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CAN Industrial presence

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CANOpen at a glance
Two main communication objects
SDO (Service Data Object) for transfer of complex and large data PDO (Process Data Object) for simple or short real-time communication

Node Object dictionary

Allow the configuration of a unit for the specific network Contains information about the unit capabilities Device profiles

Sync message for cyclic coordination High accuracy time distribution (~1 us)

Defined Node and Error Handling

Defines Node state machines Predefined error codes Specific Unit Codes

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CANOpen Object Dictionary

An object dictionary is a node shared memory area that can be read/written by any other node on the network
To understand node type, capabilities and messages structure (READ) To configuring the node for the network in which the node is inserted, as for example the data period. (WRITE)

A mandatory set of entry in the dictionary is established by the standard device profile to which the node belongs.

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CANOpen Dictionary Example

Device Profile: AOC Sensor/Actuators Interface
Entry 0 1 2 Type VAR VAR VAR Parameter Scaling rad/sec per byte Low Pass Filter Frequency Gyro 1 rate Data Length BYTE BYTE WORD Mode R/W R/W R

Set of defined Parameter By the unit manufactures

Message A A

Entry 1 2

Parameter Entry 0 1

Data Length BYTE BYTE

Mapping To Write Messages

User Configured
Message Entry Parameter Entry Data Length

2 Cyclic

WORD At every Sync

Mapping To Read Messages

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CAN in Space Workgroup

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CANOpen Sync
Transmission type
Event driven (spontaneous) Polled Synchronous cyclic or acyclic

SYNC
Event

SYNC

SYNC

time

Cyclic Acyclic
ESTEC
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CAN in Space Workgroup

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CANOpen Network Management

CANOpen defines a set of services to startup the network before commencing the nominal work of the system. During the network startup each node is configured (if needed) and take to the operational state.
reset Initialization

Reset of Settings Configuration of the device

Pre-operational Stopped

Device Operation

Operational

Stop of all communication

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CAN in Space Workgroup

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Add-on to CANOpen
Large Data Unit Transfers
Optional protocol compatible with CANOpen Co-exists with CANOpen Reduced overhead compared to CANOpen

Physical Layer
Shall be suitable for vast majority of missions Insure device-on-bus electrical compatibility and device-across-the-industry electrical compatibility

Redundancy
Management of bus redundancy Informative examples to be put in recommendation annex Relationship between CANOpen Node State Diagram and redundancy Hot/cold bus and node redundancy

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CAN in Space Workgroup

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Physical Layer
Mandatory
ISO-11898: 1993 (Automotive) and ISO 11898 Amendment 1:1995 Up to 1Mbps CAN Hi-speed

Recommendation
Number of Nodes: 32 Minimum Bus cabling ISO 11898 compliant Connector types

Optional
Single-point failure tolerant/Dual Redundant I/F High Speed Optical coupler Power thru CAN bus connector

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Resources
Yahoo group page:
http://groups.yahoo.com/group/CAN_Space/ Discussion forum

Web page:
http://users.skynet.be/cotectic/CAN-WG/ Draft recommendation Minutes of Meetings etc. related to the CAN WG activities.

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Contact Persons
Luca Stagnaro (Chairman)
luca.stagnaro@esa.int

Peter Roos (Secretary)

peter.roos@esa.int

Rodger Magness (Physical Layer)

rodger.magness@esa.int

Patrick Plancke (Head of Computer & Data Systems section)

patrick.plancke@esa.int

ESTEC

5-7 May 2003

CAN in Space Workgroup