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11

2.4.3 CAN/CANopen Interface

CAN interface of GT100-CO-RS uses 5-pin connector:

Note:

(1) Here, shield port is optional. The CAN-L and CAN-H must be connected. Here pin 1 and 5 are connected to
the pin 3 and pin 1 of power port internally (

Chapter 2.4.1

).

(2) Chapter2.4.1 and Chapter2.4.3 both contain power interfaces, and only one of them is required to connect.

If

two power interfaces are connected at the same time, the gateway will be burned.

V+

GND CAN-L

Shield

CAN-H

5

1

Pin

Wiring

Pin 1

V+, 24VDC(optional)

Pin 2

CAN-H

Pin 3

Shield (optional)

Pin 4

CAN-L

Pin 5

GND, GND of 24V (optional)

Summary of Contents for GT200-PN-CO

Page 1: ...CANopen PROFINET IO Gateway GT200 PN CO User Manual V 2 1 REV A SST Automation Email SUPPORT SSTAUTOMATION COM SUPPORT SSTCOMM COM WWW SSTAUTOMATION COM WWW SSTCOMM COM ...

Page 2: ...product has many applications The users must make sure that all operations and results are in accordance with the safety of relevant fields and the safety includes laws rules codes and standards Copyright Copyright 2022 by SST Automation All rights reserved Trademark is the registered trade mark of SST Automation Technical Support Contact Information www sstautomation com E mail support sstautomat...

Page 3: ... LED Indicators 9 2 3 DIP Switch 9 2 4 Interface 10 2 4 1 Power Interface 10 2 4 2 Ethernet Interface 10 2 4 3 CAN CANopen Interface 11 3 Hardware Installation 12 3 1 Machine Dimension 12 3 2 Installation Method 12 4 Quick Start Guide 13 4 1 Gateway Configuration 13 4 2 Software Configuration 14 4 3 Run 18 4 4 Change Device IP and Name 23 4 4 1 Scan Devices on LAN 23 4 4 2 Change IP Info and Name ...

Page 4: ...gateway is a slave on the PROFINET side 1 2 Product Feature 1 2 1 CANopen Mode Supports one CANopen interface CANopen interface 1KV photoelectric isolation Supports two 10M 100M adaptive network ports Supports half duplex and full duplex transmission The gateway is a PROFINET IO slave on the PROFINET side Supports controlling the operation status of CANopen slave station by PROFINET master station...

Page 5: ...mes PROFINET input and output bytes can be set in the TIA Portal or STEP 7 modeling software the maximum number is Max Input Bytes Max Output Bytes 256 Bytes Max Input Bytes 128 Bytes Max Output Bytes 128 Bytes Supports only four combinations of input and output bytes Input Bytes Output Bytes 16 16 32 32 64 64 128 128 Under the advanced mode three types of commands are supported which are called P...

Page 6: ...PROFINET supports up to 32 slots The maximum number of input bytes is 384 and the maximum number of output bytes is 384 The length available to the user is limited by the specific PLC and PDU size of the communication module The length of input output bytes can be set by STEP7 or TIA Portal 4 Supports the following module types Input 001 byte Input 002 bytes Input 004 bytes Input 008 bytes Input 0...

Page 7: ... TPDO 8 bytes RPDO fast Download SDO and fast Upload SDO Every CANopen node has default 4 TPDOs and 4 RPDOs COB ID of TPDO and RPDO has default value Default value of Transmit PDO 384 node address 0x180 node address 640 node address 0x280 node address 896 node address 0x380 node address 1152 node address 0x480 node address Default value of Receive PDO 512 node address 0x200 node address 768 node a...

Page 8: ...OFINET I O CANopen slave features Supports maximum 8 bytes TPDO 8 bytes RPDO fast Download SDO and fast Upload SDO Every CANopen node supports up to 100 TPDOs 100 RPDOs COB ID of TPDO and RPDO has default value or users can use self defining COB ID Default value of Transmit PDO 384 node address 0x180 node address 640 node address 0x280 node address 896 node address 0x380 node address 1152 node add...

Page 9: ...mmands No 60 Max Producer Filtering Max Consumer Filtering Max Query Response Filtering 60 Max Producer Filtering 60 Max Consumer Filtering 60 Max Query Response Filtering 60 7 Operating environment REL Humidity 5 to 95 non condensing Work circumstance temperature 4 122 20 to 50 Pollution level class 3 8 Power 24VDC 11V 30V maximum 90mA 24V 9 Built in electrostatic protection 15 KV ESD Communicati...

