[TOC]

EPOS4 Controller

Implementation of CANopen with STM32f103 for EPOS4 controlling.

How to use

Test what you can do with this repository:

1. prepare STM32F103 series controller board

2. add files to Keil

3. configure CANopen dictionary in Middlewares/CANOpen/Cfg/

4. compile and test

If your project is not using STM32F103 series chip for controling:

1. transplant CANfestival to your project

2. add the EPOS4/ folder to your project

3. configure CANopen dictionary

4. compile and test

How does it work?

CANopen protcol

CANopen is the internationally standardized (EN 50325-4) (CiA301) higher-layer protocol for embedded control system built on top of CAN. For more information on CANopen see http://www.can-cia.org/

The repository uses CANfestival to implement CANopen protcol.

Configure your dictionary automatically

please refer to the documents in CANfestival.

Configure your dictionary manually

Object Dictionary offers clear and flexible organisation of any variables. Variables can be accessed directly or via read/write functions.

in dict.c:

const UNS8 TestMaster_iam_a_slave = 0; // master

SDO

SDO server Index 0x1200H~0x127FH if the control board is not a master, SDO server is mandatory. if is slave, SDO server is not needed.

/* index 0x1200 :   SDO server parameter */
UNS8 ServerNumber_0x1200 = 2;						// subindex number -1 
UNS32 TestMaster_obj1200_COB_ID_SDO_CS_RX  = 0x601;
UNS32 TestMaster_obj1200_COB_ID_SDO_SC_TX = 0x581;
subindex TestMaster_Index1200[] =
 {
    { RO, uint8,  sizeof (UNS8), (void*)&ServerNumber_0x1200, NULL },
    { RO, uint32, sizeof (UNS32), (void*)&TestMaster_obj1200_COB_ID_SDO_CS_RX, NULL },
    { RO, uint32, sizeof (UNS32), (void*)&TestMaster_obj1200_COB_ID_SDO_SC_TX, NULL }
 };

SDO clit Index 0x1280H~0x12FFH

if you have an EPOS4 with node id = 3, you can configure SDO in dict.c as:

/* index 0x1281 :   SDO clit .    Index 1280h-12FFh，Client SDO Parameter*/
UNS8 ClientNumber_0x1281 = 3;						// subindex number -1 
UNS32 TestMaster_obj1281_COB_ID_SDO_CS_TX  = 0x603;
UNS32 TestMaster_obj1281_COB_ID_SDO_SC_RX = 0x583;
UNS8 TestMaster_obj1281_COB_ID_Server = 3;			//server
subindex TestMaster_Index1281[] =
 {
    { RO, uint8,  sizeof (UNS8), (void*)&ClientNumber_0x1281, NULL },
    { RO, uint32, sizeof (UNS32), (void*)&TestMaster_obj1281_COB_ID_SDO_CS_TX, NULL },
    { RO, uint32, sizeof (UNS32), (void*)&TestMaster_obj1281_COB_ID_SDO_SC_RX, NULL },
    { RO, uint8,  sizeof (UNS8), (void*)&TestMaster_obj1281_COB_ID_Server, NULL },
 };

TPDO

Index 1800h-19FFh

if you want to send TPDO with cob-id=0x202 everytime when SYNC is sent, you can configure TPDO in dict.c as follows. In order to communicate with EPOS, make sure your RPDO cob-id in EPOS is also 0x202.

/* index 0x1800 :   TPDO 1.  Index 1800h-19FFh,  Transmit PDO Communication Parameter  */ 
UNS8 ClientNumber_0x1800 = 5;
UNS32 TestMaster_obj1800_COB_ID_PDO = 0x202;
UNS8 TestMaster_obj1800_Transmiss_Type  = TRANS_EVERY_N_SYNC(1);
UNS16 TestMaster_obj1800_Inhibit_time = 1;						// time delay in TPDO
UNS8 TestMaster_obj1800_compatibility_entry = 0;
UNS16 TestMaster_obj1800_event_time  = 0;						// PDO mode
subindex TestMaster_Index1800[] = 
 {
     { RO, uint8,  sizeof (UNS8), (void*)&ClientNumber_0x1800, NULL },
     { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1800_COB_ID_PDO, NULL },
     { RO, uint8, sizeof (UNS8), (void*)&TestMaster_obj1800_Transmiss_Type, NULL },
     { RW, uint16,  sizeof (UNS16), (void*)&TestMaster_obj1800_Inhibit_time, NULL },
     { RW, uint8, sizeof (UNS8), (void*)&TestMaster_obj1800_compatibility_entry, NULL },
     { RW, uint16,  sizeof (UNS16), (void*)&TestMaster_obj1800_event_time, NULL },
 };

TPDO mapping Index 1A00h-1BFFh

if you want to send Pos_SET_VALUE_node1 through TPDO, you need to configure TPDO mapping as:

