulCmd UINT32 0x2901 CANOPEN_SLAVE_REGISTER_CNF - Command
ulExt UINT32 0 Extension, reserved
ulRout UINT32 x Routing Information, do not change
Structure CANOPEN_SLAVE_APP_REGISTER_CNF_DATA_T
bReserved UINT32 0 Reserved for further use, set to zero
Table 75: CANOPEN_SLAVE_PACKET_APP_REGISTER_CNF_T – Register Application Confirmation

CANopen Slave | Protocol API

5.2.3 CANOPEN_SLAVE_INITIALIZE_REQ/CNF – Initialization of

CANopen Slave
This command is used in order to reset and initialize the CANopen slave.
You can read in section 2.3.1 “NMT Slave State Machine” what happens in detail during the
initialization process of the CANopen Slave protocol stack.
If you are interested to know in detail what happens during the initialization process of the
CANopen Slave protocol stack, you should read section 2.3.1 “NMT Slave State Machine”.

Note: Use this packet preferably when working with linkable object modules. In the
context of loadable firmware we recommend to use ‘config reload’ instead.

Note: This command does not delete configuration databases. If the CANopen Slave is
configured by configuration database, this configuration is reloaded again after the
initialize command is completed.

Packet Structure Reference

/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_INITIALIZE_REQ_DATA_Ttag</code> */
typedef struct CANOPEN_SLAVE_INITIALIZE_REQ_DATA_Ttag
CANOPEN_SLAVE_INITIALIZE_REQ_DATA_T;

/** Structure of task command delete configuration CANopenrequest data */

struct CANOPEN_SLAVE_INITIALIZE_REQ_DATA_Ttag
{
TLR_UINT32 ulReserved; /* Reserved fur further use, set to zero */
};

/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_PACKET_INITIALIZE_REQ_Ttag</code> */
typedef struct CANOPEN_SLAVE_PACKET_INITIALIZE_REQ_Ttag
CANOPEN_SLAVE_PACKET_INITIALIZE_REQ_T;

/** Structure of task command delete configuration request */

struct CANOPEN_SLAVE_PACKET_INITIALIZE_REQ_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */
CANOPEN_SLAVE_INITIALIZE_REQ_DATA_T tData; /** packet request data. */
};
/*********************************************************************************/

CANopen Slave | Protocol API

Packet Description
Structure Information CANOPEN_SLAVE_PACKET_INITIALIZE_REQ_T Type: Request
Variable Type Value / Range Description

Structure TLR_PACKET_HEADER_T
ulDest UINT32 0x20/ Destination Queue-Handle of CANopen slave-Task Process Queue
QUE_CANOPEN
SLV
32
ulSrc UINT32 0 ... 2 -1 Source Queue-Handle of AP task Process Queue
ulDestId UINT32 ulCANOPENSL Destination End Point Identifier, specifying the final receiver of the
V0Id packet within the Destination Process
ulSrcId UINT32 ulAPSS0Id Source End Point Identifier, specifying the origin of the packet inside
the Source Process
ulLen UINT32 4 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 0 See section 6.2 “Codes of the CANopen Slave-Task
ulCmd UINT32 0x2904 CANOPEN_SLAVE_SLAVE_REQ – Command
ulExt UINT32 0 Reserved
ulRout UINT32 x Routing Information

Structure CANOPEN_SLAVE_INITIALIZE_REQ_DATA_T
ulReserved UINT32 0 Reserved for further use, set to zero
Table 76: CANOPEN_SLAVE_PACKET_INITIALIZE_REQ_T – Initialization of CANopen Slave Request

CANopen Slave | Protocol API

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Packet Structure Reference
/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_INITIALIZE_CNF_DATA_Ttag</code> */
typedef struct CANOPEN_SLAVE_INITIALIZE_CNF_DATA_Ttag
CANOPEN_SLAVE_INITIALIZE_CNF_DATA_T;

/** Structure of task command delete configuration confirmation data */

struct CANOPEN_SLAVE_INITIALIZE_CNF_DATA_Ttag
{
TLR_UINT32 ulReserved; /* Reserved fur further use */
};

/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_PACKET_INITIALIZE_CNF_Ttag</code> */
typedef struct CANOPEN_SLAVE_PACKET_INITIALIZE_CNF_Ttag
CANOPEN_SLAVE_PACKET_INITIALIZE_CNF_T;

/** Structure of task command delete configuration confirmation */

struct CANOPEN_SLAVE_PACKET_INITIALIZE_CNF_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */
CANOPEN_SLAVE_INITIALIZE_CNF_DATA_T tData; /** packet confirmation data. */
};
/*********************************************************************************/

Packet Description
Structure Information CANOPEN_SLAVE_PACKET_INITIALIZE_CNF_T Type: Confirmation

Variable Type Value / Range Description

Structure TLR_PACKET_HEADER_T
ulDest UINT32 Destination Queue-Handle, untouched
ulSrc UINT32 Source Queue-Handle, untouched
ulDestId UINT32 ulAPSS0Id Destination End Point Identifier, untouched
ulSrcId UINT32 ulCANOPENSL Source End Point Identifier, untouched
V0Id
ulLen UINT32 4 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 See section 6.2 “Codes of the CANopen Slave-Task
ulCmd UINT32 0x2905 CANOPEN_SLAVE_INITIALIZE_CNF- Command
ulExt UINT32 Extension, reserved
ulRout UINT32 Routing Information, do not change

Structure CANOPEN_SLAVE_INITIALIZE_CNF_DATA_T
ulReserved UINT32 0 Reserved for further use, set to zero
Table 77: CANOPEN_SLAVE_PACKET_INITIALIZE_CNF_T – Initialization of CANopen Slave Confirmation

CANopen Slave | Protocol API

5.2.4 CANOPEN_SLAVE_STATE_CHANGE_IND/RES – Change of

Task State Indication
This indication packet signifies a change of the state of the CANopen slave-task. The indication
delivers two important blocks containing status information about the CANopen slave, namely
 The slave state
 The extended slave state
These blocks delivering information about the change of state are described in detail below.

Note: Use this packet only when working with linkable object modules. It is not
designed for usage in the context of loadable firmware.

Note: This indication is used by the AP task in order to set status information in the
DPM and will not be routed to the user application.
In order to be able to receive this indication, the CANOPEN_SLAVE_REGISTER_REQ/CNF –
Register Application request has to be executed by the AP task.

Packet Structure Reference

/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_STATE_CHANGE_IND_DATA_Ttag</code> */
typedef struct CANOPEN_SLAVE_STATE_CHANGE_IND_DATA_Ttag
CANOPEN_SLAVE_STATE_CHANGE_IND_DATA_T;

struct CANOPEN_SLAVE_STATE_CHANGE_IND_DATA_Ttag
{
CANOPEN_SLAVE_SLAVE_STATE_T tSlaveState; /* Slave state */
CANOPEN_SLAVE_EXTENDED_STATE_T tExtendedState; /* Extended state */
};

/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_PACKET_STATE_CHANGE_IND_Ttag</code> */
typedef struct CANOPEN_SLAVE_PACKET_STATE_CHANGE_IND_Ttag
CANOPEN_SLAVE_PACKET_STATE_CHANGE_IND_T;

struct CANOPEN_SLAVE_PACKET_STATE_CHANGE_IND_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */
CANOPEN_SLAVE_STATE_CHANGE_IND_DATA_T tData; /** packet request data. */
};
/*********************************************************************************/

CANopen Slave | Protocol API

Packet Description
Structure Information CANOPEN_SLAVE_PACKET_STATE_CHANGE_IND_T Type: Indication
Variable Type Value / Range Description

Structure CANOPEN_SLAVE_STATE_CHANGE_IND_DATA_T
tSlaveState CANOPEN_SLAVE_ Structure for slave state, see explanation below.
SLAVE_STATE_T
tExtended CANOPEN_SLAVE_ Structure for extended slave state, see explanation below.
State EXTENDED_STATE_T
Table 78: CANOPEN_SLAVE_PACKET_STATE_CHANGE_IND_T – Change of State Indication

CANopen Slave | Protocol API

#define CANOPEN_SLAVE_CAN_STATE_UNKNOWN 0x00000000L

#define CANOPEN_SLAVE_CAN_STATE_NOT_CONFIGURED 0x00000001L
#define CANOPEN_SLAVE_CAN_STATE_STOPPED 0x00000002L
#define CANOPEN_SLAVE_CAN_STATE_STARTED 0x00000003L
#define CANOPEN_SLAVE_CAN_STATE_RUNNING 0x00000004L

#define CANOPEN_SLAVE_STATE_FLAG_RDY 0x00000001L

#define CANOPEN_SLAVE_STATE_FLAG_RUN 0x00000002L
#define CANOPEN_SLAVE_STATE_FLAG_COM 0x00000004L
#define CANOPEN_SLAVE_STATE_FLAG_BUS_ON 0x00000008L
#define CANOPEN_SLAVE_STATE_FLAG_COMM_ERROR 0x00000010L
#define CANOPEN_SLAVE_STATE_FLAG_CAN_STARTED 0x00000100L

struct CANOPEN_SLAVE_SLAVE_STATE_Ttag
{
TLR_UINT32 ulCanState;

TLR_UINT32 aulUnused[2];

TLR_UINT32 ulFlags;

TLR_UINT32 ulErrorCount;
TLR_UINT32 ulCommError;

TLR_UINT32 ulRunLedState;
TLR_UINT32 ulErrLedState;

TLR_UINT32 ulRecvDataCnt;
TLR_UINT32 ulSendDataCnt;

TLR_UINT32 ulReserved;

};

ulCanState
This variable is organized as a bit field as described in the table below:

Bit Name Description

D4 CANOPEN_SLAVE_CAN_STATE_RUNNING CAN State is Running
D3 CANOPEN_SLAVE_CAN_STATE_STARTED CAN State is Started
D2 CANOPEN_SLAVE_CAN_STATE_STOPPED CAN State is Stopped
D1 CANOPEN_SLAVE_CAN_STATE_NOT_CONFIGURED CAN State is Not configured
D0 CANOPEN_SLAVE_CAN_STATE_UNKNOWN CAN State is unknown
Table 79: Flags of ulCanState

aulUnused[2]
This array has been introduced only for compatibility reasons. It is not used.

