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HALMSTAD • CHICAGO • KARLSRUHE • TOKYO • BEIJING • MILANO • MULHOUSE • COVENTRY • PUNE • COPENHAGEN

HMS Industrial Networks
Mailing address: Box 4126, 300 04 Halmstad, Sweden
Visiting address: Stationsgatan 37, Halmstad, Sweden

Connecting Devices

E-mail: [email protected]

www.anybus.com

User Manual

Anybus

X-gateway CANopen

PROFINET

Doc.Id. HMSI-168-91

Rev. 2.10

Summary of Contents for AB7307

Page 1: ...COPENHAGEN HMS Industrial Networks Mailing address Box 4126 300 04 Halmstad Sweden Visiting address Stationsgatan 37 Halmstad Sweden Connecting DevicesTM E mail info hms networks com www anybus com Us...

Page 2: ...under no circumstances assume liability or responsibility for any problems that may arise as a result from the use of undocumented features timing or functional side effects found outside the documen...

Page 3: ...bus X gateway CANopen External View 6 Status LEDs 7 Primary Network 8 PROFINET Connector Network Access Port 8 Secondary Network 9 CANopen Connector 9 Configuration Switches 9 USB Connector 10 Power C...

Page 4: ...rol 31 Heartbeat Mechanism 31 Node Guarding 31 Emergency Object EMCY 31 Chapter 7 CANopen Supported Objects Static Data Types 32 Communication Profile Area 32 DS301 Communication Profile Objects 32 Co...

Page 5: ...III Doc Id HMSI 168 91 Anybus X gateway CANopen Doc Rev 2 10 Appendix B Status LED Timing Diagrams Appendix C CANopen Emergency Codes Appendix D Enabling Data Exchange...

Page 6: ...tact information and support please refer to the contact and support pages at www anybus com Document Author CiA Draft Standard 301 v4 2 CAN in Automation CiA Draft Standard Proposal 302 Part 1 5 CAN...

Page 7: ...rk is written into CANopen objects that can be mapped into CANopen PDO sor read via CANopen SDOs and vice versa The gateway described in this manual connects a PROFINET network with a CANopen network...

Page 8: ...p to 126 CANopen slave nodes Complies to the CANopen communication profile DS301 4 2 and DSP302 part 1 5 Supports cyclic and acyclic synchronous as well as COS change of state PDO message types 20 kbp...

Page 9: ...he secondary CANopen network Each buffer holds up to 512 bytes of data where the first two bytes on the primary network side always are used for control status information The remaining 510 bytes give...

Page 10: ...up to 510 bytes of data can be for warded to an interface the amount of data that will actually be exchanged on the primary PROFINET network is determined by settings of the secondary CANopen network...

Page 11: ...Primary Network on page 8 C USB connector This connector simulates a COM port used for soft ware upgrade of the module Please note that this connector can not be used for configuration of the module S...

Page 12: ...Single flash red Configuration error Triple flash red No Station Name or no IP Address assigned Quadruple flash red Failed to initialize PROFINET IO 3 Link Activity Off No link Green Link established...

Page 13: ...us X gateway CANopen 8 Doc Id HMSI 168 91 Anybus X gateway CANopen PROFINET Doc Rev 2 10 2 3 Primary Network 2 3 1 PROFINET Connector Network Access Port Pin no Description 1 TD 2 TD 3 RD 6 RD 4 5 7 8...

Page 14: ...effect Note When these switches have been set cover them with the switch covers that accompany the module Baud Rate The baud rate is set via switch A Node Address The node address is configured using...

Page 15: ...only used for software upgrade of the module This port can only be used for software upgrade 2 5 1 Power Connector Notes Use 60 75 or 75 C copper CU wire only The terminal tightening torque must be be...

Page 16: ...on to the DIN rail See External View on page 6 The DIN rail mechanism works as follows To snap the gateway on first press it downwards 1 to compress the spring in the DIN rail mechanism then push it a...

