Examples for canopen library

Im new to the canopen and even can.
I have purchased a NI high speed xnet card and the canopen libarary and installed them with xnet 1.
Ive struggled with this so far and believe a better background might help.
I cant seem to find any examples to run for canopen, or even a general guide for CAN.
Generally NI is really good at giving basic tutorials to read and hello world type examples.
Even an example i cant run, but shows what the parameters are being passed for and why would be great.
The goal is to be able to send a command to get a position of an amplifer, and then read it back.
Preferibly with PDO as there are timing constraints.
I did find a few examples in the userforum, in llb format, but they were just sub sections of program.
I really need to see the entire working program, even if it does smething very simple.
thanks
Message Edited by jimmyinct3 on 11-01-2009 03:06 PM

Jimmy,
The NI-CAN Hardware and Software Manual gives a comprehensive overview of the CAN protocol and how to interface with NI hardware using the NI-CAN API.
This KnowledgeBase article describes where to find the examples that ship with the CANOpen LabVIEW Library.
To clarify your interface options, keep in mind that you are using the newer XNET hardware. This means that to use your card, you have the choice of using either the:
1. new NI-XNET drivers and API
2. or the NI-CAN drivers + NI-CAN Compatibility Layer + NI-XNET drivers
Since you wish to use the CANOpen LabVIEW Library, you are using the second option as it is built on the NI-CAN interface. This means you need to ensure you have the latest NI-XNET drivers and NI-CAN drivers in order to work with the CANOpen LabVIEW Library for your device.
Peter Flores
Applications Engineer

Similar Messages

CANOpen Library - Limited number of PDOs ?

Hello,
Here's my story :
        I have a CAN network grouping 13 CANOpen nodes ( motors, I/Os, pneumatic valves ) and a NI pcmcia adapter in my PC. I use LV 7.1 and the CANOpen library to build a nice application to automate all this.
        For each of 10 of this nodes, I declared ( and I need ) 2 RXPDOs and 3 TXPDOs.
        Actually, I am facing an error message ( PDO create from CANOpen library ) saying that I've reached the software/firmware memory limit ( of the pcmcia board I suppose ) and that I should reduce the size of the PDO queues or reduce the number of CANOpen objects... For each PDO, I set the buffer size at 2 frames which is not a lot in my point of view. I cannot reduce the number of CANOpen objects because I need them...
        What is the exact limit with my hardware ?
        Can my configuration handle 4 TPDOs and 4 RPDOs for each node ( in case I'd like to ) ?
Another question :
         In my LV code, I created a cluster for each node storing a SDO handle ( CANOpen object ), 4 RPDO handles and 4 TPDO handles. I initialize them calling "create SDO" and "create PDO" at start up if I need them otherwise I let them to a default value (0). What do you think about this ? Can this be the source of the error message ?
Thanks in advance for your answer