CANopen Slave | Protocol API

ulFlags
This variable is organized as a bit field as described in the table below:
Bit Name Description
D32...D9 - Unused
D8 CANOPEN_SLAVE_STATE_FLAG_CAN_STARTED CAN network has been started
D7…D5 - Unused
D4 CANOPEN_SLAVE_STATE_FLAG_COMM_ERROR Communication Error
D3 CANOPEN_SLAVE_STATE_FLAG_BUS_ON Bus on
D2 CANOPEN_SLAVE_STATE_FLAG_COM Communication running
D1 CANOPEN_SLAVE_STATE_FLAG_RUN Run
D0 CANOPEN_SLAVE_STATE_FLAG_RDY Ready
Table 80: Bit field ulFlags

ulErrorCount
This field contains the total number of errors detected since power-up, respectively after reset. The
protocol stack counts all sorts of errors in this field no matter if they were network related or caused
internally.

ulCommError
This field contains the error code of the last communication error that occurred.

ulRunLedState
This field contains the current state of the RUN LED.

ulErrLedState
This field contains the current state of the ERR LED.

ulRecvDataCnt
This field contains the Received Data Count

ulSendDataCnt
This field contains the Send Data Count.

ulReserved
This field is reserved for future use.

CANopen Slave | Protocol API

Extended Slave State Structure Reference

/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_EXTENDED_STATE_Ttag</code> */
typedef struct CANOPEN_SLAVE_EXTENDED_STATE_Ttag
CANOPEN_SLAVE_EXTENDED_STATE_T;

#define CANOPEN_SLAVE_EXT_STATE_FLAG_CAN_INIT 0x00000001L

#define CANOPEN_SLAVE_EXT_STATE_FLAG_CAN_ACTIVE 0x00000002L
#define CANOPEN_SLAVE_EXT_STATE_FLAG_PASSIVE 0x00000004L
#define CANOPEN_SLAVE_EXT_STATE_FLAG_BUS_OFF 0x00000008L

#define CANOPEN_SLAVE_EXT_STATE_FLAG_RX_OVERFLOW 0x00000010L

#define CANOPEN_SLAVE_EXT_STATE_FLAG_TX_OVERFLOW 0x00000020L
#define CANOPEN_SLAVE_EXT_STATE_FLAG_IND_LOST 0x00000040L

#define CANOPEN_SLAVE_EXT_STATE_FLAG_WDG 0x00000100L

#define CANOPEN_SLAVE_EXT_STATE_FLAG_SLAVE_ERROR 0x00000200L

#define CANOPEN_SLAVE_EXT_STATE_CTRL 0x00001000L

#define CANOPEN_SLAVE_EXT_STATE_NRDY 0x00002000L
#define CANOPEN_SLAVE_EXT_STATE_TIMEOUT 0x00004000L

#define CANOPEN_SLAVE_EXT_STATE_FLAG_WARNING 0x00010000L

#define CANOPEN_SLAVE_EXT_STATE_UNKNOWN 0x00000000L

#define CANOPEN_SLAVE_ADD_DETAIL_SIZE 0x00000003L

TLR_UINT32 aulReserved[3];
TLR_UINT32 ulIndLostCnt;

TLR_UINT32 ulDiagInfoCount;
TLR_UINT32 ulLastDiagInfo;
TLR_UINT32 ulMaxRecvIdx;
TLR_UINT32 ulMaxSendIdx;
TLR_UINT32 aulAddDetail[CANOPEN_SLAVE_ADD_DETAIL_SIZE];

};

/*********************************************************************************/

CANopen Slave | Protocol API

Packet Structure Reference

/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_PACKET_STATE_CHANGE_RES_Ttag</code> */
typedef struct CANOPEN_SLAVE_PACKET_STATE_CHANGE_RES_Ttag
CANOPEN_SLAVE_PACKET_STATE_CHANGE_RES_T;

struct CANOPEN_SLAVE_PACKET_STATE_CHANGE_RES_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */

};
/*********************************************************************************/

Packet Description

Structure Information CANOPEN_SLAVE_PACKET_STATE_CHANGE_RES_T Type: Response

Variable Type Value / Range Description

Structure TLR_PACKET_HEADER_T
ulDest UINT32 Destination Queue-Handle of CANopen slave-Task Process Queue
ulSrc UINT32 Source Queue-Handle of AP task Process Queue
ulDestId UINT32 ulCANOPENSL Destination End Point Identifier, specifying the final receiver of the
V0Id packet within the Destination Process. Set to 0 for the Initialization
Packet
ulSrcId UINT32 ulAPSS0Id Source End Point Identifier, specifying the origin of the packet inside
the Source Process
ulLen UINT32 0 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 See section 6.2 “Codes of the CANopen Slave-Task
ulCmd UINT32 0x2913 CANOPEN_SLAVE_STATE_CHANGE_RES - Command
ulExt UINT32 Extension, reserved
ulRout UINT32 Routing Information, do not change
Table 81: CANOPEN_SLAVE_PACKET_STATE_CHANGE_RES_T – Change of State Response

CANopen Slave | Protocol API

5.2.5 CANOPEN_SLAVE_SET_BUSPARAM_REQ/CNF – Set Bus

Parameters
This packet can be applied for setting the bus parameters for the CANopen Slave.

Note: Use this packet only when working with linkable object modules. It is not designed
for usage in the context of loadable firmware. In the context of loadable firmware we
recommend to use ‘set configuration’ instead.

Note: This request will be denied if the configuration lock flag is set.

All parameters used by this packet are also used by the packet
CANOPEN_APS_SET_CONFIGURATION_REQ/CNF – Set Configuration with the same meaning
and in the same way. For more information about these parameters, see Table 24 on page 45.

Packet Structure Reference

/------ Common configuration flags ---------------------------------------/

#define CANOPEN_SLAVE_COMMON_FLAG_CFG_EXT_MODE 0x10000000L
#define CANOPEN_SLAVE_COMMON_FLAG_CFG_HOLD_LAST_STATE 0x01000000L
#define CANOPEN_SLAVE_COMMON_FLAG_CFG_REJECT_RESTRICTED_CAN_ID 0x00100000L
#define CANOPEN_SLAVE_COMMON_FLAG_CFG_DISABLE_SEND_COS_SYNC_ACYC 0x00010000L
#define CANOPEN_SLAVE_COMMON_FLAG_CFG_DISABLE_SEND_COS_MAN_SPEC 0x00020000L
#define CANOPEN_SLAVE_COMMON_FLAG_CFG_DISABLE_SEND_COS_PROF_SPEC 0x00040000L
/*-------------------------------------------------------------------------*/

/------ Configuration flags and for standard mode only -------------------/

#define CANOPEN_SLAVE_STD_FLAG_CFG_VENDOR_ID 0x00000010L
#define CANOPEN_SLAVE_STD_FLAG_CFG_PRODUCT_CODE 0x00000020L
#define CANOPEN_SLAVE_STD_FLAG_CFG_SERIAL_NUMBER 0x00000040L
#define CANOPEN_SLAVE_STD_FLAG_CFG_REVISION_NUMBER 0x00000080L
#define CANOPEN_SLAVE_STD_FLAG_CFG_DEVICE_TYPE 0x00000100L
#define CANOPEN_SLAVE_STD_FLAG_CFG_OBJECT_SIZE 0x00000200L
#define CANOPEN_SLAVE_STD_FLAG_CFG_PDO_CNT 0x00000400L
/*-------------------------------------------------------------------------*/

/------ Configuration flags for extended mode only -----------------------/

/*-------------------------------------------------------------------------*/

#define CANOPEN_SLAVE_MIN_SLAVE_NODE_ID 1 /* Minimum node ID */

#define CANOPEN_SLAVE_MAX_SLAVE_NODE_ID 127 /* Maximum node ID */

#define CANOPEN_SLAVE_CFG_BAUD_1000 0x00000000L /* 1MBaud */

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#define CANOPEN_SLAVE_STD_CFG_DEF_OBJECT_SIZE 128 /* Default object size in std mode */