Page 17: ...figuration tool when configuring the secondary CANopen network The latest version of the EDS file for the Anybus X gateway CANopen can be downloaded from the HMS web site www anybus com 2 8 PROFINET G...

Page 18: ...e connector at the bot tom of the module 4 Connect the power cable and apply power 5 Download the appropriate EDS file from HMS to the external CANopen configuration tool See CANopen Electronic Data S...

Page 19: ...implemented in the Anybus X gateway CANopen that each can trans fer up to 8 bytes Supported PDO message types are COS Change of state Cyclic Synchronous and Acyclic Synchronous 2 SDOs Service Data Obj...

Page 20: ...ace is configured prior to the primary PROFINET network adapter slave interface The I O data sizes configured for the secondary CANopen network decides the data sizes on the primary PROFINET network a...

Page 21: ...o is selected the baud rate will be automatically detected 20 kbit s 50 kbit s 125 kbit s 250 kbit s 500 kbit s 800 kbit s 1000 kbit s Auto Set using rotary switches see Con figuration Switches on pag...

Page 22: ...e 16 bytes 14 bytes of data exchanged between the net works 2 bytes Control Status Word See General Fieldbus Parameters on page 44 8 Download the configuration to the CANopen network as Concise DCF to...

Page 23: ...Master Slave Configuration on page 16 Data Exchange on page 24 5 4 2 PROFINET IO Data PROFINET is the open Industrial Ethernet standard for Automation from PROFIBUS International The PROFINET IO adap...

Page 24: ...the Open Modbus Specification Data Representation Modbus TCP Register Map The following function codes are implemented The Input Output Buffers are mapped to Modbus registers as follows Modbus Functio...

Page 25: ...tool depends on the application and the PROFINET IO controller of the network A GSD file for the slave interface is available at www anybus com An application note describing how to configure an Anybu...

Page 26: ...ges in the configuration requires that the user supplies a valid password When done click Set The adopted configuration will be stored in the ethernet configuration file Note The HICP protocol communi...

Page 27: ...sh this the PLC will write the command OPERATIONAL in the control word see Control Word on page 23 for further in formation If the module is set as master it will automatically be available when the P...

Page 28: ...alues are stored from a previous configuration these are used If not or if a restore_default command is issued the parameters are reset to the default values according to the communication and device...

Page 29: ...ly network dependent see the section on configuration of the primary PROFINET network in chapter 5 The control and status words of the module are used by the master of the primary PROFINET network to...

Page 30: ...e controlling network each time a new com mand is issued Cmd 3 bits CmdExt 4 bits Name Master functionality Slave functionality 0h Set NMT State This command sets the NMT state of a CANopen node or th...

Page 31: ...higher NodeIDs that also have errors If NodeID is 0 all nodes are fine If NodeID is for example 5 it means that there is an error with node 5 Only errors from nodes monitored by the heartbeat mechani...

Page 32: ...ects the command 0h PRE OPERATIONAL 1h OPERATIONAL 2h RESET NODE 3h RESET COMMUNICATION 4h STOP 5h Fh reserved 1h Get Node state This response reflects the state set in object 1F82h see 38 of a CANope...

Page 33: ...sent to make sure it is distinguished from the previous com mand Primary network master Anybus X gateway CANopen module Control word 0x01 0x02 Status word 0x01 0x00 Command Response Command Set node w...

Page 34: ...fault PDO Mapping Scheme The module features a simple default mapping scheme with 4 TPDOs and 4 RPDOs RPDO TPDO For more information on the mapping see Vendor Specific Objects on page 40 RPDO no Defau...

Page 35: ...ll slaves that support LSS i e the preconfigured baud rate and node ID of a slave can be changed by a master The module can not act as an LSS slave An LSS Slave is identified by its LSS address that c...

Page 36: ...heartbeat producer simul taneously 6 4 2 Node Guarding The NMT Master transmits guarding requests If an NMT Slave has not responded within a defined time span node lifetime or if the communication st...