Hi,
The CANopen Library is based on the NI CAN driver. Because of the tight timing needs for SDO communication and the need to send periodic frames some library functions are using objects for communication. Objects are able run directly on the hardware, thus they can meet these strict timing issues. The bad thing is, they are limited in number to 50 per NI CAN device. That includes one per Port configuration, thus for a 2 port board , if you configure both ports there are 48 objects left for both ports together.
The second limitation applies to the shared memory between board and driver. The driver can configure approx. 300 messages for queues for the board, shared between 2 ports if available.
Now if you know this you can calculate the number of SDOs and PDOs you can configure until the mentioned error occurs.
Ok , you are right, we need to know how many messages the particular functions configure for queues.
Thats something we find from the NI SPY. The Tool gets installed with NI CAN and allows you to log all API Calls to certain drivers including NI CAN.
The configuration api call tells us from the buffer page the size for Read and Write Queue configured with property 80000013 and 80000014. If you switch to AttrPtr. you can see the qeuesizes in hex at the same location.
Now you can see that the CANopen Interface Create allocates 100 frames for the read Queue and 10 Frames for the Write Queue. This numbers are used to read all incoming frames and write all nonperiodic frames which are not configured with objects, like the NMT commands or RX PDOs.
The SDO create takes internally 10 frames for the Read Queue only, because it needs to buffer the answers only.
The TX PDO is created as an object but does per default not use any queue internally . But as you mentioned, you can configure a buffer size, which is the same queue.
That means it is highly recommended to use one port devices or one port only for a 2 port device only, because you need 110 messages for the port configuration already.
For SDOs i would recommend to close the handle if you have used the SDO and do not need it anymore. That frees the memory (10 messages ) for other operations.
For PDOs i would recommend to use buffer size 0. That means you allways read the most recent value. I never needed a queue for my applications, but thats somewhat your decision. Within the configuration cluster you find the rx or tx PDO List control. This List triggers internally the COB ID you are using for the PDO. We configured four in each direction because it is likely that you canopen node uses these IDs which often are mapped by default.
But if you need more then 4 PDOs you can use tx PDO 1 for example more then once, but you have to enter a valid COB ID by your own. That overwrites the default COB ID.
See the attached example for LabVIEW, for details.
But back to your problem: Lets calculate, which limit you reached first. 10 nodes with  3 Tx PDOs and 1 SDO. Here are the numbers: 60 messages and 30 Objects for the PDOs 100 messages and 10 objects for the SDOs and the Port configuration with 110 messages and 1 object.
Thus you have 270 messages queue size and 41 objects.
Thats not really the limity but it is near the limit and likely to cause the error with the next configuration step.
I would recommend the following:
1. use one port only.
2. close SDO handles after using them.
3. use PDO buffer 0.
Or use multiple boards . ;-)
Hope that helps
DirkW
Attachments:
Write and Read PDO Network Mapping71.llb ‏447 KB

Example for Using WDR_SELECT_OPTIONS and SALV_WD_TABLE in one View

Hello,
I need an Example for Using the WD-Components WDR_SELECT_OPTIONS and SALV_WD_TABLE
in one view. Can anybody help me?
Thanks
Toto

Hello,
Please see these:
[https://www.sdn.sap.com/irj/sdn/go/portal/prtroot/docs/library/uuid/3439404a-0801-0010-dda5-8c14514d690d]
[https://www.sdn.sap.com/irj/sdn/go/portal/prtroot/docs/library/uuid/21706b4b-0901-0010-7d93-c93b6394bc1d]
[https://www.sdn.sap.com/irj/sdn/go/portal/prtroot/docs/media/uuid/39c54fe7-0b01-0010-0eb6-d63ac2bdd637]
[/people/rich.heilman2/blog/2005/12/20/using-select-options-in-a-web-dynproabap-application]
[/people/thomas.jung3/blog/2005/12/21/webdynpro-abap-alv]
[https://www.sdn.sap.com/irj/sdn/go/portal/prtroot/docs/library/uuid/3133474a-0801-0010-d692-81827814a5a1]
[https://www.sdn.sap.com/irj/sdn/go/portal/prtroot/docs/library/uuid/bd28494a-0801-0010-45a3-fc359d82d3e8]
Regards.

Any example for a MFC, WTL or Win32 without Measurement Studio?

It seems that NI wants you buy their Measurement Studio which can easily cost you a fortune. I am looking around a simple example for MFC, WTL without touching the measurement studio. But if you do not have measurement studio, NI only gives you very old examples in ANSI C which is difficult to implement to MFC or WTL. Apparently they want to increase their revenue by forcing you to buy the Measurement Studio. But I will not buy their hardware in the future if this is their strategy.
Anyone successfully implement the ANSI C example to MFC or WTL without measurement studio? Can you share an example?

Junqi,
Im a little confused with this request in general. What development environment are you using? Visual Studio? Also, what language are you coding in? We provide C, C#, VB.net, and legacy VB6 examples with our DAQmx driver that do not require measurement studio. They can be found in documents\National Instruments\NI-DAQ\Examples
Now forgive me if Im misinformed about this, but MFC and WTL are just libraries that have some of the windows API wrapped into them, correct? If so, I dont see how interfacing with them is any different than interfacing with any other library, or why this would cause issues with doing DAQ calls. If you need help with the MFC or WTL library, there are many good places to find help with on the internet. MSDN, codeproject.com, and many others come up as having examples of using MFC in various projects.
The MS examples dont install withough MS because they wouldnt be able to be used because they use libraries that are installed with measurement studio, so they would be nonfunctional and largely useless.
Regards,
Kyle Mozdzyn
Applications Engineering
National Instruments
Regards,
Kyle M.
Applications Engineering
National Instruments

Are there any good code examples for displaying preview images in the storefront?