#define CANOPEN_SLAVE_CFG_MAX_RXPDO 256 /* Maximum number of RxPDO */

#define CANOPEN_SLAVE_CFG_MAX_TXPDO 256 /* Maximum number of TxPDO */

__PACKED_PRE struct CANOPEN_SLAVE_STD_BUSPARAM_DATA_Ttag

{
TLR_UINT32 ulVendorId; /* Vendor ID */
TLR_UINT32 ulProductCode; /* Product code */
TLR_UINT32 ulSerialNumber; /* Serial number */
TLR_UINT32 ulRevisionNumber; /* Revision number */
TLR_UINT32 ulDeviceType; /* Device Type */

TLR_UINT8 bObject2000Size; /* Size of object 2000 */

TLR_UINT8 bObject2001Size; /* Size of object 2001 */
TLR_UINT8 bObject2002Size; /* Size of object 2002 */
TLR_UINT8 bObject2003Size; /* Size of object 2003 */

TLR_UINT8 bObject2200Size; /* Size of object 2200 */

TLR_UINT8 bObject2201Size; /* Size of object 2201 */
TLR_UINT8 bObject2202Size; /* Size of object 2202 */
TLR_UINT8 bObject2203Size; /* Size of object 2203 */

TLR_UINT16 usNumOfRxPdo; /* Number of receive PDOs */

TLR_UINT16 usNumOfTxPdo; /* Number of transmit PDOs */

TLR_UINT32 aulReserved[2]; /* Reserved, set to zero */

}__PACKED_POST;

__PACKED_PRE struct CANOPEN_SLAVE_EXT_BUSPARAM_DATA_Ttag

{
TLR_UINT16 usNumOfRxPdo; /* Number of receive PDOs */
TLR_UINT16 usNumOfTxPdo; /* Number of transmit PDOs */
TLR_UINT32 aulReserved[9]; /* Reserved, set to zero */

}__PACKED_POST;

/** Structure of task command set bus param data */

__PACKED_PRE struct CANOPEN_SLAVE_BUSPARAM_DATA_Ttag
{
TLR_UINT32 ulSlaveNodeId; /* Node ID */
TLR_UINT32 ulBaudrate; /* Baud-rate */
TLR_UINT32 ulCanOpenFlags; /* CANopen flags */

__PACKED_PRE union
{
CANOPEN_SLAVE_STD_BUSPARAM_DATA_T tStdBusParam; /* Parameter for standard mode*/
CANOPEN_SLAVE_EXT_BUSPARAM_DATA_T tExtBusParam; /* Parameter for extended mode*/

}__PACKED_POST uMode;

TLR_UINT32 ul29BitCode; /* 29Bit Code */

TLR_UINT32 ul29BitMask; /* 29Bit Mask */

}__PACKED_POST;

/*************************************************************************************/
/** type of <code>CANOPEN_SLAVE_BUSPARAM_DATA_Ttag</code> */
typedef struct CANOPEN_SLAVE_BUSPARAM_DATA_Ttag
CANOPEN_SLAVE_SET_BUSPARAM_REQ_DATA_T;

CANopen Slave | Protocol API

Packet Description

Structure Information CANOPEN_SLAVE_PACKET_SET_BUSPARAM_REQ_T Type: Request

Variable Type Value / Range Description

Structure TLR_PACKET_HEADER_T
ulDest UINT32 QUE_CANOPEN Destination Queue-Handle of CANopen slave-Task Process Queue
SLV
32
ulSrc UINT32 0 ... 2 -1 Source Queue-Handle of AP task Process Queue
ulDestId UINT32 ulCANOPENSL Destination End Point Identifier, specifying the final receiver of the
V0Id packet within the Destination Process
ulSrcId UINT32 ulAPSS0Id Source End Point Identifier, specifying the origin of the packet inside
the Source Process
ulLen UINT32 80 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 0 See section 6.2 “Codes of the CANopen Slave-Task
ulCmd UINT32 0x2906 CANOPEN_SLAVE_SET_BUSPARAM_REQ - Command
ulExt UINT32 0 Reserved
ulRout UINT32 x Routing Information

Structure CANOPEN_SLAVE_SET_BUSPARAM_REQ_DATA_T
tBusParam CANOP Bus parameter structure, see Table 24 on page 45.
EN_SLA
VE_BUS
PARAM
_DATA_
T
Table 82: CANOPEN_SLAVE_PACKET_SET_BUSPARAM_REQ_T – Set Bus Parameters Request

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Packet Structure Reference
/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_PACKET_SET_BUSPARAM_CNF_Ttag</code> */
typedef struct CANOPEN_SLAVE_PACKET_SET_BUSPARAM_CNF_Ttag
CANOPEN_SLAVE_PACKET_SET_BUSPARAM_CNF_T;

/** Structure of task command set bus parameter confirmation */

struct CANOPEN_SLAVE_PACKET_SET_BUSPARAM_CNF_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */
};
/*********************************************************************************/

Packet Description

Structure Information CANOPEN_SLAVE_PACKET_SET_BUSPARAM_CNF_T Type: Confirmation

Variable Type Value / Range Description

Structure TLR_PACKET_HEADER_T
ulDest UINT32 Destination Queue-Handle, untouched
ulSrc UINT32 Source Queue-Handle, untouched
ulDestId UINT32 ulAPSS0Id Destination End Point Identifier, untouched
ulSrcId UINT32 ulCANOPENSL Source End Point Identifier, untouched
V0Id
ulLen UINT32 0 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 See section 6.2 Codes of the CANopen Slave-Task
ulCmd UINT32 0x2907 CANOPEN_SLAVE_SET_BUSPARAM_CNF - Command
ulExt UINT32 Extension, reserved
ulRout UINT32 Routing Information, do not change
Table 83: CANOPEN_SLAVE_PACKET_SET_BUSPARAM_CNF_T –Set Bus Parameter Confirmation

CANopen Slave | Protocol API

5.2.6 CANOPEN_SLAVE_SET_API_PARAM_REQ/CNF – Set API

Parameter
This packet can be used to register callbacks for data exchange between Slave and APS task at
the CANopen Slave.

Note: Use this packet only when working with linkable object modules. It has not
been designed for usage in the context of loadable firmware.

Packet Structure Reference

/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_SET_API_PARAM_REQ_DATA_Ttag</code> */
typedef struct CANOPEN_SLAVE_SET_API_PARAM_REQ_DATA_Ttag
CANOPEN_SLAVE_SET_API_PARAM_REQ_DATA_T;

typedef TLR_VOID (CALLBACK FAR* PFN_CANOPEN_SLAVE_CALLBACK)

(
TLR_HANDLE hApplication
);

struct CANOPEN_SLAVE_SET_API_PARAM_REQ_DATA_Ttag
{
TLR_HANDLE hApplication;

PFN_CANOPEN_SLAVE_CALLBACK pFncSendDataUpdated;
TLR_UINT8 FAR* pbSrcData;
TLR_UINT32 ulSrcDataCnt;

PFN_CANOPEN_SLAVE_CALLBACK pFncRecvDataUpdated;
TLR_UINT8 FAR* pbDstData;
TLR_UINT32 ulDstDataCnt;
};

/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_PACKET_SET_API_PARAM_REQ_Ttag</code> */
typedef struct CANOPEN_SLAVE_PACKET_SET_API_PARAM_REQ_Ttag
CANOPEN_SLAVE_PACKET_SET_API_PARAM_REQ_T;

struct CANOPEN_SLAVE_PACKET_SET_API_PARAM_REQ_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */
CANOPEN_SLAVE_SET_API_PARAM_REQ_DATA_T tData; /** packet request data. */

};
/*********************************************************************************/

CANopen Slave | Protocol API

Packet Description

structure CANOPEN_SLAVE_PACKET_SET_API_PARAM_REQ_T Type: Request

Variable Type Value / Range Description

structure TLR_PACKET_HEADER_T
ulDest UINT32 0x20/ Destination Queue-Handle
QUE_CANOPE
NSLV
32
ulSrc UINT32 0 ... 2 -1 Source Queue-Handle
ulDestId UINT32 ulCANOPENSL Destination End Point Identifier, specifying the final receiver of the
V0Id packet within the Destination Process. Set to 0 for the Initialization
Packet
ulSrcId UINT32 ulAPSS0Id Source End Point Identifier, specifying the origin of the packet inside
the Source Process
ulLen UINT32 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 0 See section 6.2 Codes of the CANopen Slave-Task
ulCmd UINT32 0x292C CANOPEN_SLAVE_SET_API_PARAM_REQ - Command
ulExt UINT32 0 Extension not in use, set to zero for compatibility reasons
ulRout UINT32 x Routing, do not touch

structure CANOPEN_SLAVE_SET_API_PARAM_REQ_DATA_T
hApplication TLR_HA Application Handle of Slave (see TLR Manual)
NDLE
pFncSendDataUp PFN_CA Callback Callback for Send Data
dated NOPEN
_SLAVE
_CALLB
ACK
pbSrcData UINT8 Pointer Source Data Pointer
FAR*
32
ulSrcDataCnt UINT32 0 ... 2 -1 Source Data Count
pFncRecvDataUp PFN_CA Callback Callback for Receive Data
dated NOPEN
_SLAVE
_CALLB
ACK
pbDstData UINT8 Pointer Destination Data Pointer
FAR*
32
ulDstDataCnt UINT32 0 ... 2 -1 Destination Data Count
Table 84: CANOPEN_SLAVE_PACKET_SET_API_PARAM_REQ_T - Set API Parameter Request