Page 37: ...clears the error list U8 RW See CANopen Emergency Codes on page 48 for emer gency error codes 01h 10h List of errors Most recent error at top of list U32 RO 1005h COB ID Sync 00h ID of the sync messa...

Page 38: ...moni tored 1017h Producer Heart beat Time 00h Defines the cycle time of the heartbeat Not used if 0 U16 RW The time must be at least 10 ms and a multiple of 1 ms 1018h Identity object 00h Number of en...

Page 39: ...7 U32 RW 08h Mapped object 8 U32 RW a Depending on the method of writing to this object e g using a CANopen dongle the byte order may have to be changed to adapt to the way data is transported on CAN...

Page 40: ...ign ment ARRAY Module list Entry of all slaves to be managed including guarding values and the entry of actions to be taken in event of guarding errors U32 Sub 0 RO Sub 1 127 RW 1F82h Request NMT ARRA...

Page 41: ...d The device is Master 1 0 Start only explicitly assigned slaves if bit 3 0 Default 1 After boot up perform the service NMT Start Remote Node All Nodes if bit 3 0 2 0 Automatically enter Operational s...

Page 42: ...Control Event or on detection of a new slave inform the application and start the pro cess Start Boot Slave 3 0 Optional slave The network may be started even if this node could not be contacted 1 Ma...

Page 43: ...object dictionary When an NMT command is sent data is cleared All the nodes in the network should be transferred to the PRE OPERATIONAL state An SDO write access with the value 127 is executed to obj...

Page 44: ...127 Request Guarding for the slave with Node ID i RW 128 Request Start Stop Guarding for all nodes WO Value Write access Read access 1 Start guarding Slave is guarded 0 Stop guarding Slave is not guar...

Page 45: ...signed time is 0 the master will wait endlessly 7 3 Vendor Specific Objects Vendor specific objects are used to configure the PDOs to the shared memory area One or several ge neric data object are con...

Page 46: ...Byte 257 384 258 385 0 U8 RO Number of entries value 128 1 U8 RW Transmit Byte 257 258 2 U8 RW Transmit Byte 258 259 128 U8 RW Transmit Byte 384 385 2003h STRUCT Transmit Byte 385 510 386 511 0 U8 RO...

Page 47: ...ive Byte 257 384 258 385 0 U8 RO Number of entries value 128 1 U8 RW Receive Byte 257 258 2 U8 RW Receive Byte 258 259 128 U8 RW Receive Byte 384 385 2103h STRUCT Receive Byte 385 510 386 511 0 U8 RO...

Page 48: ...Byte 2 Byte 511 Byte 510 Byte 509 Byte 507 Byte 475 Byte 474 Byte 473 Byte 472 Byte object Index subindex Long object Index subindex Word object Index subindex 2000h 1 2000h 2 2000h 3 2000h 4 2000h 29...

Page 49: ...rs Index range 3080h 308Fh is allocated for PROFINET IO specific parameters For this version of the module they are not used and the index range is reserved for future use Index Subindex Type Access N...

Page 50: ...has to be connected to the chassis ground at each node in the network For further information see PROFINET Installation Guideline for Cabling and Assembly order no 8 072 available for download at www...

Page 51: ...the EMC compliance document see product sup port pages for Anybus X gateway CANopen PROFINET at www anybus com A 5 UL and ATEX Certification The Anybus X gateway CANopen PROFINET is HazLoc UL and cUL...

Page 52: ...rent indications described in Status LEDs on page 7 When LSS services are in progress both the ERR LED red and the RUN LED green are flickering On Off 50 ms 50 ms Flickering LED On Off Blinking LED 20...

Page 53: ...10h CAN overrun objects lost 8120h CAN in error passive mode 8130h Life guard error or heartbeat error 8140h Recovered from bus off 8210h PDO not processed due to length error 8220h PDO length exceede...

Page 54: ...ent from the primary network to the secondary network using the Control Word If the module is set as slave this will allow the the module to receive and accept a request from the NMT master of the sec...

Page 55: ......

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