I can gather other info using folio.xxx, but can not find any good examples to use for preview images. Tried folio.getPreviewImage() with no success. Oh, I should mention it is version 2. Plenty of examples for version 1.
Perhaps if I get a little more specific.
I am calling up the folios via:
       adobeDPS.libraryService.folioMap.addedSignal.add(function(folios) {
            for (var i = 0; i < folios.length; i++) {
                addFolio(folios[i]);
        }, this);
This eventually works into a function where I am gathering and displaying folio data:
     var productId = folio.productId;
    var html = "<div id='" + productId + "'>";
        html +=     "<a href='#'><img class='shadow' width='120' src='' border=0 /></a>";
        html +=     "<br /><span class='bold'>" + folio.title + "</span>";
        html += "</div>";
    this.$el = $(html);
folio.title works fine to pull up the title, but I can no longer use folio.getPreviewURL in v2. What code should I be using to set the src to the preview image?
Thanks

Have you looked at the default implementations of the library?
In FolioItemView's render function, there is a function(follow the nested functions!):
setTimeout(function(){ scope.loadPreviewImage() }, 100);
It references this function (this doesn't copy well):
loadPreviewImage: function() {
if (this.el.parentElement) {
var transaction = this.folio.getPreviewImage(135, 180, true);
transaction.completedSignal.addOnce(this.getPreviewImageHandler, this);
Going deeper, into the getPreviewImageHandler function is where you see the url value..
if (transaction.state == adobeDPS.transactionManager.transactionStates.FINISHED && transaction.previewImageURL != null) {
                              this.$el.find(".folio-thumb").attr("src", transaction.previewImageURL);
Within the example is also code for supplying a preview when the Adobe API is not available:
(Within the render function)
var json = this.model.toJSON();
$folioThumb.attr("src", json.libraryPreviewUrl);
If you're making any changes to where the preview is displayed, you can just swap out the class ".folio-thumb" to whatever the class (or id) is of the element you're wanting to render the preview in.

Graphical message mapping examples for JDBC and RFC lookup

hi, can any body provide me graphical message mapping examples for the "JDBC Lookup" function and "RFC Lookup" function?
I'm now studying the graphical message mapping and want to try those 2 functions. thank you.
I expect the examples to be simple enoung, not need to set up much.

>
Madhu_1980 wrote:
> can u check this link:
>
> PI 7.0 & 7.1 Mapping - Blogs,Articles,Wiki,Code Samples and Videos Collections https://wiki.sdn.sap.com/wiki/pages/viewpage.action?pageId=79955426
>
> it contains a link : SAP PI 7.1 Mapping Enhancements Series: Graphical Support for JDBC and RFC Lookups /people/jin.shin/blog/2008/02/15/sap-pi-71-mapping-enhancements-series-graphical-support-for-jdbc-and-rfc-lookups
May be I'm too foolish to follow those links, I got issues of each links.
What I really want is an example from step0
Swarup:
Refer the Lookup document - Easy Lookup in Process Integration 7.1
https://www.sdn.sap.com/irj/scn/index?rid=/library/uuid/20befc9a-aa72-2b10-ae9b-b0988791d457
The first step is "Create an RFC Enabled Function Module for look up", but where can I create the function module? Should I use ESB, IB? or use transaction 'SE11' ?
Kulkarni:
Very good links for RFC lookup with 7.0/3.0
https://www.sdn.sap.com/irj/scn/index?rid=/library/uuid/70d90a91-3cf4-2a10-d189-bfd37d9c3231&overridelayout=true
At page6 "PI Development/Configuration", it saies "You are on the design maintenance screen in the Integration Builder.Expand the subnodes for the software component version for which you want to import interfaces".
What is "design maintenance screen" ? My IB version is: Service Pack:08 Release:NW07_08_REL.
When I open IB, it display a screen titled with "Configuration: Intergation Builder", I did not find "software component version" node on the left tree.
Madhu_1980 :
it contains a link : SAP PI 7.1 Mapping Enhancements Series: Graphical Support for JDBC and RFC Lookups /people/jin.shin/blog/2008/02/15/sap-pi-71-mapping-enhancements-series-graphical-support-for-jdbc-and-rfc-lookups
The Prerequisites state:
The JDBC channel to be used for the lookup must be configured and activated in the Integration Directory.
The definition of the table used for the lookup must already be imported into the ES Repository as an external definition
But I don't know how to create a JDBC channel and define the table.

