Evidence srl provides, for free to use, a Scilab and Scicos code generation with CanFestival, CANOpen, and the remote CANOpen support for Xenomai-based AUTOMATA and WAGO products.

When the WAGO-I/O-SYSTEM 752 is switched on, it sends a proprietary boot-up message non-confirming to cANopen standard. We have modified the CANFestival library to accomodate this non-standard protocol.

We have ported a Scilab code generator for Xenomai. We developed- CAN Scicos blocks to control WAGO and UDP Scicos blocks to control remotely AUTOMATA A1.

The WAGO-I/O-SYSTEM 752 was connected (via CAN) to the AUTOMATA A1 Industrial PC. Xenomai was installed on AUTOMATA A1 Industrial PC. The Scilab code was generated on the host PC and was subsquently tested on A1.

Figure below is a target example using Scicos:

Also see the Evidence presentation on Scilab/Scicos Code Generator for Xenomai + CanFestival! 

The entire development was done using Open Source products.

Xenomai

Xenomai is a real-time development framework cooperating with the Linux kernel, in order to provide a pervasive, interface-agnostic, hard real-time support to user-space applications, seamlessly integrated into the GNU/Linux environment. For more details, check Xenomai hompage!

Scilab

Scilab is a scientific software package for numerical computations providing a powerful open computing environment for engineering and scientific applications. Scilab includes hundreds of mathematical functions with the possibility to add interactively programs from various languages (C, C++, Fortran…). It has sophisticated data structures (including lists, polynomials, rational functions, linear systems...), an interpreter and a high level programming language. For more details, check Scilab hompage!

Scicos

Scicos is a graphical dynamical system modeler and simulator toolbox included in the  Scilab® engineering and scientific computation software. With Scicos you can create block diagrams to model and simulate the dynamics of hybrid dynamical systems and compile your models into executable code. Scicos is used for signal processing, systems control, queuing systems, and to study physical and biological systems. New extensions allow generation of component based modeling of electrical and hydraulic circuits using  the Modelica language. For more details, check Scicos hompage!

 CANopen

CANopen in a higher layer protocol based on CAN (Controller Area Network), which enables the communication between devices of different manufacturers and guarantees an interchangeability of devices.  For more details, check CANopen solutions hompage!

CanFestival

CanFestival is an OpenSource CANOpen framework, licensed with GPLv2 and LGPLv2. CanFestival focuses on providing an ANSI-C platform independent CANOpen stack that can be implemented as master or slave nodes on PCs, Real-time IPCs, and Microcontrollers. Canfestival supports CANopen protocols: PDO, SDO, NMT, SYNC, Node Guarding, Life Guarding, Heartbeat, Bootup.  For more details, check CanFestival hompage!

AUTOMATA Industrial PC - A1 PC Based Automation System

A1 is AUTOMATA PC based embedded system (x86 compatible PC) specially developed for industrial automation application. ULV (Ultra Low Voltage) CPUs integrated with particular cooling system without fans, allow the system to operate in harsh environment condition. It is also a powerful Control System with two integrated CAN bus channels for standard I/O connection.

Check the A1 Base at Automata web-site!

Requirements:

•  A Linux-based host PC.
•  A Linux-based target machine (AUTOMATA A1 Base).

Procedure:

Check the Evidence wiki for detailed procedure to make the AUTOMATA A1 CAN bus ready...

Project:

The AUTOMATA-CAN driver project contains:

•  A patch to Xenomai 2.4.3 including CAN driver.
•  The table below shows technical characterstics of the A1 Base on which the driver was developed and tested:
  
  

Download:

Check the Xenomai products download section...

WAGO-I/O-SYSTEM (Series 752) - I/O-Modules for CANopen with D-SUB Connector
(752-327 Electronic module and 752-828 Basic module) 

Digital I/Os still play an important role in the field of decentralized fieldbus components.The WAGO-I/O-SYSTEM 752 for CANopen is a field bus node for distributed automation. It supports 16 digital inputs and 16 digital outputs and transmits the signals to an higher ranking control system via CANopen.
The WAGO-I/O-SYSTEM 752 consists of a base module (752-828) which allows prewiring of the sensor/actuator connections and a pluggable electronic module (752-327) which incorporates the entire electronics. An electronic module can be replaced without interfering with the field wiring.
The WAGO-I/O-SYSTEM 752 is extremely compact, space saving, and cost effective.

Requirement:

•  A host PC with Xenomai development enviornment installed on it.
•  A target Xenomai machine with a CAN bus.

Note: The host and the target can also be the same PC.

 Procedure:

Check the Evidence wiki for detailed procedure to build CANFestival for WAGO-I/O-SYSTEM 752... 

Project:

The WAGO-CANfestival project, currently in alpha stage, but is usable, contains:

•  A patched version of CANfestival to support non-compliant behaviour of WAGO node.

Future scope:

•  WAGO 752 scicos block for xenomai.
•  User documentation.

Download:

Check the Xenomai products download section...