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Packet Structure Reference
/*********************************************************************************/
typedef struct CANOPEN_SLAVE_SET_API_PARAM_CNF_DATA_Ttag
CANOPEN_SLAVE_SET_API_PARAM_CNF_DATA_T;

typedef TLR_VOID (CALLBACK FAR* PFN_CANOPEN_SLAVE_CALLBACK)

(
TLR_HANDLE hApplication
);

struct CANOPEN_SLAVE_SET_API_PARAM_CNF_DATA_Ttag
{
TLR_HANDLE hSlave;
};

/** type of <code>CANOPEN_SLAVE_PACKET_SET_API_PARAM_CNF_Ttag</code> */

typedef struct CANOPEN_SLAVE_PACKET_SET_API_PARAM_CNF_Ttag
CANOPEN_SLAVE_PACKET_SET_API_PARAM_CNF_T;

struct CANOPEN_SLAVE_PACKET_SET_API_PARAM_CNF_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */
CANOPEN_SLAVE_SET_API_PARAM_CNF_DATA_T tData; /** packet confirmation data. */
};
/*********************************************************************************/

Packet Description

structure CANOPEN_SLAVE_PACKET_SET_API_PARAM_CNF_T Type: Confirmation

Variable Type Value / Range Description

structure TLR_PACKET_HEADER_T
ulDest UINT32 Destination Queue-Handle
ulSrc UINT32 Source Queue-Handle
ulDestId UINT32 ulAPSS0Id Destination End Point Identifier, specifying the final receiver of the
packet within the Destination Process. Set to 0 for the Initialization
Packet
ulSrcId UINT32 ulCANOPENSL Source End Point Identifier, specifying the origin of the packet inside
V0Id the Source Process
ulLen UINT32 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 See section 6.2 Codes of the CANopen Slave-Task
ulCmd UINT32 0x292D CANOPEN_SLAVE_SET_API_PARAM_CNF - Command
ulExt UINT32 0 Extension not in use, set to zero for compatibility reasons
ulRout UINT32 x Routing, do not touch

structure CANOPEN_SLAVE_SET_API_PARAM_CNF_DATA_T
hSlave TLR_HA Slave Handle (see TLR Manual)
NDLE
Table 85: CANOPEN_SLAVE_PACKET_SET_API_PARAM_CNF_T - Confirmation to Set API Parameter Request

CANopen Slave | Protocol API

5.2.7 CANOPEN_SLAVE_GET_BUSPARAM_REQ/CNF – Get Bus

Parameters
This packet can be used to retrieve the current bus parameters
All parameters used by the confirmation packet are also used by the request packet
CANOPEN_APS_SET_CONFIGURATION_REQ/CNF – Set Configuration with the same meaning
and in the same way.
For a precise description of these parameters,, see Table 24: Bus parameter structure
CANOPEN_SLAVE_BUSPARAM_DATA_T on page 45. and the description given there.

Packet Structure Reference

/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_PACKET_GET_BUSPARAM_REQ_Ttag</code> */
typedef struct CANOPEN_SLAVE_PACKET_GET_BUSPARAM_REQ_Ttag
CANOPEN_SLAVE_PACKET_GET_BUSPARAM_REQ_T;

/** Structure of task command get bus parameter request */

struct CANOPEN_SLAVE_PACKET_GET_BUSPARAM_REQ_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */
};
/*********************************************************************************/

Packet Description

structure CANOPEN_SLAVE_PACKET_GET_BUSPARAM_REQ_T Type: Request

Variable Type Value / Range Description

structure TLR_PACKET_HEADER_T
ulDest UINT32 0x20/ Destination Queue-Handle
QUE_CANOPE
NSLV
32
ulSrc UINT32 0 ... 2 -1 Source Queue-Handle
ulDestId UINT32 ulCANOPENSL Destination End Point Identifier, specifying the final receiver of the
V0Id packet within the Destination Process. Set to 0 for the Initialization
Packet
ulSrcId UINT32 ulAPSS0Id Source End Point Identifier, specifying the origin of the packet inside
the Source Process
ulLen UINT32 0 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 0 See section 6.2 Codes of the CANopen Slave-Task
ulCmd UINT32 0x2934 CANOPEN_SLAVE_GET_BUSPARAM_REQ - Command
ulExt UINT32 0 Extension not in use, set to zero for compatibility reasons
ulRout UINT32 x Routing, do not touch
Table 86: CANOPEN_SLAVE_PACKET_GET_BUSPARAM_REQ_T - Get Bus Parameters Request

CANopen Slave | Protocol API

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Packet Structure Reference
/*********************************************************************************/

TLR_UINT8 bObject2000Size; /* Size of object 2000 */

TLR_UINT8 bObject2001Size; /* Size of object 2001 */
TLR_UINT8 bObject2002Size; /* Size of object 2002 */
TLR_UINT8 bObject2003Size; /* Size of object 2003 */

TLR_UINT8 bObject2200Size; /* Size of object 2200 */

TLR_UINT8 bObject2201Size; /* Size of object 2201 */
TLR_UINT8 bObject2202Size; /* Size of object 2202 */
TLR_UINT8 bObject2203Size; /* Size of object 2203 */

TLR_UINT16 usNumOfRxPdo; /* Number of receive PDOs */

TLR_UINT16 usNumOfTxPdo; /* Number of transmit PDOs */

TLR_UINT32 aulReserved[2]; /* Reserved, set to zero */

};

/*********************************************************************************/
/** Structure of task command set bus param data */
struct CANOPEN_SLAVE_BUSPARAM_DATA_Ttag
{
TLR_UINT32 ulSlaveNodeId; /* Node ID */
TLR_UINT32 ulBaudrate; /* Baud-rate */
TLR_UINT32 ulCanOpenFlags; /* CANopen flags */

union {
CANOPEN_SLAVE_STD_BUSPARAM_DATA_T tStdBusParam; /* Parameter for standard mode*/
CANOPEN_SLAVE_EXT_BUSPARAM_DATA_T tExtBusParam; /* Parameter for extended mode*/
} uMode;

TLR_UINT32 ul29BitCode; /* 29Bit Code */

TLR_UINT32 ul29BitMask; /* 29Bit Mask */
};

/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_BUSPARAM_DATA_Ttag</code> */
typedef struct CANOPEN_SLAVE_BUSPARAM_DATA_Ttag
CANOPEN_SLAVE_GET_BUSPARAM_CNF_DATA_T;

/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_PACKET_GET_BUSPARAM_CNF_Ttag</code> */
typedef struct CANOPEN_SLAVE_PACKET_GET_BUSPARAM_CNF_Ttag
CANOPEN_SLAVE_PACKET_GET_BUSPARAM_CNF_T;

/** Structure of task command get bus parameter confirmation */

struct CANOPEN_SLAVE_PACKET_GET_BUSPARAM_CNF_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */
CANOPEN_SLAVE_GET_BUSPARAM_CNF_DATA_T tData; /** packet data. */
};
/*********************************************************************************/

CANopen Slave | Protocol API

Packet Description

structure CANOPEN_SLAVE_PACKET_GET_BUSPARAM_CNF_T Type: Confirmation

Variable Type Value / Range Description

structure TLR_PACKET_HEADER_T
ulDest UINT32 Destination Queue-Handle
ulSrc UINT32 Source Queue-Handle
ulDestId UINT32 ulAPSS0Id Destination End Point Identifier, specifying the final receiver of the
packet within the Destination Process. Set to 0 for the Initialization
Packet
ulSrcId UINT32 ulCANOPENSL Source End Point Identifier, specifying the origin of the packet inside
V0Id the Source Process
ulLen UINT32 60 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 See section 6.2 Codes of the CANopen Slave-Task
ulCmd UINT32 0x2935 CANOPEN_SLAVE_GET_BUSPARAM_CNF - Command
ulExt UINT32 0 Extension not in use, set to zero for compatibility reasons
ulRout UINT32 x Routing, do not touch

structure CANOPEN_SLAVE_GET_BUSPARAM_CNF_DATA_T
tBusParam CANOP Structure Bus parameter structure, see
EN_SLA Table 24: Bus parameter structure
VE_BUS CANOPEN_SLAVE_BUSPARAM_DATA_T
PARAM
_DATA_
T
Table 87: CANOPEN_SLAVE_PACKET_GET_BUSPARAM_CNF_T - Confirmation to Get Bus Parameters Request

CANopen Slave | Protocol API

5.2.8 CANOPEN_SLAVE_SET_WATCHDOG_FAIL_REQ/CNF –
Set Watchdog Fail
This packet is used by the AP task in order to inform the CANopen slave-task that a watchdog
failure has been detected. The CANopen slave-task stops the communication with the CANopen
network. After a watchdog error has been set, the slave has to be reinitialized before further
communication is possible.

Note: Use this packet only when working with linkable object modules. It is not
designed for usage in the context of loadable firmware.

Note: This packet is used by the AP task only and will not be routed from the user
application to the CANopen slave-task.

