Re: [Emc-users] CANopen over Ethernet CiA 309

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If Linuxcnc had a CANopen gateway with a TCP/IP interface according to CiA
309 then it would be possible to connect to this port and to send and
receive messages.

If you have a CANopen relay module with ID 7 it probably need to be
configured during comminishing and at this point the gateway would be
useful, this is done via SDO communication. It would also be useful
whenever you want to read status from modules.

Basic principle would be same as connecting an external hardware dongle.

2018-02-22 12:29 GMT+01:00 John Dammeyer <jo...@au...>:

> But if 99% of the devices out there are physical CAN bus based and there is
> already a CANopen driver for Linux,  is the interface to CANopen
> transparent
> for both systems?
>
> What I mean, and I may not be clear on this, is if the LinuxCNC has the
> capability of being a CANopen Master then how do you see your code handling
> both bus architectures?   Or should it?
>
> For example.   Say my LinuxCNC needs to turn on a coolant (MIST) pump.  And
> the device out there is a CANopen relay module with ID 7 that uses Bit 3 of
> Byte 1 in PDO 0x287 to enable the relay that controls the coolant (MIST)
> pump and Bit 2 of Byte 1 to control the coolant (FLOOD) pump.
>
> From the G-Code (M07) perspective the Pump On results in the periodic PDO
> 0x287 to have Bit 3 in Byte 1 set.   An M09 would turn off both mist and
> flood so Bits 2 and 3 would be cleared.  The PDO message could be periodic
> or periodic and on change of state for faster response.
>
> So I guess I'm asking how does an M07 become either (or both) an Ethercat
> CANopen  message and/or a physical CAN bus CANopen message?
>
> Thanks
> John
>
>
> > -----Original Message-----
> > From: Nicklas Karlsson [mailto:nic...@gm...]
> > Sent: February-21-18 10:33 PM
> > To: Enhanced Machine Controller (EMC)
> > Subject: Re: [Emc-users] CANopen over Ethernet CiA 309
> >
> > I implemented an Ethercat master for linuxcnc and the messages sent in
> the
> > frames are CANopen. In Ethercat message is sent by master only and
> > changed
> > while "shifted" thru the other devices.
> >
> > Basically there is a need to insert CANopen messages into the messages at
> > least for configuration purposes and this is the reason I want to add a
> > standard gateway. It may also make sense if Linuxcnc is used for ordinary
> > CANopen network.
> >
> > 2018-02-22 2:29 GMT+01:00 John Dammeyer <jo...@au...>:
> >
> > > Honestly I'm still confused.
> > > I know what  TCP/IP gateway can be as an interface to all kinds of
> physical
> > > devices or networks.
> > > I understand that LinuxCNC  is used to control machines.
> > >
> > > I have no idea what a "standard configuration software" is.
> > >
> > > I've suggested that a tool changer could be built or rebuilt to use
> CANopen
> > > devices.
> > >
> > > There are some nice modular Touch Screens available that use CANopen
> > or
> > > J1939.  In fact we use one in our mobile equipment.
> > > We also use Inclinometers, Battery Chargers and even StepServo motors
> > with
> > > a
> > > CANopen interface.
> > > I've just finished a 250W power supply that is controlled by CANopen
> and
> > > reports the various voltages and currents etc.
> > >
> > > So perhaps you could give some examples of why we would even want a
> > TCP/IP
> > > gateway to CANopen?
> > > Thanks
> > > John Dammeyer
> > >
> > > > TCP/IP gateway will only be used to interface a standard
> configuration
> > > > software instead of adding this to Linuxcnc.
> > > >
> > > >
> > > > Nicklas Karlsson
> > > >
> > > >
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