CANopen Learning Guide

For beginners, compared to other bus data, in the domestic canopen data is not much. And not all materials are suitable for beginners to see. Here are some suggestions, interested in CANopen, you can refer to the order of study.

Premise: Need to know about can bus, can see the data of CAN2.0 bus.
Of course, the computer system, microcontroller and programming also need to have a certain foundation.

The first step: CANopen standard 301, this is the foundation of all, the most is not necessarily immediately know all the details, but at least for the CANopen bus and a variety of Transmission control mode and its role need to have a certain understanding (such as: NMT, SDO, PDO, Heartbeat, etc.). It is not recommended to look at Zlg's documentation, ZLG's documentation is just a few of the chapters drawn from the 301 document, and I'm sure most people don't understand it if they look directly at Zlg's documents.

The second step: finally have a can play hardware (preferably has been ported the CANopen protocol stack), otherwise all the protocol is only the data format and mode of operation. This requires a development board and a Can logic analyzer tool. Fortunately, I've done it myself 3 years ago. A low-cost can development Board (based on At90can32), and a serial-based can adapter (which can be used to send various can data) is implemented on the board, and CANopen is implemented on this board. There are also many kinds of can development boards and adapters available on Taobao.
On this hardware, test various CANopen messages, including NMT, SDO, PDO, can set the heartbeat frequency remotely, to see the heartbeat messages received, and so on. After this step is completed, there is a certain understanding of canopen. For a variety of messages, here to recommend the Zlg document, the last part of the various types of CANopen message format made a summary, it is very convenient to view.

The third step: Find a CANopen protocol stack source to see, from the code level to understand the various operations of CANopen and the implementation of the way. Of course, there are a lot of stacks now, some of them are free, some are charged (the price is not cheap).

Fourth Step: 301 The documentation simply describes the CANopen tools that can be used, but there is no information about how a module takes advantage of these features. This will take a look at the various modules of CANopen documentation, such as the 401--I/O module. However, not all of these documents are open for free, and some of them may need to be $$.

CANopen Learning Guide