Can anybody suggest a site which gives me example for context handling ?

Can anybody suggest a site which gives me example for context handling ? and also some exersices for handson?

Hi Anil,
check the follwing links:
/people/riyaz.sayyad/blog/2006/04/23/introduction-to-context-handling-in-message-mapping
/people/claus.wallacher/blog/2006/04/17/replication-of-nodes-using-the-graphical-mapping-tool
http://help.sap.com/saphelp_nw2004s/helpdata/en/43/c4cdfc334824478090739c04c4a249/content.htm
http://help.sap.com/saphelp_nw04/helpdata/en/1f/ea0fb12403844bbb6c4cbc8a00cda9/frameset.htm)
http://help.sap.com/saphelp_nw70/helpdata/en/bd/ca1105c81c6742a0f8c8d49f8834bf/content.htm
http://help.sap.com/saphelp_nw04/helpdata/en/40/7b8e40496f6f1de10000000a1550b0/frameset.htm
http://help.sap.com/saphelp_nw04/helpdata/en/35/fb8c4057d5701de10000000a1550b0/content.htm
http://help.sap.com/saphelp_nw04/helpdata/en/42/f7293b2dbe1a71e10000000a422035/frameset.htm
http://help.sap.com/saphelp_nw04/helpdata/en/79/2835b7848c458bb42cf8de0bcc1ace/frameset.htm
https://www.sdn.sap.com/irj/sdn/go/portal/prtroot/docs/library/uuid/f59730fa-0901-0010-df97-c12f071f7d3b
/people/riyaz.sayyad/blog/2006/04/23/introduction-to-context-handling-in-message-mapping
Thanks,
Soumya.

Looking for Regex library to generate valid/invalid String

Hi-
My project use MDA (domain object are specified from an XML file) and we generate the domain, transfer object, DAO, services and controllers, flex controller, flex services and flex .as files.
Now we want to generate the Unit Test Case. Of course, we can't cover everything. What we can cover is most domain fields validation, such as length, max value, min value and perhaps regex matching.
So, what I'm looking for is a library that allow me to generate a valid and invalid String based on a given Regex pattern. So far, I have found Google Xeger, which only allow me to generate valid String based on the Regex pattern. I'm also looking for a library that will allow me tpo generate invalid String for a given regex.
Anyone know of such library. I really don't want to parse the Regex to come up with an invalid String (as I am not strong in Regex).

T.PD wrote:
915826 wrote:
My project use MDA (domain object are specified from an XML file) and we generate the domain, transfer object, DAO, services and controllers, flex controller, flex services and flex .as files.
Now we want to generate the Unit Test Case. What do you think you're going to check with a <b>generated UnitTest</b>?
The only thing you can check is the that your Code Generator generates a bunch of Classes (the Tests) the same way like another bunch of Classes (the production code). So unless you wrote the Code Generator: What does a generated Test tell you about the corerectness of your Domain Model?
IMHO generated tests are nothing more than a placebo...
bye
TPDYou are correct, but it probably doesn't matter. Plenty of people create (or in this wacky case: generate) unit tests because it is company policy that unit tests are there, not because you write them to support your development efforts.
Example: the company I work for has a whole legion of "PL/SQL developers". In other words: people who write endless amounts of SQL procedures. Company policy goes in effect: all code should be covered by unit tests. Result: unit tests that insert a record and then check if the record is inserted. Unit test that updates a record and then checks if the record is updated. I try to explain to such people: you can be pretty sure the database works, you don't need to unit test it. Blank stares.

