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User Manual
EtherNet/IP / CANopen - Converter
Document code: MN67429_ENG Revision 1.001 Page 23 of 31
Page 23 of 31
SENDING ASYNCHRONOUS CAN MESSAGES FROM ETHERNET
The converter allows to send asynchronous CAN messages (for example a NMT message) directly from Ethernet to CANopen.
The Ethernet message to send to the converter must have this structure:
Byte Number
Description
1÷4
COB-ID of the CAN message to send
5÷(4+n)
Data of the CAN message
n=Number of Byte to Write
To choose the type of CAN (2.0A or 2.0B) of the frame that the converter will send, it is necessary to put the most significant bit of the byte
1 to:
•
0: CAN 2.0A;
•
1: CAN 2.0B.
To send the Ethernet frame to the converter, there are two different ways:
Using the EtherNet/IP;
Using the tunneling port of the converter.
M
ODE
1:
E
THER
N
ET
/IP
In this case, to send a CAN message from Ethernet to CANopen, it is necessary to use the assembly 103 (0x66) of the EtherNet/IP. The
messages to send will have these parameters:
Service: Set Attribute Single;
Class: 4 (0x04);
Istance: 103 (0x66);
Attribute: 3 (0x03).
Example:
We want to send the NMT message “Start” to the CANopen device 5. The Ethernet frame will have these characteristics:
CAN Type=2.0A; Frame: Cob_ID=0x0000; Data=0x0105.
So the string of hexadecimal numbers to be send to the converter is: [00][00][00][00][01][05].