Packet Structure Reference

/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_PACKET_SET_WATCHDOG_FAIL_REQ_Ttag</code> */
typedef struct CANOPEN_SLAVE_PACKET_SET_WATCHDOG_FAIL_REQ_Ttag
CANOPEN_SLAVE_PACKET_SET_WATCHDOG_FAIL_REQ_T;

struct CANOPEN_SLAVE_PACKET_SET_WATCHDOG_FAIL_REQ_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */
};
/*********************************************************************************/

Packet Description

Structure Information CANOPEN_SLAVE_PACKET_SET_WATCHDOG_FAIL_REQ_T Type: Request

Variable Type Value / Range Description

Structure TLR_PACKET_HEADER_T
ulDest UINT32 QUE_CANOPE Destination Queue-Handle of CANopen slave-Task Process Queue
NSLV
32
ulSrc UINT32 0 ... 2 -1 Source Queue-Handle of AP task Process Queue
ulDestId UINT32 ulCANOPENSL Destination End Point Identifier, specifying the final receiver of the
V0Id packet within the Destination Process
ulSrcId UINT32 ulAPSS0Id Source End Point Identifier, specifying the origin of the packet inside
the Source Process
ulLen UINT32 0 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 0 See section 6.2 Codes of the CANopen Slave-Task
ulCmd UINT32 0x29AA CANOPEN_SLAVE_SET_WATCHDOG_FAIL_REQ - Command
ulExt UINT32 0 Reserved
ulRout UINT32 x Routing Information
Table 88: CANOPEN_SLAVE_PACKET_SET_WATCHDOG_FAIL_REQ_T – Set Watchdog Fail Request

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Packet Structure Reference
/*********************************************************************************/
/** type of <code>CANOPEN_SLAVE_PACKET_SET_WATCHDOG_FAIL_CNF_Ttag</code> */
typedef struct CANOPEN_SLAVE_PACKET_SET_WATCHDOG_FAIL_CNF_Ttag
CANOPEN_SLAVE_PACKET_SET_WATCHDOG_FAIL_CNF_T;

struct CANOPEN_SLAVE_PACKET_SET_WATCHDOG_FAIL_CNF_Ttag
{
TLR_PACKET_HEADER_T tHead; /** packet header. */

};
/*********************************************************************************/

Packet Description

Structure Information CANOPEN_SLAVE_PACKET_SET_WATCHDOG_FAIL_CNF_T Type: Confirmation

Variable Type Value / Range Description

Structure TLR_PACKET_HEADER_T
ulDest UINT32 Destination Queue-Handle, untouched
ulSrc UINT32 Source Queue-Handle, untouched
ulDestId UINT32 ulAPSS0Id Destination End Point Identifier, untouched
ulSrcId UINT32 ulCANOPENSL Source End Point Identifier, untouched
V0Id
ulLen UINT32 0 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 See section 6.2 Codes of the CANopen Slave-Task
ulCmd UINT32 0x29AB CANOPEN_SLAVE_SET_WATCHDOG_FAIL_CNF– Command
ulExt UINT32 Extension, reserved
ulRout UINT32 Routing Information, do not change
Table 89: CANOPEN_SLAVE_PACKET_SET_WATCHDOG_FAIL_CNF_T – Set Watchdog Fail Confirmation

CANopen Slave | Protocol API

5.3 Other Packages

5.3.1 CANOPEN_APS_GET_STATE_REQ/CNF – Get State of AP task
This request can be used by the user application to get status information from the AP task.

Packet Structure Reference

typedef struct CANOPEN_APS_PCK_GET_STATE_REQ_Ttag
CANOPEN_APS_PCK_GET_STATE_REQ_T;

struct CANOPEN_APS_PCK_GET_STATE_REQ_Ttag /* Get state request */

{
TLR_PACKET_HEADER_T tHead; /** packet header */
};

Packet Description

Structure Information CANOPEN_APS_PCK_GET_STATE_REQ_T Type: Request

Variable Type Value / Range Description

Structure TLR_PACKET_HEADER_T
ulDest UINT32 0x20/ Destination Queue-Handle of CANopen slave-Task Process Queue
QUE_CANOPEN
APS
32
ulSrc UINT32 0 ... 2 -1 Source Queue-Handle of AP task Process Queue
ulDestId UINT32 ulCANOPENSL Destination End Point Identifier, specifying the final receiver of the
V0Id packet within the Destination Process
ulSrcId UINT32 ulAPSS0Id Source End Point Identifier, specifying the origin of the packet inside
the Source Process
ulLen UINT32 0 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 See section 6.1.1 Codes of the CANopen-APS-Task
ulCmd UINT32 0x2E02 CANOPEN_APS_GET_STATE_REQ - Command
ulExt UINT32 0 Extension not in use, set to zero for compatibility reasons
ulRout UINT32 x Routing, do not touch
Table 90: CANOPEN_APS_PCK_GET_STATE_REQ_T – Get State of AP task Request

CANopen Slave | Protocol API

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Packet Structure Reference
/*********************************************************************************/
/** type of <code>CANOPEN_APS_GET_STATE_CNF_DATA_Ttag</code> */
typedef struct CANOPEN_APS_GET_STATE_CNF_DATA_Ttag
CANOPEN_APS_GET_STATE_CNF_DATA_T;

struct CANOPEN_APS_GET_STATE_CNF_DATA_Ttag
{
TLR_UINT32 aulUnused[2];
};

/*********************************************************************************/
/** type of <code>CANOPEN_APS_PCK_GET_STATE_CNF_Ttag</code> */
typedef struct CANOPEN_APS_PCK_GET_STATE_CNF_Ttag
CANOPEN_APS_PCK_GET_STATE_CNF_T;

struct CANOPEN_APS_PCK_GET_STATE_CNF_Ttag /* Get state confirmation */

{
TLR_PACKET_HEADER_T tHead; /** packet header */
CANOPEN_APS_GET_STATE_CNF_DATA_T tData; /** packet data */

};

/*********************************************************************************/

Packet Description

Structure Information CANOPEN_APS_PCK_GET_STATE_CNF_T Type: Confirmation

Variable Type Value / Range Description

Structure TLR_PACKET_HEADER_T
ulDest UINT32 Destination Queue-Handle, untouched
ulSrc UINT32 Source Queue-Handle, untouched
ulDestId UINT32 ulAPSS0Id Destination End Point Identifier, untouched
ulSrcId UINT32 ulCANOPENSL Source End Point Identifier, untouched
V0Id
ulLen UINT32 8 Packet Data Length in bytes
32
ulId UINT32 0 ... 2 -1 Packet Identification as unique number generated by the Source
Process of the Packet
ulSta UINT32 See section 6.1.1 Codes of the CANopen-APS-Task
ulCmd UINT32 0x00002E03 CANOPEN_APS_GET_STATE_CNF - Command
ulExt UINT32 0 Extension not in use, set to zero for compatibility reasons
ulRout UINT32 x Routing, do not touch

Structure CANOPEN_APS_GET_STATE_CNF_DATA_T
aulUnused[] UINT32 Unused, present only due to compatibility reasons
[2]
Table 91: CANOPEN_APS_PCK_GET_STATE_CNF_T – Get State of AP task Confirmation

CANopen Slave | Protocol API

6 Status/Error Codes Overview

6.1.1 Codes of the CANopen-APS-Task
6.1.2 Error Messages
Definition / (Value) Definition / Description
0x00000000 TLR_S_OK
Status ok
0xC0000001 TLR_E_FAIL
Common error, detailed error information optionally present in the data area of
packet
0xC04A0002 TLR_E_CANOPEN_APS_DATABASE_FOUND
Configuration database found.
0xC04A0003 TLR_E_CANOPEN_APS_NODE_ID_PARAMETER
Invalid parameter for node id.
0xC04A0004 TLR_E_CANOPEN_APS_BAUDRATE_PARAMETER
Invalid parameter for baudrate.
0xC04A0005 TLR_E_CANOPEN_APS_STATE
Request not possible in current state.
0x404A0007 TLR_I_CANOPEN_APS_OPEN_DBM_FILE
Failed to open configuration database.
0xC04A0008 TLR_E_CANOPEN_APS_DATASET
Failed to open configuration dataset.
0xC04A0009 TLR_E_CANOPEN_APS_TABLE_GLOBAL
Failed to open GLOBAL configuration dataset.
0xC04A000A TLR_E_CANOPEN_APS_TABLE_BUS_CAN
Failed to open BUS_CAN configuration dataset.
0xC04A000B TLR_E_CANOPEN_APS_SIZE_TABLE_BUS_CAN
Invalid size of BUS_CAN configuration dataset.
0x404A000C TLR_I_CANOPEN_APS_CONFIG_LOCK
Configuration is locked.
0xC04A000D TLR_E_CANOPEN_APS_PACKET_LENGTH
Invalid packet length.
0xC04A000E TLR_E_CANOPEN_APS_WATCHDOG_PARAMETER
Invalid parameter for watchdog supervision.
0xC04A000FL TLR_E_CANOPEN_APS_WATCHDOG_ACTIVATE
Failed to activate watchdog supervision.
0xC04A0010 TLR_E_CANOPEN_APS_PARAM_QUEUE_ELEMENT
Invalid parameter for number of queue elements.
0xC04A0011 TLR_E_CANOPEN_APS_PARAM_POOL_ELEMENT
Invalid parameter for number of pool elements.
0xC04A0012 TLR_E_CANOPEN_APS_PARAM_CYCLETIME
Invalid parameter for cycle time.
0xC04A0013 TLR_E_CANOPEN_APS_PARAM_CHN_INSTANCE
Invalid parameter for channel instance.
0xC04A0014 TLR_E_CANOPEN_APS_NUM_OF_RX_PDO_PARAMETER
Invalid parameter for number of receive PDO.
0xC04A0015 TLR_E_CANOPEN_APS_NUM_OF_TX_PDO_PARAMETER
Invalid parameter for number of send PDO.
0xC04A0016 TLR_E_CANOPEN_APS_SIZE_TABLE_VERSION
Invalid size of table 'Version'.

