CAN Newsletter September 2009
| Business | E-learning - For CiA 408 - CAN in maritime electronics 6 Speed optimization - CiA 402 drive - Seminars in India 8 CAN and CANopen seminars 12 CiA exhibits at Motek 2009 - CANopen over Bluetooth 49 |
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| Application | Truck with CANopen gateway for bodybuilders 10 CANopen in photovoltaic applications 12 Diagnostics of forestry machines 26 CANopen system for heart-lung machines 28 Control consoles for mobile and agricultural machines 36 Mobile terminal for network analysis 38 |
| Device | Data acquisition systems and loggers 14 I/O module - Measuring modules - Testing modules 16 Gateways and interface modules 18 CAN display and controller 27 Power supply - Logger and PC - Measurement module 29 Automotive testing and measuring systems I and II 30/35 Drives and motion controllers 40 Peripheral devices - DC drives platform 41 Sensors: Tilt - Pressure - Rotating torque - Wireless 42 Communication with trucks - I/O module for S7 PLC - Off-highway vehicles displays 47 Controllers and interface boards 48 Robust inclination sensor with CANopen interface 50 Wireless temperature sensor - CANopen coupler 51 Color-coded flange - PCI card - Butterfly sensor 59 Inclinometers - I/O - Pressure sensor - Encoders 62/65 |
| Software | Correction - Free RTOS - Supports CAN 16 Isobus design tool 38 Autosar software 58 Boot-loader - Debugger - For ECUs - RTX driver 60 API for J1939 protocol software 64 |
| Semiconductor | ARM7-based micro-controller - MCUs featuring CAN 20 MCUs - 82527-replacement - ARM-based CAN controller 22 CANopen single-chip solutions - Dual-source 32-bit MCU 24 Autosar software 58 |
| Tools | FMS/J1939 simulator - Hardware development platforms 42 |
| Development | CANopen network design and IEC 61131-3 design 52 |
| Revision course | Do not configure node-ID and bit-timing with SDOs! 64 |
| Supplement | Ethercat enters the test system market 1 PC-based control for large applications 2 Powerlink under Windows XP - Powerlink I/O device 3 Powerlink plug-in machine controller 4 |
Truck with CANopen gateway for bodybuilders
The quarry and construction vehicle market is complex, because of the many applications: vehicles with two, three or four axles with or without all-wheel drive; a wide range of power; trucks and tractors; light or oversized models; and special variants for special outfits. The recently introduced Iveco Trakker is a work tool designed to meet every kind of extreme off-road mission on wheels ranging from 18 ton to 72 ton.
The real innovation with this truck is mainly the Stralis-based cabin, resulting from the work carried out with great determination, in collaboration with the dealers and customers who took part in the design, to improve its driving comfort and the life onboard – which is now widely acknowledged as being vitally important to productivity and safety. The Iveco Trakker range is wider than ever. It boasts a product range, in both left and right hand drive that allows customers to tailor the product to their specific mission. The range includes two engines (Cursor 8 and Cursor 13) and two cabins (Active Day and Active Time). The trucks were designed to support bodybuilding activities through a wide range of transmission and direct engine driven PTOs, electrical connections available both within the cab and on the chassis and the CANopen data bus expansion module. The CANopen gateway gives access to the in-vehicle networks and provides also firewall functionality.
Body builders have very different requirements. The most popular outfit is certainly the tipper body, but there are also some very specific applications, such as cement mixers that carry concrete ready for use. Many have platforms, often fitted with handling cranes. Clear from the start is the fact that body builder intervention will be required, if not for the tractor models but certainly for the rigid models. The heavy-duty makes life easy for the body builder with both electrical and mechanical provision for the body building process:
- A range of transmission and direct engine driven PTOs are available for customers to order. With the body builder expansion module up to three PTOs can be controlled and programmed for specific engine speed options to suit each PTO;
- For customers wishing to have PTOs fitted that are not available to order, a PTO management facility is available which provides the necessary controls and electrical relays mounted inside the vehicle cab;
- Body builders electrical connections are provided both within the cab and on the chassis frame to provide power for body lights and accessories;
- A feature of the expansion module is to provide a pre-installed CANopen network for exchange of data if required.