NI CAN + CanOpen Library limitations (same as Copley?) - explanation?

I've been reading that LabVIEW CANOpen Library and NI CAN cards have a 50-object limit and up to 300 can message buffer limit, in which if these limits are reached, error messages will insue.
Does this hold true for using the Copley CMO? Instead of creating my own PDOs and transmitting SDOs, Copley offers an object library which does many of these thinigs for you while the user picks actions from a drop down menu (relative move, absolute move, etc).
Does the above limitation hold true for ANY Can hardware used by LabVIEW? If we do not use Labview's CANOpen Library but use a different vendor CANOpen library (but a Ni CAN card), do we still see these limitations?
Also, I had a chance to create 50 nodes (objects) and was able to repleatedly send commands to about 6 simultaneously with an issue. Would I have not reached my object limit in this case?

These two limitations apply whenever you use NI-CAN boards with the NI CAnopen Library. But it sounds worse then it actually is.
You can use the NI Spy to see when the Library uses an object. It configures something like CANX:TDY where X is the CANport number and Y is the ID.
The library uses objects for all periodic or unique tasks, like NMT(one Object), RTR PDOs(one object per PDO), SDO(two objects), Error management(one object per option), Sync(one object). The 300 messages issue only applies if you use the PDO buffer which is not often the case because most of the time you want to have the most recent data and therefore you would use the queue size 0.
DirkW
Message Edited by DirkW on 01-08-2008 08:08 AM

My Overdrive for my library books does not allow me to access the book that i am currently reading since IOS7 updated. also how do i now turn off the apps running in the background that are draining my battery?

my Overdrive for my library books does not allow me to access the book that i am currently reading since IOS7 updated. also how do i now turn off the apps running in the background that are draining my battery?

hey i m working on my illustrator and i m having many problems with my swatches
for example i use the green phosphorique i don't get this color i get another green
and many colors too it's like illustrator chooses for you the only green color
so please i kind of need help i can show you pictures of that i print screen viewed them.. so anybody who can help... pleaaaaaaaaaase contact me because i m having a project now..
my e mail is [email protected] i would be thankful
i even tried to download the illustrator on my friend's computer also i m having this problem ....

Are there any examples for programmatically creating OBR 11g rules?

I am looking for some examples about how to use the API to create rules from Java code as the SDK documentation is very terse. Are there examples out there for creating rules?

m_userName wrote:
When you create items in IB, they always appear at a default size (table view cells and nav bars have a height of 44, etc.). Is there anywhere to access these constants in code, for when you are creating elements programmatically?
Not that I know of.
When I want the default dimensions for IB Library objects, I generally drag the objects of interest out of the Library, and read the dimensions manually in the Size Inspector. In fact, when I want to create a view programmatically, I often lay it out in IB, then use the Size inspector to get the frame of each subview.
\- Ray

GX600 enable VT, for example for Windows 2008 HyperV

Hi.
Is there a modified BIOS to enable VT on the GX600, for example for Windows 2008 HyperV?
Using forum search I only found https://forum-en.msi.com/index.php?topic=121665.0
Thank you & Bye

You can try using Auditpol.exe: http://technet.microsoft.com/en-us/library/cc731451%28v=ws.10%29.aspx
This
posting is provided "AS IS" with no warranties or guarantees , and confers no rights.
Microsoft
Student Partner 2010 / 2011
Microsoft
Certified Professional
Microsoft
Certified Systems Administrator: Security
Microsoft
Certified Systems Engineer: Security
Microsoft
Certified Technology Specialist: Windows Server 2008 Active Directory, Configuration
Microsoft
Certified Technology Specialist: Windows Server 2008 Network Infrastructure, Configuration
Microsoft
Certified Technology Specialist: Windows Server 2008 Applications Infrastructure, Configuration
Microsoft
Certified Technology Specialist: Windows 7, Configuring
Microsoft
Certified Technology Specialist: Designing and Providing Volume Licensing Solutions to Large Organizations
Microsoft Certified IT Professional: Enterprise Administrator
Microsoft Certified IT Professional: Server Administrator
Microsoft Certified Trainer
Thanks but I guess, auditpol ca be used only to manipulate system audit policies. how do I specify a folder and user in auditpol ? I could not find or understand how folder can be included with auditpol command line options.
Thanks !

