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Helmholz 700-672-PNC01, Manual

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Helmholz 700-672-PNC01 Manual Download Page 33

 

PN/CAN Gateway, PROFINET/CANopen Slave | Version 2 | 1/26/2021 

33 

7.4.1

 

Internal Emergency messages of PN/CAN Gateway 

The PN/CAN Gateway also sends its own emergency messages if errors occur during CANopen or 
PROFINET communication. 

0x5010 – 0x5013 

NMT status change due to PLC stop 

0x5020 – 0x5023 

PROFINET connection broken 

0x6201 – 0x6203 

NMT state change by the PLC  

0x7001 

An NMT transition was received at the CAN but cannot be performed due to the state of 
the PN/CAN Gateway. 

0x7002  

Sent to NMT-BOOTUP if the PN/CAN Gateway can start but the module configuration is 
inappropriate (wrong SDO, wrong permissions). 

0x8020  

NMT transition to a higher state prevented due to limitation by PLC 

0x8021  

Profile prohibits transition due to PLC STOP 

0x8022  

Profile prohibits transition due to PROFINET connection termination 

0x8130  

Nodeguarding time has been exceeded 

0x8210  

received RPDO length too short (not processed) 

0x8220  

Received RPDO length too long (being processed) 

0x8211 

RTR polling received with length > 0 

0x8250  

The RPDO event timer was exceeded 

 

 

 

Summary of Contents for 700-672-PNC01

Page 1: ... 2 D 91091 Großenseebach Germany Phone 49 9135 7380 0 Fax 49 9135 7380 110 info helmholz de www helmholz com PN CAN Gateway PROFINET CANopen Slave Manual Version 2 1 26 2021 for firmware V1 00 and above Link to newest version of manual ...

Page 2: ...s or with the use of electronic systems without written approval from Helmholz GmbH Co KG All rights reserved in the event of the granting of a patent or the registration of a utility model To download the latest version of this manual please visit our website at www helmholz de We welcome all ideas and suggestions Copyright 2021 by Helmholz GmbH Co KG Hannberger Weg 2 91091 Großenseebach Revision...

Page 3: ...roperties of PN CAN Gateways CANopen 10 3 Installation 11 3 1 Access restriction 11 3 2 Electrical installation 11 3 3 Protection against electrostatic discharges 11 3 4 Overcurrent protection 11 3 4 1 Operation 11 3 5 Installation position 12 3 6 Minimum clearance 12 4 Setup and wiring 13 4 1 EMC safety shielding 13 4 2 Wiring of the PN CAN Gateway 14 4 2 1 Voltage supply 14 4 2 2 CAN bus connect...

Page 4: ... Gateway configuration 25 6 3 Assign the PROFINET device name 26 7 Programming in the PLC 27 7 1 Control 27 7 2 Status 28 7 3 Read write random SDO 30 7 3 1 Transfer of SDO data 4 Byte 31 7 4 Transmitting Emergency Messages 32 7 4 1 Internal Emergency messages of PN CAN Gateway 33 7 5 PROFINET Diagnostic messages 34 8 Internal SDO 35 8 1 Start up behavior SDO 2FFF 35 8 2 Status SDO 2FFE 35 8 3 Err...

Page 5: ...nual is essential Configuration execution and operating errors can interfere with the proper operation of the PN CAN Gateways and result in personal injury as well as material or environmental damage Only suitably qualified personnel may operate the devices Qualified personnel must ensure that the application and use of the products described meet all the safety requirements including all relevant...

Page 6: ...anger to life and health of people from electrical voltage If the warning is ignored there is a probable danger to life and health of people If the caution note is ignored people can be injured or harmed Draws attention to sources of error that can damage equipment or the environment Gives an indication for better understanding or preventing errors ...

Page 7: ...s for preventing hazardous situations on machinery and systems Problem free and safe operation of the PN CAN Gateway presumes proper transport storage setup assembly installation commissioning operation and maintenance The ambient conditions provided in the technical specifications must be adhered to The PN CAN Gateway has a protection rating of IP20 and must be installed in an electrical operatin...