Diagnostics and maintenance of forestry machines
The automation of the forestry industry has reached a very high level, what is expected to continue. The more strongly the work cycles are geared to modern harvesters and other operating machinery, the more sensitively they react to technical problems. The teams often work far away from service stations and must be able to count on no problems arising during the operations. Any fault means a suspension of work and reduces the productivity.
In order to ensure the availability of the mobile operating equipment, the manufacturers are developing strategies for preventive error diagnostics. The aim is to detect problems before they arise. The item of equipment must be viewed as a complete system, because diesel engine and hydraulics influence one another and only jointly provide a realistic picture of the state of the equipment. For in the forest it does not matter which component fails, if the equipment is non-operable as a result. The aim of diagnostics is achieved, if all items of information come together and are presented to the personnel in a comprehensible form.
Maintenance of the machine
By the elimination of potential error sources and permanent monitoring of the condition of the equipment by condition monitoring systems (CMS), many stoppages of forestry equipment can be prevented. For wear or heavy stressing of a component becomes apparent beforehand in most cases. Prompt recognition permits preventive measures, as a result of which the availability of the equipment increases.
The on-board electronics (OBE) from Bosch Rexroth uses sensors built into the individual component, which record important data on site and forward them to the central controller. The latter monitors all drive systems and ensure the optimum interaction of all the components. The operator sees on the display the information that he requires for his work. If a problem becomes apparent, the controller can warn the operator or the service personnel by specific indications on the display.
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Developing a CANopen system for heart-lung machines
Heart surgeries for conditions such as valvular heart disease require that the heart is temporarily stopped and blood supply to the heart is cut off. When this happens, cardio-pulmonary functions (the oxygenation and circulation of the blood) temporarily cease. The heart-lung machine is a medical device, which takes over cardio-pulmonary functions while the heart is stopped. Senko Medical Instrument Manufacturing developed Japan’s first heart-lung machine, and is a Japanese industry leader in this field.
Safety is the first priority for a heart-lung machine. In this context, “safety” means that the system will continue to provide extracorporeal circulation of the blood, and not stop under any circumstances.
Until recently, the company used such communication protocols as RS‑232 or HDLC (high-level data link control) for heart-lung machine control systems, utilizing a protocol analyzer or oscilloscope to verify communications. However, the creation and validation of original protocols required an enormous amount of time. The difficulty of achieving superior reliability while avoiding lengthy development periods hindered the development of advanced functions for heart-lung machines.
Selecting CANopen
Company’s solution was to introduce the use of standard communication protocols. The first candidate was CAN, a communication protocol, which has achieved a track record in the automobile industry, but information on CAN is not readily available. Therefore, a standardized application-layer protocol CANopen was chosen. This allowed Senko’s medical devices to use the CANopen tools from Vector - a company offering development tools, embedded source code expertise and technical support. However, there are still some concerns about developing firmware that would meet complex specifications, since CANopen is an open and expandable protocol.
Adopting a distributed control system
enko has already used CANopen in two projects. The first of these was the use of distributed control systems and the installing of mutual monitoring. A partial stand-alone mode is essential so that extra-corporeal circulation can continue, even in the event of problems developing in the control system. CANopen provides problem-detecting functions such as emergency and error control services. A combination of these functions enables early detection should any system problems occur. Delays in development were avoided by carrying out communications simulation in the early stages of development using Vector’s CANoe.CANopen tool.
The simulation environment generated with ProCANopen network development tool can be read in CANoe enabling testing of network communications load and behavior for each node. However, since virtual nodes generated by ProCANopen cannot go as far as creating the user’s own control applications, Senko used CAPL (communication access programming language) to simulate control applications. High-level simulation with CAPL allowed communications testing to be carried out on each node at the development stage, without waiting for the real machine (nodes) to be completed.
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