CANopen Slave | Protocol API

Definition / (Value) Definition / Description

0xC04A0017 TLR_E_CANOPEN_APS_INVALID_DBM_VERSION
Invalid version of table 'Version'.
0xC04A0018 TLR_E_CANOPEN_APS_SIZE_TABLE_BUS_CAN_STD
Invalid size of table 'BUS_COS_STD'.
0xC04A0019 TLR_E_CANOPEN_APS_SIZE_TABLE_BUS_CAN_EXT
Invalid size of table 'BUS_COS_EXT'.
0xC04A001A TLR_E_CANOPEN_APS_AUTOSTART_WITH_EXTENDED_MODE
Auto start not allowed in extended mode.
0xC04A001B TLR_E_CANOPEN_APS_ADDRESS_SWITCH_CONFIGURATION_NOT_POSSIBLE
Address switch configuration is not possible.
0xC04A001C TLR_E_CANOPEN_APS_BAUD_SWITCH_CONFIGURATION_NOT_POSSIBLE
Baud switch configuration is not possible.
0xC04A001D TLR_E_CANOPEN_APS_PARAM_LED_MODE
Invalid parameter for LED mode.
Table 92: Error Messages of the AP task

CANopen Slave | Protocol API

6.2 Codes of the CANopen Slave-Task

6.2.1 Error Messages
The following table defined the error messages of the CANopen slave-task:
Definition / (Value) Description
0x00000000 TLR_S_OK
Status ok
0xC0000001 TLR_E_FAIL
Common error, detailed error information optionally present in the data area of
packet
0xC0430003 TLR_E_CANOPEN_SLAVE_DATA_COUNT
Invalid data count.
0xC0430004 TLR_E_CANOPEN_SLAVE_DATA_OFFSET
Invalid data offset.
0xC0430005 TLR_E_CANOPEN_SLAVE_DATA_COUNT_WITH_OFFSET
Invalid data count in combination with offset.
0xC0430006 TLR_E_CANOPEN_SLAVE_MODE
Invalid mode in command.
0xC0430007 TLR_E_CANOPEN_SLAVE_STATE
Command is not allowed in current state.
0xC0430009 TLR_E_CANOPEN_SLAVE_BUS_RUNNING
Command is not allowed because CANopen is running.
0xC043000A TLR_E_CANOPEN_SLAVE_BUS_PARAM_ALREADY_SET
Bus parameters are already configured.
0xC043000B TLR_E_CANOPEN_SLAVE_LOCAL_NODE_ID
Invalid Node ID for CANopen slave.
0xC043000C TLR_E_CANOPEN_SLAVE_BAUDRATE
Invalid Baudrate.
0xC043000D TLR_E_CANOPEN_SLAVE_29BIT_SELECTOR
Invalid parameter for 29 bit selector.
0x4043000F TLR_I_CANOPEN_SLAVE_ALREADY_IN_STATE
Slave is already in requested state.
0xC0430010 TLR_E_CANOPEN_SLAVE_SEND_EMCY
Send emergency-telegram failed.
0xC0430011 TLR_E_CANOPEN_SLAVE_INIT_LIB
Failed to initialize CANopen library.
0xC0430012 TLR_E_CANOPEN_SLAVE_ERROR_PASSIVE
CANopen is in error-passive state.
0xC0430013 TLR_E_CANOPEN_SLAVE_BUS_OFF
CANopen is in bus-off state.
0xC0430014 TLR_E_CANOPEN_SLAVE_PUT_OBJECT_DATA
Failed to write object data.
0xC0430015 TLR_E_CANOPEN_SLAVE_SET_OBJECT_DATA_VALID
Failed to set object data valid.
0xC0430016 TLR_E_CANOPEN_SLAVE_GET_OBJECT_DATA
Failed to get object data.
0xC0430017 TLR_E_CANOPEN_SLAVE_WRITE_PDO_REQ
Failed to transmit PDO.
0xC0430018 TLR_E_CANOPEN_SLAVE_GUARD_ERROR
Guard error detected.
0xC0430019 TLR_E_CANOPEN_SLAVE_INIT_BUFFER
Initialization of buffer failed.

CANopen Slave | Protocol API

Definition / (Value) Description

0xC043001A TLR_E_CANOPEN_SLAVE_DL_REQ_FAILED
CAN-DL request failed.
0xC043001B TLR_E_CANOPEN_SLAVE_INVALID_INDEX
Invalid object index.
0xC043001C TLR_E_CANOPEN_SLAVE_INVALID_SUB_INDEX
Invalid sub-index.
0xC043001D TLR_E_CANOPEN_SLAVE_INVALID_MAP_LENGTH
Invalid mapping length.
0xC043001E TLR_E_CANOPEN_SLAVE_INVALID_PDO_MODE
Invalid transmission mode for PDO.
0xC043001F TLR_E_CANOPEN_SLAVE_INVALID_PDO_LENGTH
Invalid length for PDO.
0xC0430020 TLR_E_CANOPEN_SLAVE_NO_WRITE_PERM
No write permission for object.
0xC0430021 TLR_E_CANOPEN_SLAVE_NO_READ_PERM
No read permission for object.
0xC0430022 TLR_E_CANOPEN_SLAVE_VALUE_TOO_LOW
Value for object too low.
0xC0430023 TLR_E_CANOPEN_SLAVE_VALUE_TOO_HIGH
Value for object too high.
0xC0430024 TLR_E_CANOPEN_SLAVE_INVALID_PARAMETER
Invalid parameter for object.
0xC0430025 TLR_E_CANOPEN_SLAVE_INVALID_PDO_STATE
Invalid PDO state.
0x40430026 TLR_I_CANOPEN_SLAVE_INITIALIZE
Slave is initializing.
0xC0430027L TLR_E_CANOPEN_SLAVE_OBJECT_SIZE
Invalid size for object.
0xC0430028 TLR_E_CANOPEN_SLAVE_ID_IN_USE
Identifier already in use.
0xC0430029 TLR_E_CANOPEN_SLAVE_INHIBIT
Service is inhibited.
0xC043002A TLR_E_CANOPEN_SLAVE_TX_OVERRUN
Transmit overrun.
0xC043002B TLR_E_CANOPEN_SLAVE_RX_OVERRUN
Receive overrun.
0xC043002C TLR_E_CANOPEN_SLAVE_ERROR_WARNING
CANopen is in error-warning state.
0xC043002D TLR_E_CANOPEN_SLAVE_RECV_PDO_REQ
Request receive PDO failed.
0xC043002E TLR_E_CANOPEN_SLAVE_NUM_OF_RX_PDO_PARAMETER
Invalid parameter for number of receive PDO.
0xC043002F TLR_E_CANOPEN_SLAVE_NUM_OF_TX_PDO_PARAMETER
Invalid parameter for number of send PDO.
0xC0430030 TLR_E_CANOPEN_SLAVE_HB_CONSUMER_PARAMETER
Invalid parameter for number of heartbeat consumer.
0xC0430031 TLR_E_CANOPEN_SLAVE_SEND_TIME_STAMP
Failed to send timestamp message.
Table 93: Error Messages of the CANopen Slave-Task

CANopen Slave | Protocol API

6.3 Codes of CAN-DL Task

See separate CAN-DL Task documentation (reference [5]), section 5 “Status/Error Codes
Overview”.

6.4 Codes of ODV3

See separate Object Dictionary V3 documentation (reference [4]), section 6.1 “Status/Error Codes
Object Dictionary”.

