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HMS Anybus X-gateway CANopen, User Manual

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HMS Anybus X-gateway CANopen User Manual Download Page 10

Installation

8 (60)

3

Installation

This product contains parts that can be damaged by electrostatic discharge (ESD). Use
ESD prevention measures to avoid damage.

3.1

Installation Overview

Basic steps when installing the Anybus X-gateway CANopen:

1.

Set the node address and baud rate for the secondary CANopen interface.

2.

Set the hardware configuration switches for the primary network interface (if applicable).

3.

Mount the gateway on the DIN rail.

4.

Connect the primary and secondary networks.

5.

Connect the power cable and apply power.

6.

Continue to

Configuration, p. 14

.

Fig. 3

Connectors, switches and indicators

A

LED indicators

B

Primary network interface

C

USB connector

D

CANopen connector

E

Power connector

F

DIN rail mount

A

B

C

D

E

F

Anybus

®

X-gateway

™

CANopen

®

PROFINET

®

IRT (2.32) User Manual

SCM-1202-029 1.2 en-US

Summary of Contents for Anybus X-gateway CANopen

Page 1: ...A An ny yb bu us s X X g ga at te ew wa ay y C CA AN No op pe en n P PR RO OF FI IN NE ET T I IR RT T 2 2 3 32 2 USER MANUAL SCM 1202 029 1 2 en US ENGLISH...

Page 2: ...irements associated with any particular implementation HMS Industrial Networks cannot assume responsibility or liability for actual use based on the data examples or illustrations included in this doc...

Page 3: ...4 USB Connector 9 3 5 Secondary CANopen Network Interface 10 3 6 PROFINET IRT Network Interface 11 3 7 LED Indicators 12 4 Configuration 14 4 1 Configuration Overview 14 4 2 Configuring the Secondary...

Page 4: ...vices 39 6 4 Error Control 40 6 5 CANopen Emergency Messages 41 6 6 CANopen Live List Functionality 42 7 CANopen Object Implementation 44 7 1 Static Data Types 44 7 2 Communication Profile Area 44 7 3...

Page 5: ...elated documentation and file downloads please visit www anybus com support 1 2 Document history Version Date Description 1 0 2017 01 23 First release 1 1 2017 11 22 Updated for new firmware 1 2 2019...

Page 6: ...This is a cross reference within this document Document Conventions p 4 This is an external link URL www hms networks com This is additional information which may facilitate installation and or operat...

Page 7: ...te CANopen devices into almost any other PLC system and their supported networks No proprietary configuration software is needed for Anybus X gateway CANopen although dedicated tools may be required w...

Page 8: ...of data The first two bytes in the primary network buffer are reserved for the Control Word and Status Word leaving 510 bytes available for I O data The actual amount of data that can be exchanged dep...

Page 9: ...be used is limited by the data buffer size Supported PDO message types are COS Change of state Cyclic Synchronous and Acyclic Synchronous SDO Service Data Objects Master Slave Used to access and conf...

Page 10: ...interface 2 Set the hardware configuration switches for the primary network interface if applicable 3 Mount the gateway on the DIN rail 4 Connect the primary and secondary networks 5 Connect the power...

Page 11: ...2 Pull the bottom end of the unit free of the rail and remove it 3 3 Power Connector See also Technical Data p 59 regarding power supply requirements 1 2 Fig 5 Power connector Pin Signal 1 24 VDC 2 Po...

Page 12: ...e traffic on the secondary network will be limited e g if there are only a few nodes or the interface is configured as a master Node Adress Switches B C The second and third switches are used together...

Page 13: ...AN 2 The PROFINET IRT interface contains a dual port Ethernet switch with RJ45 type connectors The two ports are labeled LAN 1 and LAN 2 1 8 Fig 11 Ethernet connector RJ45 Pin Function 1 TD 2 TD 3 RD...

Page 14: ...iagnostic event present Red Fatal error Alternating red green Firmware update in progress 3 Link Activity 1 4 Link Activity 2 Off No power or no link detected Green Link OK Green flickering Transmitti...

Page 15: ...LED 200 ms 1000 ms On Off Double flash LED 200 ms 1000 ms 200 ms 200 ms On Off Quadruple flash LED 200 ms 1000 ms 200 ms 200 ms 200 ms 200 ms 200 ms 200 ms On Off Triple flash LED 200 ms 1000 ms 200 m...

Page 16: ...er cycled before configuring the primary network interface 1 Determine the amount of data that should be transferred This value will be entered in the secondary CANopen network interface configuration...

