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DEUTSCHMANN AUTOMATION UNIGATE CM-CANopen, Instruction Manual

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DEUTSCHMANN AUTOMATION UNIGATE CM-CANopen Instruction Manual Download Page 41

23.6.17

UNIGATE

®

 fieldbus gateway UNIGATE

®

 CM - CANopen V. 1.4

41

Deutschmann Automation GmbH & Co. KG

CANopen

14.1.2 CANopen V4

Additional supported functions:

•

Heartbeat

•

Dynamic mapping

•

Onswich message

The following example can be found in the file folder “example“ after the installation of the soft-
ware “Protocol Developer“ (this example gives a detailed description of the initialization):

•

Example_CO_V4.dss

At CANopen V4 the following fieldbus-specific Scripts are supported:

•

Init Object Table

•

Create Object

•

Set PDO Communiction

•

Set PDO Mapping

•

Write Object

•

Read New CANopen Object Data

•

Emergency Message

The software does not support default objects, as described at CANopen V3.

Summary of Contents for UNIGATE CM-CANopen

Page 1: ...Instruction Manual Universal Fieldbus Gateway UNIGATE CM CANopen Deutschmann Automation GmbH Co KG www deutschmann com wiki deutschmann de ...

Page 2: ...Manual Art No V4010E ...

Page 3: ...t the UNIGATE CM 15 5 2 Buffer sizes at the UNIGATE CM 15 5 3 Framing Check 15 6 SSI interface 16 6 1 Initiation of the SSI interface 16 6 2 Hardware wiring 17 7 The Debug interface 18 7 1 Overview of the Debug interface 18 7 2 Starting in the Debug mode 18 7 3 Communication parameter for the Debug interface 18 7 4 Possibilities with the Debug interface 18 7 5 Commands of the Debug interface 18 8 ...

Page 4: ...oding switches S4 S5 serial interface 30 10 4 3 Termination CANopen 30 10 4 4 CANopen termination application side 31 10 4 5 DIP switch 31 10 5 The Debug cable for UNIGATE CM 31 11 Error handling 32 11 1 Error handling at UNIGATE CM 32 11 1 1 Error on the CL extension 33 12 Installation guidelines 34 12 1 Installation of the module 34 12 1 1 Mounting 34 12 1 2 Removal 34 12 2 Wiring 34 12 2 1 Conn...

Page 5: ... 16 8 Additional CANopen interface connection application side 45 16 9 Setting the address and baudrate additional CANopen interface application side 45 16 10 Connection to the process device 45 16 11 Connecting the supply voltage 45 16 12 Shield connection 45 16 13 Project planning 45 17 Servicing 47 17 1 Returning a device 47 17 2 Downloading PC software 47 18 Annex 48 18 1 Explanations of the a...

Page 6: ...Deutschmann Automation GmbH Co KG 6 UNIGATE fieldbus gateway UNIGATE CM CANopen V 1 4 23 6 17 ...

Page 7: ...in the publication is however reviewed regularly Necessary amendments are incorporated in the following editions We would be pleased to receive any improvement proposals which you may have Copyright Copyright C Deutschmann Automation GmbH Co KG 1997 2017 All rights reserved This document may not be passed on nor duplicated nor may its contents be used or disclosed unless expressly permitted Violat...

Page 8: ...y with the following requirements Scope of application Requirement applicable to Emitted interference Interference immunity Industry EN 55011 cl A 2007 EN 61000 6 2 2005 1 3 Note installation guidelines The module complies with the requirements if you 1 comply with the installation guidelines described in the User Manual when installing and oper ating the module 2 also follow the rules below on in...

Page 9: ...ive Consequently the module does not have a Declaration of Conformity in relation to the EU Machinery Directive 2 2 EU Machinery Directive The EU Machinery Directive stipulates the requirements applicable to a machine The term machine is taken to mean a totality of connected parts or fixtures see also EN 292 1 Para graph 3 1 The module is a part of the electrical equipment of the machine and must ...

Page 10: ...ons as a Gateway and operates as CANopen Slave It can be operated by any stan dard compliant Master The module CM CANopen essentially consists of the following hardware components Electrically isolated interface to CANopen CAN controller SJA 1000 Microprocessor 89C51RD2 RAM and EPROM Serial interface RS232 RS485 and RS422 to the device connected externally Ext Board with additional CANopen interfa...

Page 11: ...23 6 17 UNIGATE fieldbus gateway UNIGATE CM CANopen V 1 4 11 Deutschmann Automation GmbH Co KG Introduction 3 1 UNIGATE CM software flow chart ...

