VDO CANcockpit Series Product Manual

Product Manual CANcockpitTU00-0726-5111102 Technische Änderungen vorbehalten 0609 Technical details subject to change 5.2 - 5The reproduction, distribution and utilization of this document as well as the communication of its contents to others without expressauthorization is prohibited. Offenders will be held liable for the payment of damages. All right reserved in the event of the grant of a patent,utility model or design .CANopen-Specification for CANcockpitOperational StatesInitialisationThe initialisation starts after ignition (Kl15) is turned on for the CANcockpit Gauge. Here the gauge application-programmeand CAN hardware is initialised and then it transits to the Pre-Operational state automatically.Boot-Up MessageThe Boot-Up Message is transmitted, when CANcockpit performs the transition from "Initialising" to "Pre-Operational". TheBoot-Up Message is part of the Heartbeat-Protocol and uses the same COB-ID (1792+own Node-ID). This allows one toretrieve the sending node directly from the used COB-ID.Pre-OperationalIn this state communication via CANopen SDOs is possible, but PDOs are still disabled. "Digital outputs" are switched to thedefined state, which is given by object 6206h and 6207h. The state of the digital outputs can be modified via SDO and thestate will be retained throughout NMT state transitions, if the corresponding "Error mode bit" is 0. "Analogue outputs"(Gauges, PVDs) will move to their "invalid data" indication. The gauge also sends emergency messages during this state.HeartbeatYes, as producer. Heartbeat time is configurable via WINgauge in increments 1msec with an effective resolution of31.25msec. If this parameter is 0, then no heartbeat message will be sent.LifeguardingNo.The draft standard DS-401 V2.1 highly recommends supporting the Heartbeat functionality. To support the old lifeguardingfunction as well is not required, because CANcockpit is an indication system and its operation should not be critical to anyprocess.OperationalIf the gauge is in CANopen Operational state, it communicates via PDOs. Emergency messages are sent, if necessary. SDOcommunication is possible. Because PDO communication is active, write access via SOD to some objects must be rejected.An example is to write to EEPROM or to change the state of the digital outputs.StoppedWhen the gauge is in this state, it does not communicate over the CANopen interface (no SDOs and no PDOs). However it ispossible to activate the communication with a command from the CANopen master. "Digital outputs" are switched to thedefined state, which is given by object 6206h and 6207h. "Analogue outputs" (Gauges, PVDs) will move to their "invalid data"indication.States and Communication ObjectsThe table below is based on DS-301 V4.02 and shows in which states CANcockpit will support the listed objects.INITIALISING PRE-OP. OPERATIONAL STOPPEDPDO XSDO X XSync. ObjectTime Stamp ObjectEmergency Object X XBoot-Up Object XNMT Objects incl. Heartbeat X X X