Page 8: ...sponsibility for any printing errors or other inaccuracies that may appear in the operating manual unless there are serious errors about which Helmholz GmbH Co KG was already demonstrably aware Beyond the instructions contained in the operating manual the applicable national and international standards and regulations must also be observed in any case Helmholz GmbH CO KG is not liable for damage c...

Page 9: ...households other than private households as well as the following registration data Helmholz GmbH Co KG Location Headquarters 91091 Großenseebach Address Hannberger Weg 2 Name of authorized representative Carsten Bokholt Registration number DE 44315750 The electrical devices described in this document are to be recycled According to Directive 2012 19 EU on waste electrical and electronic equipment...

Page 10: ...ll values of the PN CAN Gateways are available as IO information Special handling blocks are not necessary An EDS or DCF file is used to permanently load a manufacturer specific CANopen device configuration into the device 2 2 Properties of PN CAN Gateways CANopen The PN CAN Gateway PROFINET CANopen Master has the following properties PROFINET IO device as defined in IEC 61158 6 10 Integrated two ...

Page 11: ...atic electricity Only work with discharged tools Do not touch components and assemblies on contacts 3 4 Overcurrent protection Overcurrent protection is not necessary as the PN CAN Gateway transports no load current The power supply of the PN CAN Gateway electronics is to be secured externally with a fuse of maximum 1 A slow blowing 3 4 1 Operation Operate the PN CAN Gateway only in flawless condi...

Page 12: ...st not exceed 60 C 3 5 Installation position The PN CAN Gateway can be installed in any position The front plate must be accessible in order to plug in bus lines 3 6 Minimum clearance It is recommended to adhere to the minimum clearances specified when installing devices Adhering to these minimum clearances will ensure that The modules can be installed and removed without having to remove any othe...

Page 13: ...th each other over a large area with good conductivity no paint on paint Where necessary use contact washers or serrated washers The cabinet door must be connected to the ground straps top middle bottom over as short a distance as possible Signal cables and power cables are to be laid separated spatially by a minimum distance of 20 cm from each in order to avoid coupling paths Run signal lines onl...

Page 14: ...nector 1 2 CAN low 3 CAN GND 4 5 PE Shield 6 7 CAN high 8 9 PN CAN Gateway contains no terminating resistor for the CAN bus 4 2 3 PROFINET connection Pin Signal RJ45 plug PROFINET Color Wire pair 1 TD Transmission data Yellow 1 2 TD Transmission data Orange 1 3 RD Receive data White 2 4 5 6 RD Receive data Blue 2 7 8 4 2 4 USB interface The service USB interface is only required for the firmware u...

Page 15: ...ble The PN CAN Gateway has no installed bus terminating resistor The maximum cable lengths will depend mainly on the bit rate being used Bit rate Bus length Bit time 1 Mbps 30 m 1 µs 800 kbps 50 m 1 25 µs 500 kbps 100 m 2 µs 250 kbps 250 m 4 µs 125 kbps 500 m 8 µs 50 kbps 1500 m 20 µs The cable lengths specified above should only be used as reference values The maximum cable length will also depen...

Page 16: ...16 bits and a sub index 8 bits Example Index 0x1000 sub index 0 Device type 32 bit unsigned SDOs with a width of 8 16 32 bits can be read and written with one CANopen frame Longer SDOs e g strings are transferred using multiple frames SDOs can be processed as soon as a CANopen device is ready for operation The SDO request and SDO response functions are available for SDOs The object number index an...

Page 17: ...fiers CAN 2 0A COB identifier COB ID 10 9 8 7 6 5 4 3 2 1 0 Function Node ID Broadcast functions Function Function code binary Resulting COB ID NMT 0000 0hex SYNC 0001 80 hex TIME STAMP 0010 100 hex Node functions Function Function code binary Resulting COB ID EMERGENCY 0001 81 hex FF hex TPDO1 tx 0011 181 hex 1FF hex RPDO1 rx 0100 201hex 27F hex TPDO2 tx 0101 281 hex 2FF hex RPDO2 rx 0110 301 hex...

