Re: [Emc-users] CANopen over Ethernet CiA 309 --> Ethercat seems to work
One of the reasons I am asking is that my Electronic Lead Screw controller has a spot for a CAN bus driver. Years ago I ported the Microchip CANopen stack to it and had it serve as a minimal keypad/display and MPG encoder. I also built a small expansion board for the ELS that can stand on its own if I put in a processor. I also ported the CANopen stack to that board and have had it as a CAnopen device that responds to SDO and PDO messages. It has 4 relays, 4 opto inputs and some voltage/current measuring capabilities. So I have the infrastructure to run stuff. I started working with CAN bus in 1992 so the idea of expanding a PC using a simple USB to CAN dongle for tool changer and other controls is really attractive to me. With CANopen or what one might call almost a minimalist CANopen one could add simple robot arms to place and remove parts to be machined. None of this requires Ethernet or centralized control. Often it's as simple as READY/REQUEST/BUSY/AVAILABLE/ERROR handshaking that used to be done with wires in the PLC days. The device sits in ready, gets a request and sends back a busy to acknowledge the command. Once the command is complete it sends an available or an error. I'm a big fan of modularizing things so that they can be tested in a standalone fashion. But how to turn an M code into a CANopen message is, at the moment, beyond me. John > -Original Message- > From: Nicklas Karlsson [mailto:nicklas.karlsso...@gmail.com] > Sent: February-24-18 1:10 PM > To: Enhanced Machine Controller (EMC) > Subject: Re: [Emc-users] CANopen over Ethernet CiA 309 --> Ethercat seems > to work > > > 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? > > CiA309 should be transparent for both systems but are probably of less use > for an ordinary CAN bus but to access the hardware bus some extra > hardware is required. > > It seems I got SDO communication up and running via Ethercat according to > CiA 309 but I have not yet tested write access only read. > > > 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? > > It is an Ethercat master but messages sent follow CANopen. > > > ... > > 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. > > Periodic I consider good in a real system and it also have the advantage > broken cable could be handled. > > > 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? > > In the Ethercat master I added hal pins, some are bits connected to a bit in > sent messages. This configuration should ideally be possible to do in > configuration file and templates for standard communication profiles would > certainly be useful if available. > > I found the simple_test program in soem lack a gnu GPL copyright notice and > are waiting for confirmation E-mail from github before I could upload. > > > 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
Re: [Emc-users] CANopen over Ethernet CiA 309 --> Ethercat seems to work
> 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? CiA309 should be transparent for both systems but are probably of less use for an ordinary CAN bus but to access the hardware bus some extra hardware is required. It seems I got SDO communication up and running via Ethercat according to CiA 309 but I have not yet tested write access only read. > 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? It is an Ethercat master but messages sent follow CANopen. > ... > 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. Periodic I consider good in a real system and it also have the advantage broken cable could be handled. > 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? In the Ethercat master I added hal pins, some are bits connected to a bit in sent messages. This configuration should ideally be possible to do in configuration file and templates for standard communication profiles would certainly be useful if available. I found the simple_test program in soem lack a gnu GPL copyright notice and are waiting for confirmation E-mail from github before I could upload. 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
Re: [Emc-users] CANopen over Ethernet CiA 309
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 : > 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 : > > > > > 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 : > > > > > > > > > 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
Re: [Emc-users] CANopen over Ethernet CiA 309
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 : > > > 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 : > > > > > > > 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 > > an
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 : > 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 : > > > > > 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 > > > > > > > > > > > > > > > > > -- > > > > 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 > > > ___ >
Re: [Emc-users] CANopen over Ethernet CiA 309
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 : > > > 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 > > > > > > > > > > > > -- > > > 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 > > > -- > 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
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 : > 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 > > > > > > > -- > > 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 > -- 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
Re: [Emc-users] CANopen over Ethernet CiA 309
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 > > -- > 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
Re: [Emc-users] CANopen over Ethernet CiA 309
On Wed, 21 Feb 2018 14:26:36 -0800 "John Dammeyer" wrote: > There are some other reference documents out there. > https://www.can-cia.org/fileadmin/resources/documents/proceedings/2005_rosta > n.pdf Link had broken line https://www.can-cia.org/fileadmin/resources/documents/proceedings/2005_rostan.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. I will use Ethercat but data sent in the Ethercat frames could follow the CANopen standard. As is now there is SOES on the slave I think anyway and SOEM on the Linucnc side and it use some kind of CANopen communication at startup although I did not yet have time to investigate further. Configuration could be added to Linuxcnc but to add a standard gateway feels like a better solution. > 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. This is send and wait for answer or acknowledge. CANopen may also send periodic data and watchdog if not received is better solution in some cases like if cable is broken. > 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? TCP/IP gateway will only be used to interface a standard configuration software instead of adding this to Linuxcnc. 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
Re: [Emc-users] CANopen over Ethernet CiA 309
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
