Industry — CANopen
Select Industry → CANopen and install the CANopen package. The module relates CAN frames to CANopen messages: NMT, Heartbeat, SDO, PDO and other recognized traffic types.
Connection
Select an installed CAN transport under Settings → Connections → Transport, then the adapter and bus bitrate. CANable, WeAct, J2534, Lawicel/HEX-USB+CAN and UCCB packages are available; settings depend on the adapter. J2534 with a 32-bit driver may require DriverBridge.
Without a connection, load a .ptrc file or a supported CAN Hacker .trc file in Tracer.
What to inspect
| View | Purpose |
|---|---|
Tracer, Physical | Inspect the CAN ID, data, time and source frame flags |
Tracer, Protocol | Analyze CANopen: node, message type, object index/subindex and SDO aborts |
| Monitor | Summarize recurring CAN frames, latest bytes, period, count and highlighted changes |
CANopen has no separate Transport layer. Fields can.* are available on the Physical layer and canopen.* on the Protocol layer. CAN frame summaries are described under Monitor.
Node state
On the Protocol layer, compare NMT, Boot-up, Heartbeat, Node Guarding and EMCY messages over time. Select a node from messages in your trace. For NMT, canopen.nodeId is the target node; 0 means a command to all nodes. Filtering only by one node's number hides that command.
Interpret an EMCY code using the device description and the node's subsequent state.
Important
Heartbeat confirms that a node message was observed, but does not prove that a command was executed at a physical output. An event absent from the trace may have occurred outside the capture window.
Object access
For SDO/USDO, inspect the request, response and object key when the message contains it. A suitable EDS/DCF provides object names and descriptions. Take the index and subindex from the actual traffic or device description.
Filtering by object key hides segments that do not contain it. To inspect the whole transfer, filter by node and message family instead.
Important
To investigate a transfer abort, compare the code, referenced object and preceding request. The abort alone does not establish whether the request or device configuration is wrong.
PDO data
A suitable EDS/DCF and complete PDO mapping enable decoded values. Without a suitable description, inspect the bytes without assigning physical meaning based on a single coincidence.
Take the PDO's CAN identifier from the trace or device configuration: its COB-ID can be changed. Monitor shows its latest bytes, period, count and highlighted changes while the device operates. Select the Physical layer in Tracer to inspect the source frame, or the Protocol layer for the decoded message. These layers' filters and the Monitor view are independent.
If a conclusion depends on EDS/DCF, include the description and identify its node binding when sharing the trace file.