Page 18: ...e coupler s process data will be enabled RPDO TPDO communications will be running The options available for making changes to SDOs may be limited With the NMT command Pre Operational COB ID 000hex data 2 bytes 80hex node ID a CANopen device can be switched to the pre operational status With the NMT command Reset Application COB ID 000hex data 2 bytes 81hex node ID a restart of a CANopen device is ...

Page 19: ...artbeat monitoring corresponds to Nodeguarding but no request telegrams are generated by the CANopen network The heartbeat telegram is sent automatically by the CANopen device producer heartbeat and can be evaluated in the network by other CANopen devices consumer heartbeat COB ID 700hex node ID data 1 byte with the own current CANopen status Error Behaviour The error behaviour of a CANopen device...

Page 20: ... the section Software The file can be customized in a normal text editor But there are also special EDS editors e g Vector CANeds or CANopen Architect which can be used for editing the EDS file in a limited way The content of the EDS file is in the document CiA 306 Electronic Device Description EDD which can be downloaded from the CiA website https www can cia org can knowledge canopen cia306 On t...

Page 21: ... Helmholz website After starting the Uploader the PN CAN Gateway is searched and displayed via USB With Upload the EDS file can be selected and uploaded With Load the file name of the EDS file currently stored in the PN CAN Gateway is displayed Please disconnect all PROFINET plugs from the device and only reconnect them after the EDS file has been uploaded After the upload the EDS file is stored i...

Page 22: ...CAN Gateway CANopen Slave at www helmholz de Install the GSDML file in the TIA Portal in the menu Options Manage general station description files GSD The PN CAN Gateway can be found in the hardware catalog under Other field devices PROFINET IO Gateway Helmholz PN CAN Gateways Insert the PN CAN Gateway CO Slave into the project and connect it to your PROFINET network ...

Page 23: ...e name of the configured device must later be assigned to the physical device see Chapter 6 3 6 2 2 Parameterization The first slot entry Parameter contains the module parameters for the behavior of the CANopen master CAN bitrate The available bit rates are 10 50 100 125 250 500 800 KBit s and 1 MBit s When using a DCF file this parameter is ignored because the bitrate is supplied in the DCF file ...

Page 24: ... of an SDO a module with the correct data size of the SDO 1 2 or 4 bytes must be inserted in the configuration In the parameters of the module the SDO index number and the subindex are specified The index must be specified decimal in the PROFINET configuration even if it is usually specified in hexadecimal in CANopen 6000hex 24576dec Depending on the access type of the defined SDO you have to choo...

Page 25: ...value from or to the CAN bus stays in its byte order or should be rotated 6 2 4 Maximum extension of a PN CAN Gateway configuration The maximum extension of a project configuration is limited by the following parameters The CANopen Device can manage up to 16 RPDOs and 16 TPDOs There are 470 slots for inserting modules SDOs modules with 1 2 4 bytes The PROFINET input data can be up to 1440 bytes lo...

Page 26: ...eway is selected Use the Refresh list button to search the network for PROFINET stations With Assign Name the PROFINET device name can be assigned to the device The clear identification of the PN CAN Gateway is ensured here by the MAC address of the device The MAC address of the device is on the front of the PN CAN Gateway If the PN CAN Gateway has been assigned the correct PROFINET device name it...

Page 27: ...zation After configuration by the PLC via PROFINET the gateway is ready for operation and can switch to the Pre Operational state The state change to Operational can now be executed via the CAN bus from the CANopen network or actively controlled by the PLC 7 1 Control Two output bytes are available to control the PN CAN Gateway Byte Bit 7 6 5 4 3 2 1 0 Out 0 State Change Command Out 1 SYNC Acknowl...

Page 28: ...t be stored in the PLC and then this bit must be set equal to the SYNC indication bit Reset bit SYNC lost Reset the error bit SYNC lost in status byte 1 bit 2 7 2 Status The status of the PN CAN Gateway consists of 7 input bytes Byte Bit 7 6 5 4 3 2 1 0 In 0 Gateway operation al Display of NMT command from CAN 1 Pre Operational 2 Stop 3 Operational 4 COM Reset 5 Reset Mirroring of the PLC command ...

