Release-Notes CAN-Stack_UK - ifm Mobile Controls Forum

CAN Stack Release Notes
Date
CAN stack version
09 March 2012
V1.0.23.0
CAN Stack Release Notes
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Page 1 of 13
CAN Stack Release Notes
Date
CAN stack version
09 March 2012
V1.0.23.0
Contents
1
2
3
4
5
Release notes ................................................................................................................................. 3
1.1
Supported devices ................................................................................................................. 3
1.2
Non-supported devices .......................................................................................................... 3
Features .......................................................................................................................................... 4
2.1
Supported............................................................................................................................... 4
Version compatibility ....................................................................................................................... 5
Bug fixes / extensions ..................................................................................................................... 6
4.1
V1.0.12.0 ................................................................................................................................ 6
4.2
V1.0.13.3 ................................................................................................................................ 6
4.3
V1.0.13.4 ................................................................................................................................ 6
4.4
V1.0.14.0 ................................................................................................................................ 6
4.5
V1.0.15.1 ................................................................................................................................ 7
4.6
V1.0.16.0 ................................................................................................................................ 8
4.7
V1.0.17.0 ................................................................................................................................ 9
4.8
V1.0.18.1 ................................................................................................................................ 9
4.9
V1.0.18.2 ................................................................................................................................ 9
4.10
V1.0.19.0 ................................................................................................................................ 9
4.11
V1.0.20.1 .............................................................................................................................. 10
4.12
V1.0.20.2 .............................................................................................................................. 11
4.13
V1.0.21.0 .............................................................................................................................. 11
4.14
V1.0.22.0 .............................................................................................................................. 12
4.15
V1.0.23.0 .............................................................................................................................. 12
Removed errors and new functions in CoDeSys depending on the CAN stack........................... 13
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CAN Stack Release Notes
Date
CAN stack version
09 March 2012
V1.0.23.0
1 Release notes
1.1 Supported devices
o BasicSystem (for details see BasicSystem release notes)
o PDM360NG (for details see PDM360NG release notes)
1.2 Non-supported devices
o
o
o
o
o
o
ClassicController
ExtendedController
CabinetController
SmartController
SafetyController
PDM360
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CAN Stack Release Notes
Date
CAN stack version
09 March 2012
V1.0.23.0
2 Features
2.1 Supported
o RawCAN
•
•
•
•
•
•
Transmit / receive CAN messages
Cyclic transmission
RTR
Change download ID
Change baud rate
Status
o Network variables
•
•
Cyclic transmission
Transmit on change
o J1939
•
•
•
•
•
•
DM1 / DM2
Address claiming
Change name J1939
Transmit / receive PGNs / SPNs
Cyclic transmission of PGNs / SPNs
Status
o CANopen
•
•
•
•
•
•
•
•
•
Master
Device
PDOs / Mapping / Sync
SDO Expedited + Segmented Transfer
Network Management (NMT)
Heartbeat / Node Guarding
EMCYs
Create / access object directory
Status
o Maintenance
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CAN Stack Release Notes
Date
CAN stack version
09 March 2012
V1.0.23.0
3 Version compatibility
CAN stack
1.0.12.0
1.0.13.3
1.0.13.4
1.0.14.0
1.0.15.1
1.0.16.0
1.0.17.0
1.0.18.1
1.0.18.2
1.0.19.0
1.0.20.1
1.0.20.2
1.0.21.0
1.0.22.0
1.0.23.0
