Author: Uwe Vogt

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Pilot Customer Test of a Servo Drive

Project: October 2004 – October 2004 (1 months)

Description

Checking and evaluating the CANopen fieldbus functionality of a drive system according to the device profile for drives (CiA DSP-402) and creating a pilot customer report (questionnaire, test series and test reports).

Summary

Project Pilot Customer Test of a Servo Drive
Duration October 2004 – October 2004 (1 months)
Customer Berger Lahr Positec GmbH, Niederschopfheim
Industry Sector Motion Control Servo Drives
Role / Responsibility System Verification, Order Processing
Software / Tools / Methods Various CAN/CANopen Tools
Hardware Environment CPD Servo Drive (CANopen)
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Final Acceptance Tester

Project: September 2004 – September 2004 (1 months)

Description

Planning and creating of function blocks for the final inspection and generation of variants of integrated compact drives under CANopen. The function blocks were implemented as a software library (Dynamic Link Library) for Windows 9x and IXXAT interface boards. Adaptation of the software library to a new product variant.

Summary

Project Final Acceptance Tester
Duration September 2004 – September 2004 (1 months)
Customer Berger Lahr GmbH & Co. KG, Lahr
Industry Sector Test Bay Compact Drives
Role / Responsibility System Specifications, Software Design, Implementation, Function Tests, Documentation, Order Processing
Software / Tools / Methods Visual C++ V6.0, CANopen Master API (IXXAT)
Hardware Environment Compact Drive N065 (CANopen), IXXAT CAN Interface Board
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CANopen Object Browser for Windows

Download: CANopen Object Browser for generic CAN Interfaces

Description

The CANopen Object Browser is a tool to display and browse through a CANopen Object Dictionary based on EDS-Files. The program allows an online access to any connected CANopen device. This means to read and to write individual parameter values of a connected device.

The Object Dictionary window displays the CANopen object dictionary of a CANopen device taken either from an EDS-File or from a XML-File. On the left side of the window all objects are listed in a tree view order by categories. To navigate through the object tree use either the cursor-up/-down keys or click with the mouse on an item. On the right side all attributes and attribute values of the highlighted object are shown.

Parameter values can be entered in hexadecimal, decimal or octal form according to ANSI-C syntax. The value range of the data type will be checked by the program. But the value range of the parameter will be check by the device. Data access is only possible if a device is connected to the CAN-Interface board.

CANopen Object Browser for generic CAN Interfaces

Please note: Do not connect the program to a real application with a running CANopen network. This can damage your application.

Supported Interface

Currently the following CAN devices are supported (COPbrowser v0.5):

  • IXXAT Automation: all CAN devices with VCI driver (VCI V2; tested with iPC-I320/PCI and USB-to-CAN compact)
  • PEAK-System Technik: all CAN devices with PCAN driver (PCAN-Basic V1.0 + PCAN-Light V1.55; tested with PCAN-USB)
  • Vector Informatik: all CAN devices with VXL driver (VXL library V3.0; tested with CANcaseXL, USB)
  • M+K GmbH: RS-CAN-Wandler with ASPopen Interface (SW.M16C.MEW.C1R1.CANopen.ASP.2005.06)
  • UV Software: CANopen-over-TCP/IP (CANopen Gateway using BerliOS SocketCAN)

Summary

Program CANopen Object Browser for generic CAN Interfaces
Current Version Version 0.5.100.243 of November 11, 2010
Documentation Getting started and Online-help (context-sensitive)
License UVS Freeware License (without warranty or support)
Standards CANopen Specifications: CiA DS-301, CiA DS-305, CiA DS-306, CiA DS-309
Drivers IXXAT VCI V2, PEAK PCAN-Basic + PCAN-Light, Vector XL Driver, ASPopen (RS-232/CAN-Wandler), Winsock (CANopen-over-TCP/IP)
Category Industrial Communication, CANopen, CAN, TCP/IP, RS-232
Operating System Windows 2K/XP, but it is also running on Windows 10
Older Versions http://www.uv-software.com/files/downloads/COPbrowser/
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CANopen Compact Drive

Project: May 2003 – August 2004 (16 months)

Description

Cooperation in the specification and development of a compact drive for format adjustment with CAN interface and CANopen protocol according to CiA DSP-402 (Profile for Drives and Motion Control). My tasks in the project included:

  • Support for a development team when defining the system configuration:
    • Definition of the drive functions (hardware and software)
    • Selection of CANopen communication services and CANopen communication objects
    • Specification of the motor control functions, including the interface definition to the motor operation program
    • Selection of the development environment (software and hardware tools such as compiler, assembler, debugger, emulator, etc.)
  • Creation of the specification part “Description of the CAN / CANopen interface”
  • Development and testing of the CANopen application program:
    • Adaption the CANopen protocol stack to the target system
    • Implementation and coding of the CANopen software part
    • Function and integration test of the CANopen software part
    • Support for the CANopen conformity test
  • Creation of the development documentation “Description of the CAN / CANopen interface”
  • as well as the cooperation in the planning, development and integration of further software functions

Summary

Project CANopen Compact Drive
Duration May 2003 – August 2004 (16 months)
Customer Berger Lahr GmbH & Co. KG, Lahr
Industry Sector HW and SW Development Mechatronics
Role / Responsibility Requirements Analysis/Requirements Document, System Specifications/Technical Specifications, System Architecture, Software Design, Implementation, Function Tests, Documentation/Manual, System Verification, Training and Support, Order Processing
Software / Tools / Methods Keil C166 C Compiler (uVision3), IXXAT CANopen Slave Software, CAN/CANopen Tools (IXXAT), CiA CANopen Conformance Tester
Hardware Environment Infineon XC164 Microcontroller, Keil U-Link On-chip Debugger, CAN Interface Boards (IXXAT)
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In-Circuit Tester

Project: April 2003 – May 2003 (2 months)

Description

Planning and creating of function blocks for an on-board test software of logic boards for integrated compact drives under RS-232. The function blocks were implemented as a software library (Dynamic Link Library) for Windows 3.x.

