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As with the Receive module, the CANopen module is used to display received
CAN-messages, but interprets these according to its configuration as CANopen
objects.
The CANopen module is conform to the latest CANopen 4.02 specification and
supports among other things the SDO block transfer protocol. Besides the
CANopen specific interpretation of received CAN messages, the CANopen module is
able to interpret and display the signals transmitted via SDO and PDO in
plaintext.
For PDOs, the CANopen module uses the information provided in the device
specific EDS or DCF files to determine the mapping information and to display
the data. Received messages can be filtered by meaning of different criteria
like Node-ID, SDO, PDO or NMT.
In combination with the possibility to open several CANopen module windows a
CANopen system can be displayed and analyzed clearly arranged.
Further features are displaying of Multiplexed PDOs (in SAM and DAM mode), the
interpretation of the LSS and the Flying-Master protocol as well as the
possibility to convert a Vendor-ID to the corresponding company name. Besides
the CANopen specific view it is possible to display the received CAN messages
additionally in layer-2 mode. This feature, and the possibility to display
erroneous protocols, particularly supports developers and system integrators
when searching for errors.
The configuration of the CANopen module can be done manually or by using
pre-defined profile files (e.g. for 401, 402, 405, 406) or by using the EDS/DCF
import functionality.
To demonstrate the way this module works, use the Trace-recording "CANopen.trc"
from the archive
file, containing the initialization phase of three CANopen nodes, a
PDO-Transfer and finally an SDO-Request.
Insert the CANopen module into your canAnalyser-configuration and
start it and the Receive module. To maintain an overview, the Sync-signals and
the signals for Node-Guarding should be filtered out. This is already done in
the configuration files "CANopen.cnf" for the CANopen module and "CANopen.opr"
for the Receive module. Load the relevant configuration file into the two
modules and start the Trace-Replay of the file
"CANopen.trc" in the Control panel either
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by selecting the menu point Functions-TraceReplay
Start/Stop or |
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by clicking on the button 
in the toolbar |
The recorded data now appear in the windows of both modules as if they had been
received via the bus. Now compare the Layer-2 data displayed by the Receive
module and its interpretation in the display area of the CANopen module.
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