Page 12: ... Co KG 12 UNIGATE fieldbus gateway UNIGATE CM CANopen V 1 4 23 6 17 3 2 UNIGATE block diagram The following picture shows a typical UNIGATE module design 3 3 UNIGATE CM application diagram The following graph shows a typical connection scheme ...

Page 13: ...n the configuration mode 4 2 Test mode Setting of the test mode The test mode is set by bringing the switches S4 and S5 in position E All other switches will not be taken into consideration for the setting of the test mode Now the Gateway has to be restarted with these settings by a short disconnection from the power supply In the test mode the Gateway always operates with the settings 9600 baud n...

Page 14: ...d back byte IO8 3 byte value of the DIP switch currently not used fixed value is FF 4 byte Output to IO8 4 3 Data exchange mode The Gateway has to be in the data exchange mode so that a data exchange between the RS side of the Gateway and the fieldbus is possible As long as the Gateway is not in the config uration test firmware update or debug mode the data exchange mode is active In the data exch...

Page 15: ... is capable for Script For it please check in the Protocol Developer under Device Control Hardware 5 3 Framing Check The length of the stop bit received by the Gateway is checked through the function Framing Check Here the stop bit generated by the Gateway is always long enough so that connected participants can evaluate the stop bit Please be aware that the function Framing Check becomes effectiv...

Page 16: ...e Script example_SSI dss into the Protocol Developer The encoder type and the clock frequency has to be defined in the Script itself under Set number of bits and Set type and clock stretch value default 12 Bit Single Turn Gray max clock stretch Set number of bits 1 16 Single Turn 17 32 Multi Turn moveconst bNumBits 12 i e 12 bit single turn MT SSI 4096 x 4096 16777216 0b1000000000000000000000000 2...

Page 17: ...r Deutschmann Automation Version V 1 0 Date 20 03 2008 SN 47110002 ID 2 Konfigmode The note Special Firmware 23 not loaded means that the firmware extension is not yet loaded The extension is loaded through Extras Firmware Script Extension Select the file Cust0023 Cmd 23 24 for SSI hex and choose write extension Re start the device now only the device s actual actuation message appears and not the...

Page 18: ...erating with 9600 baud no parity 8 data bit 1 stop bit It is not possible to change this parameter in the Protocol Developer Please consider the fact that these settings have to be in accordance with those of the PC COM interface and that the flow control protocol has to be set on none there 7 4 Possibilities with the Debug interface Usually the Protocol Developer is connected to the Debug interfa...

Page 19: ... data exchange on the CANopen side Default setting as long as the Script command CO_Init_Channel is not carried out Adr 2000H Type DOMAIN Data received by the gateway Adr 2001H Type DOMAIN Data sent by the gateway Adr 2002H Type BYTE Length of the data sent The length of the receiving and transmitting buffer Obj 2000 2001 is configured through WINGATE 8 3 1 SDO access Generally the data can always...

Page 20: ... UNIGATE CM CANopen V 1 4 23 6 17 8 4 Possible data lengths The table below shows the maximum transferable data in CANopen Input data max 255 bytes Variable maximum value in this case Output data max 255 bytes Variable maximum value in this case Emergency data 1 byte See chapter Error handling ...

Page 21: ... in practical use for a couple of years and therefore can be described as void of errors As these commands are also present in the native code for the controller at this point also the runtime performance of the Script is favorable 9 3 What can you do with a Script device Our Script devices are in the position to process a lot of commands In this case a command is always a small firmly outlined ta...

Page 22: ...ided that it is not the first start Typical for Windows Script commands can be added by means of the mouse or the keyboard As far as defined and required for the corresponding command the dialog to the corresponding command is displayed and after entering the values the right text is automatically added to the Script The insertion of new commands by the Protocol Developer is carried out in a way t...

Page 23: ...ast e g Set Parameter There are also com mands however that take longer e g copying 1000 bytes Consequently for one thing the pro cessing time differs due to the kind of Sript command But the processing time of the Script commands is considerably more determined by the processor time that is available for this pro cess Since the processor has to carry out several tasks simultaneously multitasking ...

Page 24: ... is not the problem here but the amount of characters which are transfered per second Do not unnecessarily extend the data length at the Fieldbus side Especially at acyclical bus data if possible do only send them when changes were made The data length at buses that are configured to a fixed length e g PROFIBUS should not be longer than absolutely neces sary If the processing time should be too la...

Page 25: ...0 Hardware ports switches and LEDs 10 1 Device labeling 0 1 2 1 3 1 4 5 1 1 1 1 1 6 Picture 1 Terminal labeling and termination Picture 2 Front panel Rotary switches DIP switch LEDs and termination CO In case the front panel should pop out it does not affect the device s function or quality It can be put in again without problems ...