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RAWCAN_NT
V01.00.00
V01.00.01
V01.00.02
NetVarLib_NT CANopen_NT
V01.00.00
V01.00.01
J1939_NT
V01.00.00
V01.00.01
V01.00.00
V01.00.01
V01.00.02
V01.00.02
Page 5 of 13
CAN Stack Release Notes
Date
CAN stack version
09 March 2012
V1.0.23.0
4 Bug fixes / extensions
4.1 V1.0.12.0
First official version
4.2 V1.0.13.3
o Bug fix
•
CAN
− Bus-off routine does not function
− Function blocks CAN_RX_ENH_FIFO and CAN_RX_RANGE_FIFO:
function block looses messages
• J1939
− Function block J1939_DM1RX: incorrect lamp status
− Function block J1939_RX_MULTI: result adapted
• CANopen
− Position of the SDO abort error code in the CAN message can be shifted by
1 byte
− Abort codes for non-existing subindex added (0x06090011)
4.3 V1.0.13.4
o Bug fix
•
CAN
− The SRR bit in extended frames is transferred as dominant bit on the bus
but should be recessive (only BasicSystem)
4.4 V1.0.14.0
o Bug fix
•
CAN
− For different events the interface changes to 1000 kBaud if a nonpermissible value has been set for the module parameter "baud rate" in the
controller configuration
− Function block CAN_TX: The result value is incorrect before the call if in the
previous cycle a message was given to the stack to be transferred
• J1939
− Function block J1939_RX_MULTI: Result value incorrect in case of
deactivated function block
− Function block J1939_ENABLE: J1939 stack cannot be started via the
function block
• CANopen
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CAN Stack Release Notes
Date
CAN stack version
−
−
−
−
−
−
−
−
09 March 2012
V1.0.23.0
The heartbeat monitoring of the master only functions if the master itself
transmits heartbeat messages and if the heartbeat producer is activated for
at least one CANopen Device
The CANopen master transmits NMT commands for non-existing CANopen
slaves
Function block CANOPEN_GETGUARDHBERRLIST: The number of the
nodes with heartbeat or guarding error and the list with the node numbers
are not deleted --> the ResetList input has no function any more; the
number and the list are updated as soon as there are any changes
Function block CANOPEN_ENABLE: The CANopen master initialises and
starts a node which transmits a bootup message although the CANopen
stack is deactivated
The master does not respond to a bootup message to CANopen V3.x
(concerns e.g. CR2011, CR2013, CR2101)
If for one or several nodes the option 'Create all SDO's' is activated in the
controller configuration, the master hangs up during the initialisation of
CANopen slaves
Function block CANOPEN_GETEMCYMESSAGES: Values in the EMCY
array are not deleted by the RstList input
Function block CANOPEN_NMTSERVICES: The RESULT output partly
indicates the non-permissible value 12, if during that time the function block
is deactivated, the RESULT output then has the value 1 instead of 0
4.5 V1.0.15.1
o Bug fix
•
J1939
− If in a J1939 project the module J1939_ENABLE is not used but only a
J1939 configuration, the controller is assigned the address 0 instead of the
address 252
− The serial number of the device is not displayed correctly in the J1939
name of the device. --> Only applies if no J1939 configuration is used,
otherwise the J1939 name is overwritten by this number
• CANopen
− Master transmits PDOs although the corresponding CANopen slave does
not exist
− Function blocks CANOPEN_GETSTATE and
CANOPEN_GETGUARDHBERRLIST: During the initialisation of the
network the CANopen master does not detect missing CANopen slaves as
missing
− Entries created in CoDeSys in parameter lists in the parameter manager
always have the property 'read-write' as access right and the property
'DWORD' as type. --> CoDeSys V2.3.9.28 also necessary
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CAN Stack Release Notes
Date
CAN stack version
−
−
−
09 March 2012
V1.0.23.0
SDO Segmented Transfer incomplete if the number of data to be
transferred is as follows: odd number * 7 bytes --> The error leads to
disconnection at the end of the application download for CoDeSys projects
with a project name of 6 or 20 bytes (without .pro).
Values of object directory entries in a CANopen device which are created
via a variable list in the parameter manager in CoDeSys cannot be read or
written by SDO. There is no connection with the linked variables. In PDOs
objects can be used without any problem.
PDOs of a CANopen device with transmission type 0x01 to 0xF0 and 0xFF
are not transmitted or received without prior initialisation by a CANopen
master.
o Feature
•
CANopen
− Function block CANOPEN_NMTSERVICES: By means of the function
block, a CANopen device can change its CANopen status independently
(preoperational <--> operational)
• CANopen and maintenance
− The same node ID can be set for the CANopen communication and the
service communication (Maintenance Tool) of a CANopen master or device.
--> During service communication, the SDO interface cannot be used for
the application (transmit and receive).
