CANopen Device Profile CiA 402

The add-on module CANopen Device Profile CiA 402 allows the integration of drives and motion control as specified in CiA 402-1.

Module version

The module version is defined by COS_DS402_VERSION_MAJOR and COS_DS402_VERSION_MINOR. Please refer to the history for changes between different versions.

Configuration

The module is enabled by setting COS_DS402 > 0 inside the cos_conf.h file:

Define	Description
COS_DS402	enable CiA 402 device profile; set to 1 to include the profile

Interface to application

Use the header file cos402.h to get access to the CANopen Device Profile CiA 402 API.

#include "cos402.h"

Common parameters

The PDS FSA controlword, statusword, option codes, modes of operation, and profile position objects are accessed through the Cos402_Common_ts structure.

The application reads the current values by calling Cos402_GetCommon() and updates them by calling Cos402_SetCommon():

void MyDriveApplication(void)
{
   Cos402_Common_ts  tsCommonT;
 
   // read current controlword written by the master
   const Cos402_Common_ts * ptsCommonT = Cos402_GetCommon();
   uint16_t uwControlT = ptsCommonT->uwIdx6040_Control;
 
   // update statusword
   tsCommonT = *ptsCommonT;
   tsCommonT.uwIdx6041_Status = MY_STATUS_WORD;
   Cos402_SetCommon(&tsCommonT);
}

Velocity mode

Velocity mode (vl mode) parameters are accessed through the Cos402_Velocity_ts structure.

The application reads the current target velocity and updates the actual velocity by calling Cos402_GetVelocity() and Cos402_SetVelocity():

void MyDriveApplication(void)
{
   Cos402_Velocity_ts  tsVelocityT;
 
   // read target velocity written by the master
   const Cos402_Velocity_ts * ptsVelocityT = Cos402_GetVelocity();
   int16_t swTargetT = ptsVelocityT->swIdx6042_VlTarget;
 
   // update actual velocity
   tsVelocityT = *ptsVelocityT;
   tsVelocityT.swIdx6044_VlActual = MY_ACTUAL_VELOCITY;
   Cos402_SetVelocity(&tsVelocityT);
}

PDO mapping

If dynamic PDO mapping is supported (COS_PDO_MAPPING > 0), the default mapping per CiA 402-3 section 6.3 (frequency converter device) can be set inside the CosPdoComSetup() function:

void CosPdoComSetup(void)
{
   uint8_t ubResultT;
 
   //------------------------------------------------------------------------------------
   // RPDO1: controlword (6040h) and vl target velocity (6042h)
   //
   ubResultT  = CosPdoRcvMapEnable(0, 0);
   ubResultT |= CosPdoRcvMapAdd(   0, 0, 0x60400010U);
   ubResultT |= CosPdoRcvMapAdd(   0, 1, 0x60420010U);
   ubResultT |= CosPdoRcvMapEnable(0, 2);
 
   //------------------------------------------------------------------------------------
   // TPDO1: statusword (6041h) and vl velocity actual value (6044h)
   //
   ubResultT  = CosPdoTrmMapEnable(0, 0);
   ubResultT |= CosPdoTrmMapAdd(   0, 0, 0x60410010U);
   ubResultT |= CosPdoTrmMapAdd(   0, 1, 0x60440010U);
   ubResultT |= CosPdoTrmMapEnable(0, 2);
 
   (void) ubResultT;
}

CiA 402 files

File	Description
cos402.h	CiA 402 - API, structures, and public function prototypes
cos402.c	CiA 402 - Object dictionary handler functions and PDO handlers
cos402.inc	CiA 402 - Object dictionary entries (included by cos_dict.c)
cos402_rpdo.inc	CiA 402 - Receive PDO mapping entries (included by cos_pdod.c)
cos402_tpdo.inc	CiA 402 - Transmit PDO mapping entries (included by cos_pdod.c)