Summary

Project In-Circuit Tester
Duration April 2003 – May 2003 (2 months)
Customer Berger Lahr GmbH & Co. KG, Lahr
Industry Sector Test Bay Printed Circuit Board
Role / Responsibility System Specifications, Software Design, Implementation, Function Tests, Documentation, Order Processing
Software / Tools / Methods Visual C++ V1.51 (16-bit Windows), Tasking C166/ST10 Compiler
Hardware Environment Infineon C164 Microcontroller, RS-232 Bootstrap-Loader
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Final Acceptance Tester

Project: March 2003 – April 2003 (2 months)

Description

Planning and creating of function blocks for the final inspection and generation of variants of integrated compact drives under CANopen. The function blocks were implemented as a software library (Dynamic Link Library) for Windows 9x and IXXAT interface boards.

Summary

Project Final Acceptance Tester
Duration March 2003 – April 2003 (2 months)
Customer Berger Lahr GmbH & Co. KG, Lahr
Industry Sector Test Bay Compact Drives
Role / Responsibility System Specifications, Software Design, Implementation, Function Tests, Documentation, Order Processing
Software / Tools / Methods Visual C++ V6.0, CANopen Master API (IXXAT)
Hardware Environment Compact Drive D065 (CANopen), IXXAT CAN Interface Board
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Sewing Machine for Cover Film (Fruit-Growing)

Project: January 2003 – February 2003 (2 months)

Description

Development of an application program for Soft-PLC in C: The application consists of six (6) industrial sewing machines, whereby needle and gripper are not mechanically coupled but via two servo drives. The servos are controlled and monitored via a PLC that also handles thread monitors, material sensors and fault signals. The six PLCs are networked via CAN bus, one PLC serving as a master station. A display for operating the machine is connected to the master PLC via the CAN bus.

Summary

Project Sewing Machine for Cover Film (Fruit-Growing)
Duration January 2003 – February 2003 (2 months)
Customer Spruck Industrieelektronik, Neckarbischofsheim
Industry Sector Automation Textile Industry
Role / Responsibility System Specifications, Software Design, Implementation, Function Tests, Documentation, Order Processing
Software / Tools / Methods Keil C166 C Compiler (uVision2), F&B Libraries (C source code), UVS CANopen Master Library
Hardware Environment Frenzel&Berg EASY Soft PLC, Customized Display (320×200, CAN), Mitsubishi Servo Drives, Incremental Encoders, Various Digital Sensors
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Conversion Program for Intel Hex Files

Project: January 2003 – January 2003 (1 months)

Description

The program converts Intel hex records into CANopen data segments. A Soft PLC transfers the data segments to the target device via the CAN bus. The program is used for the firmware upgrade of integrated compact drives.

Summary

Project Conversion Program for Intel Hex Files
Duration January 2003 – January 2003 (1 months)
Customer Berger Lahr Positec GmbH, Niederschopfheim
Industry Sector Automation Telemaintemance
Role / Responsibility System Specifications, Software Design, Implementation, Function Tests, Documentation, Order Processing
Software / Tools / Methods Visual C++ V6.0, CANopen Master API (IXXAT)
Hardware Environment Compact Drive (CANopen), IXXAT CAN Interface Board
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CANopen for Motion Controllers according to CiA DSP-402

Project: December 2002 – December 2002 (1 months)

Description

Conducting a workshop on the topic of CANopen for electric drives:

  • Overview of CAN and CANopen
  • CANopen communication profile CiA DS-301
  • CANopen device profile for motion controllers (DSP-402)
    • CANopen object directory for motion controllers
    • CANopen state machine for motion controllers
  • Set-up of motion controllers under CANopen
    • The object directory for parameter access
    • The state machine for generating drive motions
  • Hands-on training

The in-house workshop served a small developer team (2 people) to prepare themselves for the development of a CANopen drive according to CiA DSP-402.

Summary

Project CANopen for Motion Controllers according to CiA DSP-402
Duration December 2002 – December 2002 (1 months)
Customer Berger Lahr GmbH & Co. KG, Lahr
Industry Sector HW and SW Development Mechatronics
Role / Responsibility Training and Support, Order Processing
Software / Tools / Methods PowerPoint Presentation, IXXAT CANanalyser/32
Hardware Environment Compact Drive D065 (CANopen), IXXAT CAN Interface Board
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Flash Loader for Microcontroller Infineon C16x

Project: November 2002 – December 2002 (2 months)

Description

Planning and creating software to load Intel Hex files via a bootstrap loader mechanism by the microcontroller C164CI via a serial port according to RS-232 under Windows 2000. Drivers for different flash memory devices were also created

Summary

Project Flash Loader for Microcontroller Infineon C16x
Duration November 2002 – December 2002 (2 months)
Customer Berger Lahr GmbH & Co. KG, Lahr
Industry Sector HW and SW Development Mechatronics
Role / Responsibility System Specifications, Software Design, Implementation, Function Tests, Documentation, Order Processing
Software / Tools / Methods Visual C++ V6.0, Tasking C166/ST10 Assembler
Hardware Environment Infineon C164 Microcontroller, RS-232 Bootstrap-Loader