Page 26: ...nal For the operation at a 485 interface the two pins labeled 485 have to be connected together Also the two pins 485 10 2 2 Connector supply voltage and DEBUG interface Pin No Name Function 1 UB Pwr 10 33 V supply voltage DC 2 0 V Pwr 0 V supply voltage DC 3 Rx Debug Receive signal Debug 4 Tx Debug Transmit signal Debug Pin assignment X2 4 pin screw plug connector on the bottom side at the back A...

Page 27: ... green Interface state of additional CANopen interface application side LED State red green User defined general Gateway error LEDs 1 2 4 8 Error No Select ID green User defined general Gateway error 10 3 1 LED Bus Power This LED is connected directly to the electrically isolated supply voltage of the CANopen side 10 3 2 LED Bus State Indicator states and flash rates The following Indicator states...

Page 28: ...ster or a heartbeat event Heartbeat consumer has occurred Triple flash Sync Error The SYNC message has not been received within the configured communication cycle period time out see Object Dictionary Entry 0x1006 On Bus Off The CAN controller is bus off If at a given time several errors are present the error with the highest number is indicated e g if NMT Error and Sync Error occur the SYNC error...

Page 29: ...the following functions Termination Rx 422 switchable Rx 422 terminating resistor for the serial interface Termination Tx 422 switchable Tx 422 or RS485 terminating resistor for the serial inter face Rotary coding switch S4 ID High for serial interface i e configmode Rotary coding switch S5 ID Low for serial interface i e configmode Termination CANopen switchable CANopen terminating resistor DIP s...

Page 30: ...he exten sion anymore Switch positions Switch postions S4 Switch postions S5 Function Description D D Firmware Update extension Description see chapter 13 E E Test mode Description see chapter 4 2 Note This mode can only be terminated by a reboot F F Config mode Description see chapter 4 1 Note This mode can only be terminated by a reboot 10 4 3 Termination CANopen If the Gateway is operated as th...

Page 31: ...slide switch to position ON In all other cases the slide switch must remain in position OFF Please refer to the general Fieldbus literature for further information on the subject of bus termination 10 4 5 DIP switch The DIP switch is used to set the Node ID and Baud rate according to picture 3 If the Node ID 0 which is not allowed in CANopen is set on the DIP Switch then the Node ID which is store...

Page 32: ... again the Gateway must be exchanged and returned for repair Warnings 6 15 These warnings are displayed for one minute simply for information purposes and are then automatically reset If such warnings occur frequently please inform After Sales Service For user defined errors the flash frequency is 0 5 hertz The error is displayed as long as defined by Set Warning Time Error 10 is additionally acti...

Page 33: ...r 3 the LED lights red turns off 3 times lights up again for a moment and everything starts over The following errors are possible on the extension Error Number Error description 1 HARDWARE_ERROR 2 STACK_ERROR FLASH_INIT_ERR 3 SRAM_ERROR FLASH_ERROR 4 CL_KOMM_ERROR e g CL Firmware doesn t support an extension yet 5 BUS_ID_ERROR FLASH_CHECK_ERR 6 CL_KOMM_RX_ERR 7 CL_KOMM_TX_ERR 8 NSW_DATA_ERROR 9 T...

Page 34: ...le up and swivel it out of the top hat rail Vertical installation The standard mounting channel may also be mounted vertically so that the module is mounted turned through 90 12 2 Wiring 12 2 1 Connection systems The following connection systems must resp may be used when wiring the module Standard screw type plug connection power supply RS 9 pin D SUB plug connector CANopen a In the case of stand...

Page 35: ...ect the bus ter minating resistor integrated in the gateway In order to do this slide the slide switch to the posi tion labeled on If the module is not located at the start or at the end you must set the slide switch to position off 12 2 3 Line routing shield and measures to combat interference voltage This chapter deals with line routing in the case of bus signal and power supply lines with the a...

Page 36: ...emselves becoming an interference source Wherever possible use only lines with braided shield The coverage density of the shield should exceed 80 Avoid lines with foil shield since the foil can be damaged very easily as the result of tensile and compressive stress on attachment The consequence is a reduction in the shielding effect In general you should always connect the shields of cables at both...

Page 37: ...ines Use metal cable clips to secure the shield braiding The clips must surround the shield over a large area and must have good contact Downstream of the entry point of the line into the cabinet connect the shield to a shielding bus Continue the shield as far as the module but do not connect it again at this point ...

Page 38: ...lar to the following Ext Board CL Erweiterung CANopen IO DICNET V0 74 c dA SN 4294967295 CAN ID 1 Baud 500000 LSS ID 1 LSS BaudIdx 2 The switch position DD meaning both S4 and S5 are both in position D serves for the Firm ware Update This position is transmitted to the CL extension The CPU of the CL module goes mute and the CL extension is set fixed in the boot mode which means now a Firmware NEED...

