Testing ctos

Testing CTO Demo

Firstly, write all configurations to the three devices:

• The Server CAN 2 Node ID should be 35.
• Client 1 CAN 2 Node ID should be 45.
• Client 2 CAN 2 Node ID should be 55.

Using your CANopen diagnostics tool of choice, you should be able to verify the following functions are operating as expected:

• Periodically
• Event-driven
• MultiTalk

Periodically

• The Server device will output the Analog voltage PDO to 0x300 every two seconds on the virtual (wireless) connection as well as the physical CAN2 bus.

• The Server device will output the Wireless Interface Watchdog Tick value to 0x303:

  a. increasing by one every second.
  b. starting after the value is greater or equal to 30.
  c. until the device resets after ten minutes, at which point the process will begin again.
  (There will have been 600 - 30 = 570 messages sent).

• Client2 will send its 0x1018:0x04 [Serial Number] every second to 0x206 to the CAN2 virtual (wireless) and physical bus.

Event-driven

• Every time Client2 is powered on and connects to the Server, the Server will output a single 0x3001:08 [Wireless connection state] PDO to 0x306.
  Power-off Client2 and back on again, and after a few seconds (while the connection is being established), the Server will output one more identical message.

MultiTalk

Since MultiTalk is enabled on the Server, every device connected to the CAN2 bus will receive the Client2 0x1018:0x04 [Serial Number] CTO.
This means every device connected wirelessly, and also all every CAN2 device connected physically to those devices.

Tip

When MultiTalk is enabled, CAN traffic can saturate the connection between all connected devices.
Consider enabling Filters.