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www.kvaser.se HLP Comparison
www.kvaser.se
HLP Comparison
www.kvaser.se
Comparison betweenCANopen, DeviceNet,
Can KingdomHigher Layer Protocols
980227 ©KVASER AB Sweden
CANopen DeviceNet/PDMS CAN KingdomPossible bit rates 1M, 800k, 500k,
250k,125k, 50k,20k, 10k
125k, 250k, 500k Any bit rate, Service at125k
Protection againstmodules withincorrect bit rate.
No No Yes
Autobaud No Possible, but notspecified.
Possible, but notspecified.
Changeable by theHLP
No, possible bySDO
YesNo if set by switches.
Yes.
Bit Rates
980227 ©KVASER AB Sweden
CANopen DeviceNet/PDMS CAN KingdomPossible nodenumbers. (0) 1-127 0-63 (0) 1-255
Default node number. None. 63NoneSet in service mode orread from connector.
Protection againstduplicate numbers.
No/Yes can bedone by the NMTmaster.
Yes Duplicate MACID Check.
No/Yes HLP supportschecking by the King.
Changeable by theHLP
Yes, in aconfigurationmode ifsupported.
YesNo if set byswitches.
Yes.
Node Numbers
980227 ©KVASER AB Sweden
CANopen DeviceNet/PDMS CAN KingdomPriorities owned by amodule at power on. 8 + (1-9) 31 + (63) 0/1 + (2)
Priorities open forgeneral use.
6 (4 PDO and 2 SDO) 26 at each module. Any not already
used.
CAN RemoteTransmit Request No No Yes
Extended CAN No No Yes
System control ofpriorities.
No/Yes, If supportedby module troughSDO peer to peerchannel.
3 groups containing 16,5 and 5 given prioritiesfrom which to select.
Yes, controlled bysystem designer.
Free priorities. None None All
Fundamentals about Priorities
980227 ©KVASER AB Sweden
CANopen DeviceNet/PDMS CAN Kingdom
Start withpredefinedsettings
Yes.
No support by the HLP.Any module is free to dowhat it wants with the 27priorities/IDs owned by themodule.
The King can commandthe modules to start withsettings from nonvolatilestorage.
Automaticstart at poweron.
Yes, but it ispossible to waitfor the NMT tocheck thesystem beforestart.
PDMS module will allwayswait for the master.
Yes, if allowed previouslyby the King. This is adegenerated Kingdom.
PredefinedPrioritiy/IDs atthe start andreserved forthe module.
8 priorities fromthe list below:[1, 3, 4, 5, 6, 11,12, 14] *127 +NodeNr.
At the start:2 Tx, 3 RxGrp1: N+M*64 M=0-15Grp2: N*8+1024+MM=0-7 Grp3:N+1536+M*64M=0-6
At the start: During thefirst 200 ms: 0 Tx, 2Rx0and 2031.Then any number aspreviously set by theKing.
System Start-up
980227 ©KVASER AB Sweden
CANopen DeviceNet/PDMS CAN Kingdom
Reset of a module. Yes Yes, from anestablishedconnection.
Yes
Assigning amodule to agroup.
No NoYes, 255 minus thenumber of modules in thesystem
Setting of CANreception masks No No Yes.
System Controls
980227 ©KVASER AB Sweden
CANopen DeviceNet/PDMS CAN KingdomAssignment ofpriority to newconnection
Yes/No:2 levels for SDO4 levels for PDO
Yes, by connectionobjects, max 26producer objects.
Yes. Only limited by the numberof free priorities and modulememory.
Assignment of Priorities
980227 ©KVASER AB Sweden
CANopen DeviceNet/PDMS CAN KingdomReal Time Clock(RTC). Yes. No. Yes.
RTC Resolution 1 us. 1ns .. 1h
RTC deviation betweenmodules
1-30us. Within 1 bit length.
Restricted repetitionrates of prioritiy/IDs
Yes No Yes
Timed HLP production Yes, by onespecific sync-message.
Yes, 1ms resolution. Yes, at RTCresolution, for any
CAN message.
Production within a timewindow.
Yes, in a windowafter one specificsync-message.
No Yes, at RTCresolution, for any
CAN message.
HLP production atconsumption events
Yes, after onespecific sync-message.
Yes always in themaster-slaveconnection.
Yes, at HLP level, forany CAN message.
Real-Time Support
980227 ©KVASER AB Sweden
CANopen DeviceNet/PDMS CAN Kingdom
Functions and datastructures (Profiles) inHLP.
SIGs have made anumber of profilese.g. encoder,motor controller.
Yes, by ODVAdefined devices.
No specification, butthere are a number ofspecifications like CDA-101 from US-Navy.
Possibility to buildnew data structuresfrom application layerprimitives.
No.Yes, it is possible tohave an assemblyobject
Yes, HLP includes toolsto make new datastructures by linkingprimitives to genericobjects.
Possibility to havedata in the prioritybits.
No No Yes, any bit sequence canbe linked to an internaldata structure
HLP support for Appl.data struc tures largerthan 8 byte
No.Yes, unlimitedlength. 7 or 6 bytesin each transfer
No HLP support.
Block transferYes if the modulehave CALsupport.
No Yes, unlimited length. Sixbytes in each transfer.
Application Support
980227 ©KVASER AB Sweden
CANopen DeviceNet/PDMS CAN KingdomAdministrator. SIGs in CiA ODVA EAN International, UCC
Vendor Id number 7 char ASCII 16 bits, 0..65535 Incl. in product code.
Device type 7 char ASCII 16 bits, 0..65535 Incl. in product code.
Product code 7 char ASCII 16 bits, 0..65535 40 bits EAN-13 code.
Serial number None 32 bit 40 bit
Software version 7 char ASCII 16 bit Major 16 bitMinor
Incl. in or an additionalEAN-13 code.
ASCII information See above Product name 0 to255 bytes Not specified
Module Identity Registration
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Summary DeviceNet
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Summary CAN Kingdom
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Summary CAN Kingdom (cont.)
980227 ©KVASER AB Sweden
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CANopen