CANopen Slave | Protocol API

6.5 Emergency Telegram

The Emergency Telegram transfers the following information
1. Byte 1 and 2: Emergency Error Code
2. Byte 3: Error Register
3. Byte 4 to 8: Manufacturer-specific Error Codes

6.5.1 Emergency Error Codes

The emergency error codes are specified in [2] and have the following meaning:
Error Code Meaning
0x0000 Error reset or no error
0x1000 Generic error
0x2000 Current error
0x2100 Current error, device input side
0x2200 Current error, inside the device
0x2300 Current error, device output side
0x3000 Voltage error
0x3100 Main voltage error
0x3200 Voltage error inside the device
0x3300 Output voltage error
0x4000 Temperature error
0x4100 Ambient temperature error
0x4200 Device temperature error
0x5000 Device hardware error
0x6000 Device software error
0x6100 Internal software error
0x6200 User software error
0x6300 Data set error
0x7000 Additional modules error
0x8000 Monitoring error
0x8100 Communication error
0x8110 CAN overrun (objects lost) error
0x8120 CAN in Error Passive Mode error
0x8130 Life Guard Error or Heartbeat error
0x8140 Recovered from bus-off
0x8150 Transmit CAN-ID collision error
0x8200 Protocol error
0x8210 PDO not processed due to length error
0x8220 PDO length exceeded
0x8230 DAM MPDO not processed, destination object not available
0x8240 Unexpected SYNC data length error
0x8250 RPDO timeout error
0x9000 External error
0xF000 Additional functions error
0xFF00 Device-specific error
Table 94: Emergency Error Codes (Variable usErrorCode)

CANopen Slave | Protocol API

6.5.2 Error Register

The bits of the error register bErrorRegister have the following meaning:
Error Code
CANOPEN_SLAVE_ERROR_REGISTER_GENERIC_BIT 0x01
CANOPEN_SLAVE_ERROR_REGISTER_CURRENT_BIT 0x02
CANOPEN_SLAVE_ERROR_REGISTER_VOLTAGE_BIT 0x04
CANOPEN_SLAVE_ERROR_REGISTER_TEMPERATURE_BIT 0x08
CANOPEN_SLAVE_ERROR_REGISTER_COMM_ERROR_BIT 0x10
CANOPEN_SLAVE_ERROR_REGISTER_DEV_PROFILE_BIT 0x20
CANOPEN_SLAVE_ERROR_REGISTER_RESERVED_BIT 0x40
CANOPEN_SLAVE_ERROR_REGISTER_MANU_SPEC_BIT 0x80
Table 95: Error Register

6.5.3 Manufacturer-specific Error Codes

The CANopen Slave stack generated the manufacturer-specific error codes listed in the following
tables.

1. and 2. byte (Uint16) 3. byte 4. byte 5. byte

Index of element which causes the EMCY Event, see table 0 0
telegram. below.
0 = all elements
1, 2, 3, ... = this element
Table 96: Manufacturer-specific Error Codes generated by the CANopen Slave stack (Structure)

The following table lists the events of manufacturer-specific emergency errors:

Event Definition
0x00 CANOPEN_SLAVE_EMCY_PROD_EVENT_INITIALIZED
0x01 CANOPEN_SLAVE_EMCY_PROD_EVENT_BUS_OFF_RECOVER
0x02 CANOPEN_SLAVE_EMCY_PROD_EVENT_ERROR_PASSIVE
0x03 CANOPEN_SLAVE_EMCY_PROD_EVENT_RXTX_OVERRUN
0x04 CANOPEN_SLAVE_EMCY_PROD_EVENT_NMT_PROTOCOL_ERROR
0x05 CANOPEN_SLAVE_EMCY_PROD_EVENT_SYNC_PROTOCOL_ERROR
0x06 CANOPEN_SLAVE_EMCY_PROD_EVENT_SYNC_DATA_LENGTH_ERROR
0x07 CANOPEN_SLAVE_EMCY_PROD_EVENT_TIME_STAMP_PROTOCOL_ERROR
0x08 CANOPEN_SLAVE_EMCY_PROD_EVENT_WATCHDOG_ERROR
0x09 CANOPEN_SLAVE_EMCY_PROD_EVENT_STOP_COMMUNICATION
0x0A CANOPEN_SLAVE_EMCY_PROD_EVENT_NODE_GUARD_ERROR
0x0B CANOPEN_SLAVE_EMCY_PROD_EVENT_HEARTBEAT_ERROR
0x0C CANOPEN_SLAVE_EMCY_PROD_EVENT_SDO_SRV_PROTOCOL_ERROR
0x0D CANOPEN_SLAVE_EMCY_PROD_EVENT_PDO_LENGTH_ERROR
0x0E CANOPEN_SLAVE_EMCY_PROD_EVENT_PDO_LENGTH_EXCEEDED
Table 97: Manufacturer-specific Error Codes generated by the CANopen Slave stack (Event information)

CANopen Slave | Protocol API

The CANopen Slave then receives a telegram for the 3. PDO which has the expected length:
00 00 00 03 00 0D 00 00