Page 39: ...n and higher the CAN Firmware allows the definition of user objects and the mapping of up to 16 Rx and 16 Tx PDOs For Script rev between 22 and 25 only up to 5 Rx and 5 Tx PDOs can be used Predefined Communication For some applications one Rx and one Tx PDO is sufficient It is possible to use CANopen without the definition of communication channels In this case the data is mapped as follows It is ...

Page 40: ...e that the data format for ReadBus and WriteBus differs from other functionalities in this case From now on the COB ID of the message is to be read or sent in the data area s first 2 bytes The following examples can be found in the file folder example after the installation of the soft ware Protocol Developer Example CANopen 2 PDOs Example CAN Layer 2 With it please take a look at the follolwing S...

Page 41: ...the file folder example after the installation of the soft ware Protocol Developer this example gives a detailed description of the initialization Example_CO_V4 dss At CANopen V4 the following fieldbus specific Scripts are supported Init Object Table Create Object Set PDO Communiction Set PDO Mapping Write Object Read New CANopen Object Data Emergency Message The software does not support default ...

Page 42: ...5 ºC The negative temperatures are only valid for the usual conditions not condensing 8 Storage transport temperature 40 ºC 85 ºC 9 Atmospheric pressure during operation during transport 795 hPa 1080 hPa 660 hPa 1080 hPa 10 Installation altitude 2000 m 4000 m Unrestricted Restricted Ambient temperature 40ºC 11 Relative humidity Max 80 No condensation no corrosive atmosphere 12 External power suppl...

Page 43: ...tters Receivers 32 32 1 1 32 32 5 Cable length Maximum Baud rate dependent 1300 m 50 kBd 1300 m 100 kBd 640 m 200 kBd 310 m 500 kBd 112 m 1 MBd 40 m 15 m no 1200 m 93 75 kBd 1200 m 312 kBd 500 m 625 kBd 250 m 6 Bus topology Line Point to point Line 7 Data rate Maximum Standard values 1Mbit s 125 kB 250 kB 500 kB 1 MB 120 kBit s 2 4 k B 4 8 k B 9 6 kBit s 19 2 kBit s 38 4 kBit s 625 kBaud 2 4 kBit ...

Page 44: ...o the process Connector for CANopen connection to the Gateway CANopen cable generally this cable is already installed on site 10 33 V DC power supply DIN 19240 Type file or EDS file and user manual a sample EDS file as well as the user manual can be ordered separately or downloaded free of charge from our homepage at www deutschmann de 16 3 Installation The UNIGATE CM CO module features protection...

Page 45: ... to the CANopen at the interface labelled CANopen 16 8 Additional CANopen interface connection application side Connect the device to the CANopen at the interface X6 16 9 Setting the address and baudrate additional CANopen interface application side The setting of the CANopen Node ID and the baudrate is carried out via the script Attention The CANopen address set must correspond to the planned add...

Page 46: ...schmann Automation GmbH Co KG 46 UNIGATE fieldbus gateway UNIGATE CM CANopen V 1 4 23 6 17 If the required EDS file was not supplied with your project planning tool a sample file can be found on the Internet www deutschmann de ...

Page 47: ... to midday and from 1 pm to 4 pm Friday from 8 am to midday CET Deutschmann Automation GmbH Co KG Carl Zeiss Straße 8 D 65520 Bad Camberg Germany Central office and sales department 49 6434 9433 0 Technical Support 49 6434 9433 33 Fax sales department 49 6434 9433 40 Fax Technical Support 49 6434 9433 44 E mail Technical Support support deutschmann de 17 1 Returning a device If you return a device...

Page 48: ... screw plug connector PL Board only without DIN rail module and without housing cover PD Board only without DIN rail module and with housing cover AG Gateway installed in a die cast aluminum housing EG Gateway installed in a stainless steel housing IC Product group IC IC design DIL32 IO8 Option I O8 16 Script memory expanded to 16KB 5V Operating voltage 5V 3 3V Operating voltage 3 3V Fieldbus ASI ...

Page 49: ... UNIGATE IC for the respective product PBDPX ProfibusDP version X see comparison table UNIGATE IC for the respective product PBDPV0 ProfibusDPV0 PBDPV1 ProfibusDPV1 RS Serial RS232 485 422 18 2 Hexadecimal table Hex Decimal Binary 0 0 0000 1 1 0001 2 2 0010 3 3 0011 4 4 0100 5 5 0101 6 6 0110 7 7 0111 8 8 1000 9 9 1001 A 10 1010 B 11 1011 C 12 1100 D 13 1101 E 14 1110 F 15 1111 ...

Page 50: ......

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