Page 29: ...ter a SYNC reception the bit SYNC lost is set The error bit can be cleared with a positive edge at control byte 1 bit 2 Mirror of NMT limitation The NMT limitation set in the control byte is displayed here for checking purposes CAN receive transmit error counter Counter for receive and transmit errors on CAN message level First slot number with parameterization error Slot number of the module in t...

Page 30: ...r 9 bytes outputs Byte Bit 7 6 5 4 3 2 1 0 Out 0 1 Enable SDO transfer Length for SDO write 0 1 Byte 3 4 Bytes 1 swap byte order 0 read SDO 1 write SDO 1 start transfer 1 Freeze Out 1 SDO Index Out 2 Out 3 SDO Subindex Out 4 Byte offset for SDOs with length 4 bytes Out 5 Data Out 6 Out 7 Out 8 Status of SDO transfer 9 bytes inputs Byte Bit 7 6 5 4 3 2 1 0 In 0 1 SDO transfer enabled 1 SDO error Re...

Page 31: ... Otherwise the SDO remains blocked An abort of reading is always possible in the job with Freeze 0 Only characters 0x20 and 0x7F may be included otherwise error message 0x06000030 is issued An end NULL must not be transmitted In practice it is recommended to fill up with spaces up to the length agreed in the EDS file OCTET STRING Here it is possible to read and write in blocks of 1 4 Byte The offs...

Page 32: ...rror code Out 5 Out 6 Out 7 Out 8 Emergency status 1 Byte Byte Bit 7 6 5 4 3 2 1 0 In 0 1 emergencies are enabled Mirror of transmit emergency toggle bit To send emergency messages bit 1 in byte 0 must first be set The bit 0 in byte 0 must always be reset in this step synchronization of the toggle bit between the application and the device Next the 8 data bytes of the emergency message must be wri...

Page 33: ...t be performed due to the state of the PN CAN Gateway 0x7002 Sent to NMT BOOTUP if the PN CAN Gateway can start but the module configuration is inappropriate wrong SDO wrong permissions 0x8020 NMT transition to a higher state prevented due to limitation by PLC 0x8021 Profile prohibits transition due to PLC STOP 0x8022 Profile prohibits transition due to PROFINET connection termination 0x8130 Nodeg...

Page 34: ...ritten 3 The configured SDO is not available in the EDS DCF configuration 4 Configured SDO length does not correspond to that in the EDS DCF configuration 5 The Consumer Heartbeat Node ID cannot be the Node ID of the device 6 Unknown module type used perform firmware update if necessary 7 Node ID must be 0 because no DCF configuration is used 8 SDO with same index is used in at least two modules 9...

Page 35: ...rom CAN bus 0 Operational if configured 1 PLC Run is needed for Operational 2 NMT limitation by PLC active 8 2 Status SDO 2FFE Contains the first two bytes of the PN CAN Gateway status as shown in the PLC see chapter 7 2 8 3 Error register SDO 1001 Bit 7 6 5 4 3 2 1 0 PLC configurati on error PROFINET not connected PLC in Stop PDO length wrong Heartbeat Timeout Nodeguarding Timeout Always 1 if the...

Page 36: ...up or waiting for start command Red on No connection with PROFINET controller PLC no PROFINET configuration Flashing red Connection with the PROFINET controller PLC exists but a configuration error exists Fast flashing red There is an error in the EDS DCF file CAN RX Flashing green CAN frame is received without errors Red CAN bus error in the recipient PN CAN Gateway has not been configured yet No...

Page 37: ...rate 10 50 100 125 250 500 800 1000 kbps TPDOs RPDOs 16 16 Features NMT Nodeguarding Heartbeat Sync Emergencies Electrical isolated from CAN bus Yes Isolation 5 kV USB interface Protocol Full speed USB 2 0 device Connection Mini USB Electrically isolated from USB Yes isolation 5 kV Voltage supply 24 V DC 18 28 V DC Current draw Max 250mA Dimensions D x W x H 35 5 x 83 5 x 76 mm Weight Approx 160 g...

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