There are some other reference documents out there. https://www.can-cia.org/fileadmin/resources/documents/proceedings/2005_rosta n.pdf
https://en.wikipedia.org/wiki/EtherCAT However, one probably has to first decide why they even want it. Most of the CANopen devices out there are CAN bus based. A few higher end units support EtherCat. Something like a tool changer is an ideal candidate for a CANopen control system. Kept modular it could be as simple as handling the request to load a tool and a reply that the tool is loaded along with the offset off the tool. Interfaced in this manner the tool changer becomes a black box. The CNC system doesn't need to know how many motors, switches or other items are part of the system. Whether it's a EtherCat Bridge to CANopen or just a USB to CAN dongle, the ultimate CANopen messages remain the same. So what solution are you looking for that CANopen over Ethernet is a choice? John Dammeyer > -----Original Message----- > From: Nicklas Karlsson [mailto:nicklas.karlsso...@gmail.com] > Sent: February-21-18 2:03 PM > To: emc-users@lists.sourceforge.net > Subject: [Emc-users] CANopen over Ethernet CiA 309 > > I added SOEM Ethercat server in form of a simple Etherecat master a short > while ago and have discovered CANopen over Ethercat may be a good > solution. > > Then I got to the problem of configuration parameters and discovered there > is a standard CiA 309 available for a gateway between TCP/IP and CANopen. > I have written a small embryo for this gateway and just have it added to > Linuxcnc code but not yet any messages routed to Ethercat. I think this > might be a good standardized method to access CANopen devices on the > Ethercat network for configuration purposes. > > Question is if anyone know if there are other standard than CiA 309 > available for gateway between CANopen and TCP/IP? I did not find standard > port number, do anybody know if there is standard port number? > > > Regards Nicklas Karlsson > > ---------------------------------------------------------------------------- -- > Check out the vibrant tech community on one of the world's most > engaging tech sites, Slashdot.org! http://sdm.link/slashdot > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users ------------------------------------------------------------------------------ Check out the vibrant tech community on one of the world's most engaging tech sites, Slashdot.org! http://sdm.link/slashdot _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
