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* '''Start Acknowledgement Response Parameters'''
* '''Start Acknowledgement Response Parameters'''
{| class="wikitable"
|'''Parameter'''
|'''Type'''
|'''Example'''
|'''Description'''
|-
|id
| string
|"<TIMESTAMP>"
|Same request identifier received in the start request.
|-
|origin
| string
|"canopen-actor"
|Identifies the component that generated the response.
|-
|task
|object
|{...}
|Main response object.
|-
|task.alias
|string
|"READ_PDO_CONTINUOUS"
|Alias of the command that was executed.
|-
|task.taskResult
|object
|{...}
|Result object confirming whether the continuous PDO read
was started.
|-
|task.taskResult.success
|boolean
|true
|Indicates whether the start command was accepted.
|-
|task.taskResult.running
|boolean
|true
|Indicates that the continuous PDO read loop is running.
|-
|task.taskResult.mode
|string
|"pdo"
|Indicates that the loop is using PDO reception mode.
|-
|task.taskResult.pdo_num
|integer
|1
|TPDO number being listened to.
|-
|task.taskResult.interval_ms
|integer
|20
|Configured delay between read cycles, in milliseconds.
|-
|task.taskResult.error
|string
|"'''READ_PDO_CONTINUOUS''' requires a single
node"
|Error description. Present only when the start command
fails.
|}
* '''Continuous Sample Response Parameters'''
{| class="wikitable"
|'''Parameter'''
|'''Type'''
|'''Example'''
|'''Description'''
|-
|id
| integer/string
|1777041089180
|Sample response ID generated by the actor for each PDO read cycle.
|-
|origin
| string
|"canopen-actor"
|Identifies the component that generated the sample.
|-
|task
|object
|{...}
|Main response object.
|-
|task.alias
|string
|"READ_PDO_CONTINUOUS"
|Alias of the running continuous command.
task.
|-
|task.taskResult
|object
|{...}
|Result object containing one decoded PDO position sample.
|-
|task.taskResult.success
|boolean
|true
|Indicates whether this specific PDO read cycle was successful.
|-
|task.taskResult.node_id
|integer
|5
|CANopen node ID that produced the TPDO.
|-
|task.taskResult.pdo_num
|integer
|1
|TPDO number received and decoded.
|-
|task.taskResult.angle_deg
|number
|90.0
|Position inside one revolution, in degrees.
|-
|task.taskResult.steps_per_rev
|integer
|4096
|Number of raw counts per revolution used for conversion.
|-
|task.taskResult.revolutions
|number
|0.25
|Raw position converted into revolutions. Example: '''1024 / 4096 = 0.25''' .
|-
|task.taskResult.raw
|integer
|1024
|Decoded raw position value from the PDO payload.
|-
|task.taskResult.data
|array
|[0, 4, 0, 0]
|Raw PDO payload bytes received from the CANopen node.
|-
|task.taskResult.offset
|integer
|0
|Byte offset used to extract the raw position value from '''data.'''
|-
|task.taskResult.size
|integer
|4
|Number of bytes decoded from '''data'''.
|-
|task.taskResult.signed
|boolean
|false
|Indicates whether the raw value was decoded as signed or unsigned.
|-
|task.taskResult.continuous
|boolean
|true
|Marks this response as a continuous sample.
|-
|task.taskResult.request_id
|string
|"read-pdo-cont-node5"
|Original request '''id''' that started the continuous loop. Useful to
correlate samples with the start command.
|-
|task.taskResult.error
|string
|"pdo operation failed"
|Error description. Present only when a sample fails.
|}
====== Stop Request ======
'''Req-Topic''': canopenRM8007/runtime/in<syntaxhighlight lang="json" line="1">
{
  "id": "stop-pdo-cont",
  "origin": "APP",
  "task": {
    "alias": "STOP_READ_PDO_CONTINUOUS",
    "taskParams": {}
  }
}
</syntaxhighlight>Alternative stop request using '''READ_PDO_CONTINUOUS''':<syntaxhighlight lang="json" line="1">
{
  "id": "stop-pdo-cont",
  "origin": "APP",
  "task": {
    "alias": "READ_PDO_CONTINUOUS",
    "taskParams": {
      "action": "STOP"
    }
  }
}
</syntaxhighlight>
====== '''Stop Response''' ======
'''Reply-Topic''': canopenRM8007/runtime/out<syntaxhighlight lang="json" line="1">
{
  "id": "stop-pdo-cont",
  "origin": "canopen-actor",
  "task": {
    "alias": "READ_PDO_CONTINUOUS",
    "taskResult": {
      "success": true,
      "running": false,
      "stopped": true
    }
  }
}
</syntaxhighlight>
* '''Stop Response Parameters'''
{| class="wikitable"
|'''Parameter'''
|'''Type'''
|'''Example'''
|'''Description'''
|-
|id
| string
|"stop-pdo-cont"
|Same request identifier received in the stop request.
|-
|origin
| string
|"canopen-actor"
|Identifies the component that generated the response.
|-
|task.alias
|string
|"READ_PDO_CONTINUOUS"
|Alias returned by the stop handler.
|-
|task.taskResult.success
|boolean
|true
|Indicates whether the stop request was processed successfully.
|-
|task.taskResult.running
|boolean
|false
|Indicates that the continuous PDO loop is no longer running.
|-
|task.taskResult.stopped
|boolean
|true
|Indicates whether there was an active continuous task that was actually stopped. If
no task was running, this may be '''false'''.
|}
====== Decode Logic ======
The received PDO payload is decoded using:
* '''offset''': first byte to read from the PDO payload;
* '''size''': number of bytes to read;
* '''signed''': whether the value is signed or unsigned;
* '''steps_per_rev''': scaling factor used to calculate revolutions and angle.
The raw value is decoded as little-endian:
'''raw = int.from_bytes(data[offset : offset + size], byteorder="little", signed=signed)'''
Then:
'''revolutions = raw / steps_per_rev'''
'''angle_deg = ((raw % steps_per_rev) / steps_per_rev) * 360.0'''
===== 24.14.4 Design Principles =====
* '''Protocol-Only Actor'''
The CANopen Actor is responsible for:
- CAN frame encoding/decoding;
- SDO communication;
- PDO reception (raw);
- NMT control;
- Heartbeat monitoring.
* '''No Device Semantics'''
The actor:
'''Does NOT know''':
- What 0x6004 represents;
- Units (RPM, mm, °C, etc.);
- Device-specific logic.
'''Only returns''':
- Raw values;
- Protocol-level responses.
* '''Node Management'''
- Nodes must be defined via configuration;
- Actor maintains node state internally;
- Supports multiple nodes simultaneously.
===== Summary =====
The CANopen Actor:
- Implements '''CANopen protocol communication;'''
- Provides '''generic MQTT interface;'''
- Supports '''multi-node networks;'''
- Keeps '''strict separation between transport and semantics.'''


=== 25. Included Software Stack ===
=== 25. Included Software Stack ===
Retrieved from "https://wiki.atronia.eu/SENSBLUE_ATLAS/Datasheet"