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CAN Functions

This chapter provides information on how to use and configure CAN functions.

CAN / CANopen

Note

You can find the CANopen objects documentation for configuring and operating the CANlink® wireless 4000 via CANopen in the CANlink wireless 4000 > Documentation subdirectory of the Download Center.

There is an Electronic Data Sheet file (CANlink_wireless_4000_0.eds) and an HTML representation (CANlink_wireless_4000_0.html) provided.

The CANlink® wireless 4000 supports the transmission of pure CAN messages to another device. No direct protocol interpretation is configured in the firmware. This makes it possible to use the device for different applications with various CAN transport protocols. The protocol logic must be implemented in the other device (e.g. in the PC software). An example is the implementation within the CANopen section of the RM CAN Device Monitor Pro CANopen software.

CANopen section of RM CAN-Device Monitor
Figure 1: CANopen section of RM CAN-Device Monitor

Enabling the CANopen Stack

The CANopen stack prevents the transmission of some CAN messages such as CANopen RX SDOs, TX SDOs, and emergency messages.
These messages are received by the device's CANopen stack and processed to the radio Interface without being forwarded on. It is possible to configure the device for connection control via CANopen.
In that case, the device does not transmit messages with certain CAN identifiers.

The following table shows messages that are used by the device but not transmitted when the CANopen stack is enabled.

Type CAN Identifier Default configuration (Node ID 34)
TX SDO 1 0x580 0x5A2
RX SDO 1 0x600 0x622
Heartbeat/Boot-Up 0x700 0x722
NMT 0x000 0x000

Boot-Up message

Directly after startup, the device optionally transmits a CANopen boot-up message with its own node ID.

Note

When this function is enabled, the device expects an acknowledge message from another bus participant.
If no acknowledge message is received, for instance while no other CAN bus participant is active, the LED changes to error mode according to chapter Indicator Element (LED).

CAN1

  • To Enable Set bit 0 of 0x4054:0x03 to 1
  • To Disable Set bit 0 of 0x4054:0x03 to 0

CAN2

  • To Enable Set bit 0 of 0x4054:0x04 to 1
  • To Disable Set bit 0 of 0x4054:0x04 to 0