4.6 V1.0.16.0
o Bug fix
•
CANopen
Strings in object directory entries created via variable and parameter lists in
the parameter manager do not function (as before, strings in parameter lists
will not function)
− Guarding or heartbeat consumer error is not reset in the CANopen device
− The error code from the object 0x1001 is not used in EMCY: If the function
block CANOPEN_SENDEMCYMESSAGE is called with ER := 0, the
current value of the error register (0x1001) is not transmitted in the EMCY
message
− Values in object directory entries mapped in a PDO can neither be changed
by SDO nor in the program (BasicSystem)
−
For the CANopen master the value in an RxPDO is sporadically too high by
the value 1.
• Network variables
− A string in the network variables leads to a system crash: If you try to
transmit or receive a variable of type STRING by network variable, a
system crash follows
−
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CAN Stack Release Notes
Date
CAN stack version
09 March 2012
V1.0.23.0
4.7 V1.0.17.0
o Bug fix
•
CANopen
The initial value of IEC variables the assigned object of which was mapped
in an RxPDO is not updated as long as the data received in RxPDO is 0
• Network variables
− If for a list with network variables the property "Cyclic transmission" is ticked
although "Read" is set, the reception of the network variables is delayed by
the value set in "Interval"
• Maintenance
− During a download of the firmware with 1000 kbaud via a CANfox (EC2112)
with current drivers (as of 7.4.6.0) a cancellation caused by data loss in the
controller may result in connection with a very fast PC (only BasicSystem)
−
4.8 V1.0.18.1
o Bug fix
•
CANopen
− By default an object 0x1006sub0 does not exist. If such an object is created
via the parameter manager, it has no function. At present it functions via
a parameter list in the parameter manager but not yet via a variable list
− Value in the error register (0x1001) is not correct if several errors are active
− After a CoDeSys reset or cold reset the values of the last PDOs received
remain
4.9 V1.0.18.2
o Bug fix
•
CANopen
− Only the variable of the first object mapped into a receive PDO is updated
for a CAN device if the respective PDO is received. The variables of all
other objects mapped into the receive PDO keep the value 0 (the error
appeared in the stack between V1.0.16.0 and V1.0.18.0 // in V1.0.19.0 not
yet eliminated since V1.0.18.2 was created after V1.0.19.0)
4.10 V1.0.19.0
o Bug fix
•
•
−
J1939
Function block J1939_ENABLE: When the application is started for the first
time after a download with CoDeSys, the function block does not start
correctly, RESULT has the value 8, the function block only functions
correctly after a reset (RESULT = 1)
CANopen
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CAN Stack Release Notes
Date
CAN stack version
09 March 2012
V1.0.23.0
−
CANopen heartbeat remains active after project download (only
PDM360NG)
− Incorrect SDO abort code in case of read access to "Write only" objects
− Strings in object directory entries created via variable and parameter lists in
the parameter manager do not function
− By default an object 0x1006sub0 does not exist. If such an object is created
via the parameter manager, it has no function. As of V1.0.18.1 it
functioned via a parameter list in the parameter manager but not yet via a
variable list
− Initialisation of a CANopen network takes quite long
The waiting time between the NMT command "Start Node" was removed in
this version. The time per CANopen slave was shortened from 0.5 s to 0.3
s. The change to parallel initialisation will follow later.