Page 17: ...e also NMT Start up 1F80h p 48 Input Data Size object 3000h 2 to 512 Size of the data transmitted to the primary network Bytes 0 and 1 are reserved for the Status Word leaving a maximum of 510 bytes a...

Page 18: ...eferred to as I O Data in Anybus X gateway CANopen PROFINET Record Data is not supported PROFINET IO Data I O Data PROFINET IO Data is exchanged cyclically and is built up by I O modules The actual I...

Page 19: ...d for broadcast messages 127 n n n First byte 127 used for loopback addresses to the local host n n n 0 Last byte zero identifies a whole network subnet n n n 255 Last byte 255 used for broadcast mess...

Page 20: ...run the installer program Scanning for Connected Devices When IPconfig is started it will automatically scan all available local networks for HMS devices Detected devices will be listed in the main w...

Page 21: ...e field Only characters a z A Z 0 9 and _ underscore are allowed The default password for changing IP settings is blank no password If a password has been set for the device you must enter it to be ab...

Page 22: ...ess to the device an internal DHCP server in IPconfig can be temporarily activated 1 Click the checkbox for Internal DHCP Server then click OK IPconfig will automatically refresh the scan and list the...

Page 23: ...Provides basic information about the X gateway including the serial number and the installed firmware version Network Status Fig 17 Status tab Displays an overview of the current network status Networ...

Page 24: ...atically be available when the PLC has enabled data exchange The X gateway will control the secondary network using the instructions that are sent in the control word by the PLC If the X gateway is se...

Page 25: ...the design of easier maintenance and operation processes despite the increasing complexity of processes and associated machines 5 2 Recording and Reading Data An asset management file containing all t...

Page 26: ...data can be downloaded to a computer connected to the PROFINET network 5 3 Supported File Formats The following file formats are supported for the asset management file Format Version XML XML Version...

Page 27: ...y to use as few spaces as possible for indentation in the file The number of white space also affects the file size Avoid using optional name strings 5 5 3 XML Attribute Name and Data Format The order...

Page 28: ...sion String of length X Maximum number of elements in array 64 IM Software Revision String Format of the string shall be C X Y Z C is one character X Y and Z represent a value between 0 and 255 X Majo...

Page 29: ...XML File Structure Example The code example presented below can be used as a guide when creating the asset management XML file Fig 20 Asset management XML file structure example Anybus X gateway CANop...

Page 30: ...as short as possible Do not pad with empty spaces for strings 5 6 3 Binary File Header Omitted attributes are disabled or set to their default value The size of the file header is 70 bytes The suppor...

Page 31: ...nt the number of data bytes following Not used by the gateway Attribute data 2 x Depends on the attribute being described Data for the attribute Format shall be as described for the data type Not need...

Page 32: ...IM Software Revision Array of Unsigned 8 Length is 4 First byte is a character Bytes 2 3 and 4 represent the version in the format X Y Z where X Y and Z represent a value between 0 and 255 C is one c...

Page 33: ...e structure example presented below can be used as a guide when creating the asset management binary file Only instance 1 is supported For instance 1 only attribute 1 and 2 are defined Fig 21 Binary f...

Page 34: ...Windows Explorer Before You Begin Use only one of the file formats XML format or binary format Only upload one single file on the FTP server Name the asset management file asset_mgmt The default port...

Page 35: ...Fig 23 Application folder with an asset_mgmt xml file 5 Open the application folder and save the asset management file XML or Binary file in the folder Anybus X gateway CANopen PROFINET IRT 2 32 User...

Page 36: ...Pre operational state Pre operational The Pre operational state is primarily used for configuration It allows SDO EMCY SYNC and NMT control messages to be transmitted but not process data PDOs When th...

Page 37: ...RATIONAL 1 Default PRE OPERATIONAL 0h PRE OPERATIONAL 1h OPERATIONAL 2h RESET NODE 3h RESET COMMUNICATION 4h STOP 5h Fh reserved 1h Get Node state Requests the state in object 1F82h of the node or net...

Page 38: ...rted Commands The available command responses and their representation in byte 0 of the status word CmdRsp 3 bits CmdExtRsp 4 bits Name Master Slave 0h Set NMT State Response to Set NMT State command...

Page 39: ...ork master Anybus X gateway CANopen module Control word 0x01 0x02 Status word 0x01 0x00 Command Response Command Set node with Node ID 2 to OPERATIONAL New command Set node with Node ID 3 to OPERATION...

Page 40: ...jects p 52 Default PDO Mapping Scheme The default mapping scheme contains 4 TPDOs and 4 RPDOs RPDO Default COB ID Mapped to Relating to Default State 1 200h NodeID Object index 2100h subindex 1 8 Rece...

