CANopen basics and links

Topic:

• What are recommended documentation and links to get more familiar with CANopen basics?

Technical background:

maxon controllers (e.g. EPOS4, IDX) are based on the CANopen specification by the "CiA - CAN in Automation e.V." organisation (-> www.can-cia.org). The most relevant standards for maxon controllers are:

• CiA 301 "CANopen application layer and communication profile"
• CiA 302 "Additional application layer features"
• CiA 306 "CANopen electronic data sheet specification"
• CiA 402 "CANopen device profile for drives and motion control"

All of these specifications are available by "CAN in Automation e.V". These specifications are the base of any CANopen device, software, or master.

Some CANopen base knowledge and some specific information provided by these specifications might be required (or even a precondition) depending on the intended in-depth development of a CANopen based system. It is recommended for companies engaged in CANopen device development to become a member of "CAN in Automation" (-> www.can-cia.org). The specifications can be accessed as a member of CAN in Automation. maxon is not allowed to share CiA specifications with 3rd parties. The copyright of the specifications belong to "CAN in Automation e.V.". Please contact "CAN in Automation e.V." if you need these specifications or CANopen trainings.

maxon controllers are based on these standards and have to be commanded by a so-called CANopen master (e.g. PLC, maxon's multi-axis Master controllers (MACS product line), PC, Raspberry Pi, ...). The CANopen master processes the application program and sends drive commands to the maxon controllers which process the motor's motion control and exchange drive information. 

Documentation by maxon:

There is lot of information present about CANopen and the object dictionary of maxon controllers by the following documents provided by maxon as part of the software installation (e.g. EPOS Studio).

• "EPOS4 / IDX Communication Guide"
  -> Chapter "3 CAN Communication"
• "EPOS4 / IDX Firmware specification"
  -> Chapter "2 System overview"
  -> Chapter "3 Operating modes"
  -> Chapter "4 Inputs and Outputs"
  -> Chapter "5.2 CAN Communication"
  -> Chapter "6 Object Dictionary"
  -> Chapter "7 Error Handling"
• "EPOS4 Application Notes Collection"
  -> Chapter "5 CANopen Basic Information"
  -> Chapter "7 Device Programming" 

maxon documents cannot cover all basics about CANopen and cannot go into any detail of specific topics. These documents are also not intended as CANopen training courses. All documents are kind of reference manuals about the controller's functionality intended for the use by software developers. Some level of base knowledge or experience about CANopen, programming, and motion control is partly assumed as a precondition by the provided maxon product documentation.

If you have to start right from the scratch or want to investigate in specific topics (e.g. like implementation of a CANopen master stack or CANopen library), there might be some additional training or documentation by 3rd parties (e.g. www.can-cia.org) required.

Recommended 3rd party links:

The following mentioned links are a good starting point to get into the field of CANopen or gather additional information:

CANopen basics:

• CAN in Automation: CAN Knowledge
• CAN in Automation: CANopen
• CAN in Automation: SDO Protocol
• CAN in Automation: PDO Protocol

CANopen wiring, configuration, timing and bus load aspects:

• iCC - International CAN Conference 2003:
  Configuration Guideline for CANopen Networks (see also attached)
• BECKHOFF: CANopen Cabling
• Support Center document: "CAN bus topology and bus termination"

CANopen brochures & posters:

• CAN in Automation: CANopen poster 
• CAN in Automation: CAN dictionary 

CANopen seminars and webinars by "CAN in Automation e.V.":

• CAN in Automation: Seminars
• CAN in Automation: Video tutorials (Youtube)

Helpful CANopen information by 3rd parties:

• CSS Electronics: "A simple intro to CANopen" (Youtube Video Tutorial)
• CSS Electronics: "A simple intro to CANopen" (Website)
• HMS Networks: Whitepaper "Basics of the CANopen protocol"
• ANCIT Consulting: Webinar "Play with CANopen"
  (CAN & CANopen basics: 11:06 ... 51:10 / Read charts' content) 

Specific topic: CANopen for Python 

• https://canopen.readthedocs.io/en/latest/index.html 

CANopen library for microcontrollers (e.g. STM32, PIC) and Linux

• https://github.com/CANopenNode/CANopenNode

Important:
maxon cannot take any warranty or support for the information or code segments provided by one of the mentioned links!

Cross Reference:

• CAN bus topology and bus termination