socketcan I did not see before and will take a look.

Is there any configuration software avaialable able to use CiA309 for
communication?

Hardware is an alternative for CAN networks but not then routed over other
medium.


2018-02-23 2:29 GMT+01:00 John Dammeyer <jo...@autoartisans.com>:

> It does exist although I don't know if it costs.
> https://www.emtas.de/en/produkte/canopen-tcpip-gateway-cia-309-3
> And the physical hardware outside of Linux.
> https://www.traquair.com/products/emtas/canopen-tcpip-
> gateway-cia-309-3.html
>
> And none of that really describes what I was asking which was how to
> control
> a simple Output from Mxx to the CANopen PDO.  Perhaps someone who does know
> how to do that can chime in?
>
> What is the sequence to get from?
> 1. M07 to
> 2. CANopen Master Software (if it exists)
> 3. which uses SocketCAN or can4linux or your EtherCAT  to generate the PDO
> message (after all configuration,commisioning is complete)
>
> So far it looks like this beautiful water fountain placed in the middle of
> the flower garden with no water and no power plumbed to it.
>
> John
>
> > -----Original Message-----
> > From: Nicklas Karlsson [mailto:nicklas.karlsso...@gmail.com]
> > Sent: February-22-18 3:41 AM
> > To: Enhanced Machine Controller (EMC)
> > Subject: Re: [Emc-users] CANopen over Ethernet CiA 309
> >
> > If Linuxcnc had a CANopen gateway with a TCP/IP interface according to
> CiA
> > 309 then it would be possible to connect to this port and to send and
> > receive messages.
> >
> > If you have a CANopen relay module with ID 7 it probably need to be
> > configured during comminishing and at this point the gateway would be
> > useful, this is done via SDO communication. It would also be useful
> > whenever you want to read status from modules.
> >
> > Basic principle would be same as connecting an external hardware dongle.
> >
> > 2018-02-22 12:29 GMT+01:00 John Dammeyer <jo...@autoartisans.com>:
> >
> > > But if 99% of the devices out there are physical CAN bus based and
> there
> is
> > > already a CANopen driver for Linux,  is the interface to CANopen
> > > transparent
> > > for both systems?
> > >
> > > What I mean, and I may not be clear on this, is if the LinuxCNC has the
> > > capability of being a CANopen Master then how do you see your code
> > handling
> > > both bus architectures?   Or should it?
> > >
> > > For example.   Say my LinuxCNC needs to turn on a coolant (MIST) pump.
> > And
> > > the device out there is a CANopen relay module with ID 7 that uses Bit
> 3
> of
> > > Byte 1 in PDO 0x287 to enable the relay that controls the coolant
> (MIST)
> > > pump and Bit 2 of Byte 1 to control the coolant (FLOOD) pump.
> > >
> > > From the G-Code (M07) perspective the Pump On results in the periodic
> > PDO
> > > 0x287 to have Bit 3 in Byte 1 set.   An M09 would turn off both mist
> and
> > > flood so Bits 2 and 3 would be cleared.  The PDO message could be
> > periodic
> > > or periodic and on change of state for faster response.
> > >
> > > So I guess I'm asking how does an M07 become either (or both) an
> Ethercat
> > > CANopen  message and/or a physical CAN bus CANopen message?
> > >
> > > Thanks
> > > John
> > >
> > >
> > > > -----Original Message-----
> > > > From: Nicklas Karlsson [mailto:nicklas.karlsso...@gmail.com]
> > > > Sent: February-21-18 10:33 PM
> > > > To: Enhanced Machine Controller (EMC)
> > > > Subject: Re: [Emc-users] CANopen over Ethernet CiA 309
> > > >
> > > > I implemented an Ethercat master for linuxcnc and the messages sent
> in
> > > the
> > > > frames are CANopen. In Ethercat message is sent by master only and
> > > > changed
> > > > while "shifted" thru the other devices.
> > > >
> > > > Basically there is a need to insert CANopen messages into the
> messages
> > at
> > > > least for configuration purposes and this is the reason I want to add
> a
> > > > standard gateway. It may also make sense if Linuxcnc is used for
> ordinary
> > > > CANopen network.
> > > >
> > > > 2018-02-22 2:29 GMT+01:00 John Dammeyer <jo...@autoartisans.com>:
> > > >
> > > > > Honestly I'm still confused.
> > > > > I know what  TCP/IP gateway can be as an interface to all kinds of
> > > physical
> > > > > devices or networks.
> > > > > I understand that LinuxCNC  is used to control machines.
> > > > >
> > > > > I have no idea what a "standard configuration software" is.
> > > > >
> > > > > I've suggested that a tool changer could be built or rebuilt to use
> > > CANopen
> > > > > devices.
> > > > >
> > > > > There are some nice modular Touch Screens available that use
> > CANopen
> > > > or
> > > > > J1939.  In fact we use one in our mobile equipment.
> > > > > We also use Inclinometers, Battery Chargers and even StepServo
> > motors
> > > > with
> > > > > a
> > > > > CANopen interface.
> > > > > I've just finished a 250W power supply that is controlled by
> CANopen
> > > and
> > > > > reports the various voltages and currents etc.
> > > > >
> > > > > So perhaps you could give some examples of why we would even want
> > a
> > > > TCP/IP
> > > > > gateway to CANopen?
> > > > > Thanks
> > > > > John Dammeyer
> > > > >
> > > > > > TCP/IP gateway will only be used to interface a standard
> > > configuration
> > > > > > software instead of adding this to Linuxcnc.
> > > > > >
> > > > > >
> > > > > > Nicklas Karlsson
> > > > > >
> > > > > >
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