Page 41: ...on type parameter of a TPDO specifies the transmission mode as well as the triggering mode Transmission type Mode TPDO transmission description 0 Synchronous acyclic A TPDO is triggered by an event bu...

Page 42: ...as heartbeat consumer and as heartbeat producer simultaneously 6 4 2 Node Guarding The NMT Master transmits guarding requests If an NMT Slave has not responded within a defined time span node lifetim...

Page 43: ...set or no error 6161h Software error master mode only see below 6600h Hardware error 8110h CAN overrun objects lost 8120h CAN in error passive mode 8130h Life guard error or heartbeat error 8140h Reco...

Page 44: ...20 19 18 17 16 3 31 30 29 28 27 26 25 24 4 39 38 37 36 35 34 33 32 5 47 46 45 44 43 42 41 40 6 55 54 53 52 51 50 49 48 7 63 62 61 60 59 58 57 56 8 71 70 69 68 67 66 65 64 9 79 78 77 76 75 74 73 72 10...

Page 45: ...word Status word Data Data Data Data Data Data 8 15 Data Data Data Data Data Data Data Data Data to Primary Network with Live List Enabled Byte Content 0 7 Status word Status word Nodes ALL 1 7a Nodes...

Page 46: ...unication cycle period U32 RW Only available if SYNC support is enabled 1007h Synchronous Window Length 00h Synchronous Window Length U32 RW Only available if SYNC support is enabled 1008h Manufacture...

Page 47: ...uct Code U32 RO 18h Anybus X gateway CANopen 03h Revision Number U32 RO Current software revision 04h Serial Number U32 RO HMS serial number 1029h Error behavior object 00h Number of entries U8 RO 01h...

Page 48: ...with NodeID equal to subindex i Subindex 128 Request to reconfigure all slaves U32 Sub 0 RO Sub 1 128 WO To configure the slave with NodeID i write conf 63 6F 6E 66h to object 1F25h subindex i If this...

Page 49: ...vent of guarding errors U32 Sub 0 RO Sub 1 127 RW 1F82h Request NMT ARRAY Remote control initiation of NMT services For example tools can use this to request intentional start stop of individual slave...

Page 50: ...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 state Default 1 Do not enter Operational state automaticall...

Page 51: ...issuing a restore to defaults object 1011h 8 15 8 bit value for the RetryFactor 16 31 16 bit value for the GuardTime If a slave does not answer the master will retry the request RetryFactor 1 times w...

Page 52: ...cates that node 5 is a slave Device Type Identification 1F84h Each node on the CANopen network is checked against its expected device type The subindex indicates which node is checked Subindex Descrip...

Page 53: ...subindex supported 127 i with i 1 127 Compares expected revision number with actual revision number object 1018h subindex 3 for the slave with NodeID i Boot up of that slave is continued only if they...

Page 54: ...ies value 128 1 U8 RW Transmit Byte 129 130 2 U8 RW Transmit Byte 130 131 128 U8 RW Transmit Byte 256 257 2002h STRUCT Transmit Byte 257 384 258 385 0 U8 RO Number of entries value 128 1 U8 RW Transmi...

Page 55: ...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 Number of entries value 126 1...

Page 56: ...000h subindex 1 4 Word object index 2010h subindex 1 2 Long double word object index 2020h subindex 1 Words and double words use Motorola big endian format The following relation chart shows the trans...

Page 57: ...1 2011h 112 2011h 126 2020h 119 2020h 127 Control Byte 508 Byte 506 2003h 121 2003h 122 2011h 125 2020h 128 The last two bytes are filled up with zeroes Byte 7 Byte 8 Byte 9 Byte 6 Byte 11 Byte 12 Byt...

Page 58: ...ers 3011h 301Fh reserved for future use CANopen primary network specific parameters 3020h 0 U8 RW CANopen Offline Option Specifies which event will cause the module to report the bus as offline Valid...

Page 59: ...ementation 57 60 Index Subindex Type Access Name and Description Comment PROFINET IRT specific parameters 30A1h 30AFh reserved for future use Anybus X gateway CANopen PROFINET IRT 2 32 User Manual SCM...

Page 60: ...This page intentionally left blank...

Page 61: ...nality Master manager or slave Communication profiles CiA Draft Standard 301 v4 2 CiA Draft Standard Proposal 302 Part 1 5 CANopen I O data 128 Receive PDOs and 128 Transmit PDOs Up to 510 bytes cycli...

Page 62: ...last page 2019 HMS Industrial Networks Box 4126 300 04 Halmstad Sweden info hms se SCM 1202 029 1 2 en US 2019 04 12 12864...

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