/* 0x1A00  Index 1A00h-1BFFh，Transmit PDO Mapping Parameter  Node0*/
UNS8 TestMaster_obj1A00_Number_mapped = 1;
UNS32 TestMaster_2_mapped = 0x20610020;		// index 0x2061, subindex 00, 32bit
subindex TestMaster_Index1A00[] = 
 {
   { RO, uint8, sizeof (UNS8), (void*)&TestMaster_obj1A00_Number_mapped, NULL },
   { RO, uint32, sizeof (UNS32), (void*)&TestMaster_2_mapped, NULL },
 };

Make sure entry with index equals 0x2061 exists:

/*0x2061 node1*/
INTEGER32 Pos_SET_VALUE_node1 = 0x0;
subindex TestMaster_Index2061[] = {{ RW, int32, sizeof (INTEGER32), (void*)&Pos_SET_VALUE_node1, NULL },};

RPDO

Index: 0x1400H-0x15FFH

if you want to receive TPDO with cob-id=0x182 everytime when SYNC is sent, you can configure RPDO in dict.c as follows. In order to communicate with EPOS, make sure your TPDO cob-id in EPOS is also 0x182.

/* index 0x1400 :   RPDO 1 parameter.*/ 
UNS8 TestMaster_highestSubIndex_obj1400 = 2; /* number of subindex - 1*/
UNS32 TestMaster_obj1400_COB_ID  = 0x00000182;
UNS8 TestMaster_obj1400_Transmission_type = TRANS_EVERY_N_SYNC(1);
subindex TestMaster_Index1400[] = 
 {
   { RO, uint8, 	sizeof (UNS8), (void*)&TestMaster_highestSubIndex_obj1400, NULL },
   { RW, uint32, 	sizeof (UNS32), (void*)&TestMaster_obj1400_COB_ID, NULL },
   { RO, uint8, 	sizeof (UNS8), (void*)&TestMaster_obj1400_Transmission_type, NULL },
 };

RPDO mapping

Index 0x1600H-0x17FFH

Received TPDO are explained as 0x6061 entry in the first 32bit and 0x0001 entry in the following 32bit:

 /* 0x1600	 Index 1600h-17FFh，Receive PDO Mapping Parameter  Node2*/
UNS8 TestMaster_obj1600_Number_mapped = 2; 

UNS32 TestMaster_obj1600_1_mapped = 0x60610020;
UNS32 TestMaster_obj1600_2_mapped = 0x00010020;	
subindex TestMaster_Index1600[] = 
{
 { RO, uint32, sizeof (UNS32), (void*)&TestMaster_obj1600_Number_mapped, NULL },
 { RO, uint32, sizeof (UNS32), (void*)&TestMaster_obj1600_1_mapped, NULL },
 { RO, uint32, sizeof (UNS32), (void*)&TestMaster_obj1600_2_mapped, NULL },
};

Add a new entray

All entries should be registered in indextable TestMaster_objdict and indextable * TestMaster_scanIndexOD. Entry structure refers to:

/*0x2061 node1*/
INTEGER32 Pos_SET_VALUE_node1 = 0x0;
subindex TestMaster_Index2061[] = {{ RW, int32, sizeof (INTEGER32), (void*)&Pos_SET_VALUE_node1, NULL },};

Other important things

• s_PDO_status TestMaster_PDO_status counts at which received SYNC a PDO must be sent.

• Don’t forget to define SDO and TPO in TestMaster_firstIndex and TestMaster_lastIndex.

  SDO_SVR indicates the index squence number of the SDO Server in dictionary. Specific number you can refer to TestMaster_scanIndexOD in dict.c.

  The fllowing defines index squence number 4 as SDO Server, 5-10 as SDO client, 16 as RPDO, 25-37 as RPDO mapping, 38-43 as TPDO, 45-50 as TPDO mapping.

const quick_index TestMaster_firstIndex = {
  4, /* SDO_SVR */
  5, /* SDO_CLT */
  16, /* PDO_RCV */
  25, /* PDO_RCV_MAP */
  38, /* PDO_TRS */
  45 /* PDO_TRS_MAP */
};

const quick_index TestMaster_lastIndex = {
  4, /* SDO_SVR */
  10, /* SDO_CLT */
  16, /* PDO_RCV */
  37, /* PDO_RCV_MAP */
  43, /* PDO_TRS */
  50 /* PDO_TRS_MAP */
};

EPOS control flow chart

Application Examples

Hardware

• STM32F103

• EPOS4 50-15

• Maxon EC90

SDO drive mode

In SDO folder, motor is simply drived by SDO mode without using Festival library, which is useful in uncomplex driving situation especially when the flash size of contorl board is limited.

PDO drive mode

In PDO folder, motor is drived by PDO mode with Festival library. This is mainly used in synchronized multi-motor contorl situations. In example of branch posControl_Exo_V3, we control six motors with EPOS4 at same time.