− The CANopen master does not configure a slave correctly if the mapping of
the slave has been changed in CoDeSys, the PDO is possibly inactive then
− Function block CANOPEN_SENDEMCYMESSAGE: The value from input
MSEF is not transmitted together with the EMCY message (error only
appeared as of V1.0.18.1)
• Network variables
− Network variables are still transmitted when the application has been
stopped and even during the download of an application
4.11 V1.0.20.1
o Bug fix
•
CAN
− Most function blocks cannot check whether the set interface is available. As
a consequence no error would be indicated when function blocks are called
for interface 2 for units with only one interface
− The CAN interface is not deactivated after four unsuccessful automatic
recover attempts
• J1939
− Function blocks J1939_RX_MULTI and J1939_DM1RX: The function block
does not receive the data of the last CAN message if the number of data in
the multiframe is a multiple of 7
− Function blocks J1939_TX_ENH_MULTI and J1939_DM1TX: The function
block transmits an additional CAN message without any data (0xFF)
• CANopen
− The master looses messages if many CANopen slaves are used (as of
approx. 12 I/O modules, only BasicSystem)
− If both CAN interfaces are configured as master, CANopen does not
function for either CAN interface
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CAN Stack Release Notes
Date
CAN stack version
−
−
−
−
−
−
−
09 March 2012
V1.0.23.0
Function block CANOPEN_SENDEMCYMESSAGE: Function block no
longer acts correctly (several corrections and performance changes since
V1.0.16.0)
During initialisation the CANopen master tries to write the value 0 to the
object 0x1011sub1 if the option "Create all SDO's" is activated in CoDeSys
Function block CANOPEN_GETSTATE: A Can bus-off is not detected
When the option "Reset Node" is activated in the controller configuration,
no NMT command "Reset Node" is transmitted after the "load" command
Only the variable of the first object mapped into a receive PDO is updated
for a CAN device if the respective PDO is received. The variables of all
other objects mapped into the receive PDO keep the value 0 (the error
appeared in the stack between V1.0.16.0 and V1.0.18.0 // in V1.0.19.0 not
yet eliminated since V1.0.18.2 was created after V1.0.19.0)
Function block CANOPEN_GETSYNCSTATE: Although the object
0x1006sub0 has the value 0, a Sync error is indicated when the application
is started when a Sync message is never received
Function block CANOPEN_GETSYNCSTATE: Changing the variable via an
object 0x1006sub created via a variable list from the program does not
show any effect
4.12 V1.0.20.2
Adaptations for PDM360NG
4.13 V1.0.21.0
o Bug fix
•
CANopen
Function block CANOPEN_SENDEMCYMESSAGE: The RESULT output of
the function block always provides the value 242 until it is called with
EXECUTE := TRUE for the first time
− For the CANopen master the RxPDO values are regularly multiplied by the
value 256 (error exists only as of V1.0.20.1)
− Function block CANOPEN_SETSTATE: After changing the CANopen node
number of a CANopen device, the heartbeat message is transmitted with an
incorrect CAN ID
−
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CAN Stack Release Notes
Date
CAN stack version
09 March 2012
V1.0.23.0
4.14 V1.0.22.0
o Bug fix
•
CANopen
The CANopen master receives no synchronous PDOs (error only occurs as
of version V1.0.20.1)
− The CANopen master does not transmit an asynchronous PDO for every
change or it is transmitted for each IEC cycle even if the mapped values
have not changed (error only occurs as of version V1.0.20.1)
−
4.15 V1.0.23.0
o Bug fix
•
CAN
− CAN_STATUS: At the WARNING_RX and WARNING_TX outputs which
are of the type Bool, values greater than 1 are provided (only PDM360NG)
− Function block CAN_STATUS: The WARNING_RX and WARNING_TX
outputs are reset although input CLEAR = FALSE (only BasicSystem)
− The existing bus-off is not reset by an application download (only
PDM360NG)
− Function block CAN_RECOVER: In spite of using the function block, the
CAN interface is deactivated after four unsuccessful recover versions (error
only since V1.0.20.1)
− Function block CAN_RECOVER: the RECOVER_EXECUTE input does not
behave like an EXECUTE input but like an ENABLE input
• CANopen
− Function block CANOPEN_SENDEMCYMESSAGE: If several errors have
been indicated via function block and if one error is then removed, the error
code in the EMCY message transmitted afterwards is not always 0 but can
have the value of a still existing error
− Function block CANOPEN_GETGUARDHBERRLIST: The CANopen
master does not detect if a slave changes its status independently although
the status is transmitted via heartbeat or node guarding
− Function block CANOPEN_GETGUARDHBERRLIST: If a slave does not
transmit its heartbeat messages this is detected. If the slave returns to the
network without boot-up message, it is still indicated as missing.
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Page 12 of 13
CAN Stack Release Notes
Date
CAN stack version
09 March 2012
V1.0.23.0
5 Removed errors and new functions in CoDeSys
depending on the CAN stack
o 2.3.9.28
•
−
Bug fix
The property "Access rights" of the CANopen object directory entries made
via the parameter manager is not transmitted to the target system
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Page 13 of 13
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