CANopen Slave | Protocol API

7 Appendix
7.1 List of Tables
Table 1: List of Revisions .................................................................................................................................................... 4
Table 2: Technical Data - Protocol Stack ............................................................................................................................ 5
Table 3: Technical Data – Available for netX ...................................................................................................................... 5
Table 4: Technical Data – PCI-DMA ................................................................................................................................... 6
Table 5: Technical Data – Slot Number .............................................................................................................................. 6
Table 6: Technical Data - Protocol Stack (Standard Mode – Default Settings) ................................................................... 7
Table 7: Technical Data - Protocol Stack (Standard Mode – Configured Settings) ............................................................. 7
Table 8: Technical Data - Protocol Stack (Extended Mode) ................................................................................................ 8
Table 9: Terms, Abbreviations and Definitions .................................................................................................................... 9
Table 10: References .......................................................................................................................................................... 9
Table 11: Objects of the Predefined Connection Set (seen from Point of View of the Device).......................................... 18
Table 12: COB-IDs with Restrictions of Use...................................................................................................................... 18
Table 13: NMT States ....................................................................................................................................................... 25
Table 14: Emergency Protocol .......................................................................................................................................... 27
Table 15: PDO Transmission Types ................................................................................................................................. 32
Table 16: PDO Communication Parameter ....................................................................................................................... 33
Table 17: Standard bus parameter structure CANOPEN_SLAVE_STD_BUSPARAM_DATA_T ............................................. 36
Table 18: Mapping of Input Data (in case of unchanged object lengths and no netX 10 applied) ..................................... 37
Table 19: Mapping of Output Data (in case of unchanged object lengths and no netX 10 applied) .................................. 37
Table 20: Extended bus parameter structure CANOPEN_SLAVE_EXT_BUSPARAM_DATA_T ............................................ 38
Table 21: Supported Object Dictionary Entries (Communication Profile, present in the EDS file)..................................... 40
Table 22: Supported Object Dictionary Entries (Manufacturer-specific Profile, present in the EDS file) ........................... 41
Table 23: CANOPEN_APS_PCK_SET_CONFIGURATION_REQ – Set Configuration Parameter Request ........................... 44
Table 24: Bus parameter structure CANOPEN_SLAVE_BUSPARAM_DATA_T .............................................................. 45
Table 25: Codes and Corresponding Baud Rates of CANopen Network .......................................................................... 46
Table 26: Explanation of Parameter ulCanOpenFlags ...................................................................................................... 47
Table 27: Packets of CANopen Slave Protocol Stack V3 and Restrictions of Usage ........................................................ 50
Table 28: CANOPEN_SLAVE_PACKET_STARTSTOP_REQ_T – Start/Stop Communication Request ................................. 52
Table 29: CANOPEN_SLAVE_PACKET_STARTSTOP_CNF_T – Start/Stop Communication Confirmation .......................... 53
Table 30: CANOPEN_SLAVE_PACKET_EXCHANGE_DATA_REQ_T – Exchange Data Request .......................................... 55
Table 31: CANOPEN_SLAVE_PACKET_EXCHANGE_DATA_CNF_T –Exchange Data Confirmation .................................... 57
Table 32: CANOPEN_SLAVE_PACKET_SEND_EMCY_REQ_T – Send Emergency Message Request ................................ 59
Table 33: CANOPEN_SLAVE_PACKET_SEND_EMCY_CNF_T – Send Emergency Message Confirmation ......................... 60
Table 34: CANOPEN_SLAVE_PACKET_SEND_EMCY_IND_T – Send Emergency Message Indication .............................. 62
Table 35: CANOPEN_SLAVE_PACKET_SEND_EMCY_RES_T – Response to Send Emergency Message Indication ......... 63
Table 36: NMT States ....................................................................................................................................................... 64
Table 37: CANOPEN_SLAVE_PACKET_SET_NMT_STATE_REQ_T – Set NMT State Request ........................................... 65
Table 38: CANOPEN_SLAVE_PACKET_SET_NMT_STATE_CNF_T – Set NMT State Confirmation .................................... 66
Table 39: CANOPEN_SLAVE_PACKET_SEND_TIME_STAMP_REQ_T - Send Time Stamp Request ................................. 68
Table 40: CANOPEN_SLAVE_PACKET_SEND_TIME_STAMP_CNF_T – Confirmation to Send Time Stamp Request ........ 69
Table 41: CANOPEN_SLAVE_PACKET_RECV_TIME_STAMP_IND_T - Receive Time Stamp Indication............................ 71
Table 42: CANOPEN_SLAVE_PACKET_RECV_TIME_STAMP_RES- Response to Receive Time Stamp Indication ............ 72
Table 43: CANOPEN_SLAVE_PACKET_SEND_TXPDO_REQ_T – Send TxPDO Request.................................................... 74
Table 44: CANOPEN_SLAVE_PACKET_SEND_TXPDO_CNF_T – Confirmation to Send TxPDO Request .......................... 75
Table 45: CANOPEN_SLAVE_PACKET_RECV_RXPDO_REQ_T - Receive RxPDO Request ............................................... 77
Table 46: CANOPEN_SLAVE_PACKET_RECV_RXPDO_CNF_T – Confirmation to Receive RxPDO Request ..................... 78
Table 47: CANOPEN_SLAVE_PACKET_RECV_RXPDO_IND_T –Receive RxPDO Indication.............................................. 80
Table 48: CANOPEN_SLAVE_PACKET_RECV_RXPDO_RES_T – Response to Receive RxPDO Indication........................ 81
Table 49: Bit Mask ulEventsIndicated ...................................................................................................................... 82
Table 50: CANOPEN_SLAVE_PACKET_SET_EVENTS_INDICATED_REQ_T - Set Events Indicated Request ................... 84
Table 51: CANOPEN_SLAVE_PACKET_SET_EVENTS_INDICATED_CNF_T – Confirmation to Set Events Indicated
Request ................................................................................................................................................................... 85
Table 52: CANOPEN_SLAVE_PACKET_GET_IO_INFO_REQ_T - Get I/O Info Request ..................................................... 86
Table 53: CANOPEN_SLAVE_PACKET_GET_IO_INFO_CNF_T – Confirmation to Get I/O Info Request ........................... 87
Table 54: NMT States ....................................................................................................................................................... 88
Table 55: CANOPEN_SLAVE_PACKET_NMT_STATE_CHANGE_IND_T - NMT State Change Indication ............................ 89
Table 56: CANOPEN_SLAVE_PACKET_NMT_STATE_CHANGE_RES_T – Response to NMT State Change Indication ...... 90
Table 57: Array Elements of atErrCtrlEvent[16] ...................................................................................................... 91
Table 58: Possible Values of ulEvent and their Meanings................................................................................................ 91
Table 59: CANOPEN_SLAVE_PACKET_ERR_CTRL_EVENT_IND_T - Error Control Event Indication ................................ 93
Table 60: CANOPEN_SLAVE_PACKET_ERR_CTRL_EVENT_RES_T – Response to Error Control Event Indication .......... 94
Table 61: NMT States ....................................................................................................................................................... 95
CANopen Slave | Protocol API
DOC111001API06EN | Revision 6 | English | 2016-07 | Released | Public © Hilscher, 2011-2016
Appendix 150/151
Table 62: CANOPEN_SLAVE_PACKET_NMT_COMMAND_IND_T - NMT Command Indication ............................................ 97
Table 63: CANOPEN_SLAVE_PACKET_NMT_COMMAND_RES_T – Response to NMT Command Indication ...................... 98
Table 64: CANOPEN_SLAVE_PACKET_SETUP_PDO_INDICATION_REQ_T – Setup PDO Indication Request ............... 100
Table 65: CANOPEN_SLAVE_PACKET_SETUP_PDO_INDICATION_CNF_T – Setup PDO Indication Confirmation ........ 101
Table 66: CANOPEN_SLAVE_PACKET_RECEIVE_PDO_IND_T – Receive PDO Indication ............................................. 103
Table 67: CANOPEN_SLAVE_PACKET_RECEIVE_PDO_RES_T – Receive PDO Response ............................................ 104
Table 68: Extended Status Block (General Structure)..................................................................................................... 109
Table 69: Additional Info Block ........................................................................................................................................ 110
Table 70: Additional Info Flags ........................................................................................................................................ 111
Table 71: APM-Task Process Queue .............................................................................................................................. 113
Table 72 CANopen Slave-Task Process Queue ............................................................................................................. 113
Table 73: Packets of CANopen Slave Protocol Stack V3 and Restrictions of Usage ...................................................... 114
Table 74: CANOPEN_SLAVE_PACKET_APP_REGISTER_REQ_T – Register Application Request................................... 116
Table 75: CANOPEN_SLAVE_PACKET_APP_REGISTER_CNF_T – Register Application Confirmation............................ 117
Table 76: CANOPEN_SLAVE_PACKET_INITIALIZE_REQ_T – Initialization of CANopen Slave Request...................... 119
Table 77: CANOPEN_SLAVE_PACKET_INITIALIZE_CNF_T – Initialization of CANopen Slave Confirmation............... 120
Table 78: CANOPEN_SLAVE_PACKET_STATE_CHANGE_IND_T – Change of State Indication ...................................... 122
Table 79: Flags of ulCanState ..................................................................................................................................... 123
Table 80: Bit field ulFlags ................................................................................................................................................ 124
Table 81: CANOPEN_SLAVE_PACKET_STATE_CHANGE_RES_T – Change of State Response ...................................... 126
Table 82: CANOPEN_SLAVE_PACKET_SET_BUSPARAM_REQ_T – Set Bus Parameters Request .................................. 129
Table 83: CANOPEN_SLAVE_PACKET_SET_BUSPARAM_CNF_T –Set Bus Parameter Confirmation .............................. 130
Table 84: CANOPEN_SLAVE_PACKET_SET_API_PARAM_REQ_T - Set API Parameter Request .................................. 132
Table 85: CANOPEN_SLAVE_PACKET_SET_API_PARAM_CNF_T - Confirmation to Set API Parameter Request ......... 133
Table 86: CANOPEN_SLAVE_PACKET_GET_BUSPARAM_REQ_T - Get Bus Parameters Request ................................ 134
Table 87: CANOPEN_SLAVE_PACKET_GET_BUSPARAM_CNF_T - Confirmation to Get Bus Parameters Request ....... 136
Table 88: CANOPEN_SLAVE_PACKET_SET_WATCHDOG_FAIL_REQ_T – Set Watchdog Fail Request .......................... 137
Table 89: CANOPEN_SLAVE_PACKET_SET_WATCHDOG_FAIL_CNF_T – Set Watchdog Fail Confirmation ................... 138
Table 90: CANOPEN_APS_PCK_GET_STATE_REQ_T – Get State of AP task Request ................................................... 139
Table 91: CANOPEN_APS_PCK_GET_STATE_CNF_T – Get State of AP task Confirmation ...................................... 140
Table 92: Error Messages of the AP task ........................................................................................................................ 142
Table 93: Error Messages of the CANopen Slave-Task .................................................................................................. 144
Table 94: Emergency Error Codes (Variable usErrorCode) ......................................................................................... 146
Table 95: Error Register .................................................................................................................................................. 147
Table 96: Manufacturer-specific Error Codes generated by the CANopen Slave stack (Structure) ................................ 147
Table 97: Manufacturer-specific Error Codes generated by the CANopen Slave stack (Event information) ................... 147

7.2 List of Figures

Figure 1: Internal Structure of CANopen Slave V3 Firmware ............................................................................................ 12
Figure 2: NMT Slave State Machine ................................................................................................................................. 14
Figure 3: Initialization State of NMT Slave ........................................................................................................................ 15
Figure 4: Node Guarding Protocol..................................................................................................................................... 22
Figure 5: Heartbeat Protocol ............................................................................................................................................. 23
Figure 6: Node Start/Stop State Transition........................................................................................................................ 25
Figure 7: Producer Consumer Model ................................................................................................................................ 28
Figure 8: Modes of Communication: Event-driven, Polling, Synchronized ........................................................................ 30
Figure 9: PDO Mapping..................................................................................................................................................... 34
Figure 10: CANopen Time Stamp Protocol ....................................................................................................................... 67
Figure 11: CANopen PDO.Protocol ................................................................................................................................... 73
Figure 12: CANopen PDO Protocol................................................................................................................................... 76
Figure 13: CANopen PDO Protocol ................................................................................................................................... 79
Figure 14: NMT Protocol ................................................................................................................................................... 95
Figure 15: Start-up Process ............................................................................................................................................ 106

CANopen Slave | Protocol API

7.3 Contacts

Headquarters

Germany
Hilscher Gesellschaft für
Systemautomation mbH
Rheinstrasse 15
65795 Hattersheim
Phone: +49 (0) 6190 9907-0
Fax: +49 (0) 6190 9907-50
E-Mail: [email protected]
Support
Phone: +49 (0) 6190 9907-99
E-Mail: [email protected]

Subsidiaries

China Japan
Hilscher Systemautomation (Shanghai) Co. Ltd. Hilscher Japan KK
200010 Shanghai Tokyo, 160-0022
Phone: +86 (0) 21-6355-5161 Phone: +81 (0) 3-5362-0521
E-Mail: [email protected] E-Mail: [email protected]
Support Support
Phone: +86 (0) 21-6355-5161 Phone: +81 (0) 3-5362-0521
E-Mail: [email protected] E-Mail: [email protected]

France Korea
Hilscher France S.a.r.l. Hilscher Korea Inc.
69500 Bron Seongnam, Gyeonggi, 463-400
Phone: +33 (0) 4 72 37 98 40 Phone: +82 (0) 31-789-3715
E-Mail: [email protected] E-Mail: [email protected]
Support
Phone: +33 (0) 4 72 37 98 40 Switzerland
E-Mail: [email protected] Hilscher Swiss GmbH
4500 Solothurn
India Phone: +41 (0) 32 623 6633
Hilscher India Pvt. Ltd. E-Mail: [email protected]
New Delhi - 110 065 Support
Phone: +91 11 26915430 Phone: +49 (0) 6190 9907-99
E-Mail: [email protected] E-Mail: [email protected]

Italy USA
Hilscher Italia S.r.l. Hilscher North America, Inc.
20090 Vimodrone (MI) Lisle, IL 60532
Phone: +39 02 25007068 Phone: +1 630-505-5301
E-Mail: [email protected] E-Mail: [email protected]
Support Support
Phone: +39 02 25007068 Phone: +1 630-505-5301
E-Mail: [email protected] E-Mail: [email protected]

CANopen Slave | Protocol API

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