Any example for Timed ShellScript Discovery with PowerShell Discovery Probe?

Hi all,
Kris Bash provided a unix authoring library with many examples for dynamic discoveries for Unix/Linux (Unix/Linux Authoring
Library). What I am missing here is a timed shell script discovery, using a powershell discovery probe for creating discovery data. There is only a PropertyBag Discovery available.
Maybe one of you has already implemented such a discovery and can provide this as an example? I tried some things but so far it is not working.
The idea behind this is to execute a shell script on a linux host that returns several lines. The output should then be parsed by a powershell script that - depending on the output - creates different class instances. Any ideas?
Regards,
Holger

Holger,
See the blog post here (http://operatingquadrant.com/2011/03/24/operations-manager-%e2%80%93-extending-unixlinux-monitoring-with-mp-authoring-%e2%80%93-part-iii/)
for an example of using the PowerShellDiscoveryProbe. It doesn't matter whether this follows a Shell Command or a Shell Script probe, as in both cases you are passing the StdOut output as a parameter to the PowerShell script. You would parse StdOut
just as you do in the PropertyBag examples, but use the MOMApi calls to create and return the class instances and properties.
I hope this helps,
Kris
www.operatingquadrant.com

Howto build CAN-devices with CANopen Library

Hi
We're two students working on a project to simulate CAN devices connected to a master. We have to "build" these devices in LabView. We've been working with the CANopen Library and the Channel API.
We would prefer to use the CANopen Library, because it is easier that way to build the device's behaviour as it would be in "real-life". But the problem is, that the CANopen Library has been developed to build a CAN Master. Is there a way to bypass that. So that we could build the other side... a CAN device.
We figured out, that we simply could alter the COB-IDs for de PDOs, that would do it. But the whole SDO and Sync part isn't that easy to bypass.
Would be glad if we could get a tipp
Thank you in advance
Ranil Wijeyratne

Hi,
I'm a little confused on the master/slave terminology you're using, however, as CAN (also Canopen) is really a peer bus. Any device on the CAN bus can transmit and receive messages as described below (from the NI-CAN User Manual):
"When a CAN device transmits data onto the network, an identifier that is unique throughout the network precedes the data. The identifier defines not only the content of the data, but also the priority. A CAN identifier, along with its associated data, is often referred to as a CAN Object. When a device transmits a message onto the CAN network, all other devices on the network receive that message
. Each receiving device
performs an acceptance test on the identifier to determine if the message is relevant to it. If the received identifier is not relevant to the device (such
as RPM received by an air conditioning controller), the device ignores the message.
When more than one CAN device transmits a message simultaneously, the identifier is used as a priority to determine which device gains access to the network. The lower the numerical value of the identifier, the higher its priority."
As you can see, you can use our CAN interface "slave" to receive commands from any other device on the CAN bus "master".
Also the Canopen Library is just the API for LabVIEW, both CAN and Canopen ends up in Bits which then will be send to the "Listeners"! They´re just on other Layers on the Programming. But both is really easy with LabVIEW
Hope this helps.
Alex Rudolph
NI Switzerland

Canopen library behavior/use

I'm trying to use the heartbeat monitor vi's provided with the CANOpen library, but I have some questions:
It seems that previous state and current state both switch to undefined at a missed heartbeat. Is that really what is occuring or am i just missing the intermediate state where previous state contained the actual previous value because my while loop is too slow.
It also seems to me that the state changed event output should return to false each time a duplicate heartbeat state is received.
I have my wait for heartbeat in a while loop (see attached) and the purpose of the while loop was to enable various events based on previous and current state, but it seems the speed of the while loop is dictated by the timeout on the wait for heartbeat vi...should I be using events?
Thanks for the help.
Attachments:
CanOpen.PNG ‏16 KB

Hi,
You may want to try using NI-SPY to look at the commands that are being sent and received over the bus. This will allow you to see if you are missing any states.
Regards,
John E.
Applications Engineering
National Instruments

Examples for canopen library

Similar Messages

Maybe you are looking for