VDO CANcockpit Series Product Manual

Product Manual CANcockpitTU00-0726-5111102 Technische Änderungen vorbehalten 0609 Technical details subject to change 5.2 - 9The 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 CANcockpitPre-Defined Connection SetIn order to reduce configuration effort for simple networks a mandatory default identifier allocation scheme is defined. Theseidentifiers are available in the PRE-OPERATIONAL state directly after initialization (if no modifications have been stored).The default profile ID-allocation scheme consists of a functional part, which determines the object priority and a Node-ID-part,which allows distinguishing between devices of the same functionality. This allows a peer-to-peer communication between asingle master device and up to 127 slave devices. It also supports the broadcasting of non-confirmed NMT-objects.Broadcasting is indicated by a Node-ID of zero.The pre-defined connection set supports one emergency object, one SDO, maximum 4 Receive-PDOs (RPDO) and 4Transmit-PDOs (TPDO) and the NMT objects.COB ID Structure of pre-defined Connection SetBit 10 9 8 7 6 5 4 3 2 1 0F F F F N N N N N N NFunction Code Node IDThe following table outlines the CO allocation for the CAN controller.CO Function Comment ID1 TPDO1 64 Digital Inputs 0x0180+own Node ID2 TPDO24 analogue Inputs(ADC_wANI1Phy, ADC_wANI2Phy, ADC_wANI3Phy,ADC_w20mAPhy)0x0280+own Node ID3 TPDO3 4 analogue Inputs (ADC_w5VPhy, ADC_wKl58, VN_wRevolution,VN_wVelocity) 0x0380+own Node ID4 Emergency Emergency Message and reserved for TNMT2025 0x0080+own Node ID5 Heartbeat Heartbeat, also used for boot-up message. 0x0700+own Node ID6 TSDO Send SDO responses 0x0580+own Node ID7 RNMT0 Receive NMT commands with ID=0.This CO will be serviced via interrupt. 0x00008 Reserved forRNMT2026Disabled until required.9 RSDO Receive SDO messages 0x0600+own Node ID10 RPDO1 64 Digital Outputs 0x0200+own Node ID11 RPDO2 4 analogue Outputs (Main Gauge + 3Sat Gauges) 0x0300+own Node ID12 RPDO3 4 analogue Outputs (4 Sat Gauges) 0x0400+own Node ID13 RPDO4 4 analogue Outputs (4 Sat Gauges) 0x0500+own Node ID14 RPDO54 analogue Outputs (4 Sat Gauges).This PDO is not part of the pre-defined connection set. The systemdesigner must allocate a unique ID with WINgauge.Configurable withWINgauge15 RPDO64 analogue Outputs (4 Sat Gauges).This PDO is not part of the pre-defined connection set. The systemdesigner must allocate a unique ID with WINgauge.Configurable withWINgauge16 RPDO74 analogue Outputs (4 Sat Gauges).This PDO is not part of the pre-defined connection set. The systemdesigner must allocate a unique ID with WINgauge.Configurable withWINgauge