Page 10: ...ision History Revision Date Chapter Description V1 4 12 9 2020 ALL New Release V1 4 Rev A 5 5 2022 ALL Update the technical parameters the format V2 1 Rev A 7 18 2022 PART Add the function of parsing EDS file of CANopen slave station ...

Page 11: ...duct Appearance Note This picture is for reference only The product appearance is subject to the actual product CAN CANopen Interface Module Status Indicator PROFINET Interface Power Interface Network Status Indicator CAN CANopen Status Indicator DIP Switch ...

Page 12: ...lternately The error counter of CAN controller reach or exceed alarm value RUN Green Blinking Data sending and receiving Green Off No data sending and receiving MS See below table NS See below table Note GT200 PN CO is in the configuration state the ERROR and RUN indicators blinks alternately in orange Module indicator and network indicator Module indicator MS Network indicator NS Description Off ...

Page 13: ...ogram state customers cannot use this state 2 4 Interface 2 4 1 Power Interface 2 4 2 Ethernet Interface The Ethernet interface uses RJ45 interface follows the IEEE802 3u 100BASE T standard 10 100M adaptive Its pin standard Ethernet signal is defined as below Pin Function 1 Power ground 2 NC Not Connected 3 24V DC Pin Signal description S1 TXD S2 TXD S3 RXD S4 S5 S6 RXD S7 S8 ...

Page 14: ... connected to the pin 3 and pin 1 of power port internally Chapter 2 4 1 2 Chapter2 4 1 and Chapter2 4 3 both contain power interfaces and only one of them is required to connect If two power interfaces are connected at the same time the gateway will be burned V GND CAN L Shield CAN H 5 1 Pin Wiring Pin 1 V 24VDC optional Pin 2 CAN H Pin 3 Shield optional Pin 4 CAN L Pin 5 GND GND of 24V optional ...

Page 15: ...WWW SSTAUTOMATION COM 12 3 Hardware Installation 3 1 Machine Dimension Size width height depth 1 0 in 4 0 in 3 6 in 25 mm 100 mm 90 mm 3 2 Installation Method Using 1 4 in 35mm DIN RAIL ...

Page 16: ...ation to the gateway When downloading configuration it will prompt Communication with PLC may be disconnected during downloading configuration 6 Configure the modeling in TIA Portal or STEP 7 including module IP address of target device and device name 7 Download the modeling configuration to the PLC 8 Waiting for about 10s GT200 PN CO will establish PROFINET connection with the PLC Note How to fi...

Page 17: ...to configure the gateway Use SST CANopen COM to configure the gateway under CANopen master mode Use SST TC CFG to configure the gateway under CANopen slave or CAN mode Users need to install the gateway software SST CANopen COM and SST TC CFG when configuring the gateway Here are the configuring steps for using SST CANopen COM Setp 1 Import EDS files of CANopen slave devices Step 2 Add gateway and ...

Page 18: ...onfigure the CANopen slave PDO attribute in the PDO attribute interface Step 4 In the mapping interface of the slave station configure the object for PDO mapping and click OK or Apply after configuration Step 5 Double click GT200 PN CO add the slave in the scan list to the master list ...

Page 19: ...W SSTAUTOMATION COM 16 Step 6 Click Input and Output area select TPDO and RPDO and finish the data mapping Step 7 Configure the input and output bytes of PROFINET and CANopen parameters and click download ...

Page 20: ...gateway address device name baud rate of CANopen port node number SDO number PDO number CANopen data To PROFINET data mapping CAN protocol type baud rate of CAN and protocol and PROFINET data mapping After installation double click the software icon to enter into the main interface of the software See Chapter 5 for the detailed using method of the gateway configuration software SST TC CFG ...

Page 21: ...nsfer process from PROFINET to CAN Data 2 shows the data transfer process from CAN to PROFINET The gateway runs in CANopen network independently and transmits read write commands of CANopen parameters periodically according object dictionary also transmits and receives PDO commands When receiving I O request from PROFINET the gateway will instantly respond with the latest CANopen data to realize t...

Page 22: ...g status of CANopen slaves and controlling status of CANopen slave The first two bytes of input buffer PROFINET shows the status of CANopen slaves The first byte of this two bytes is address of CANopen slave and the second byte is status of CANopen slave i e Pre run status run status stop status for detailed information please refer to CANopen protocol Only one slave status can be reflected at a c...

Page 23: ...also transmits and receives PDO commands When receiving I O request from PROFINET the gateway will instantly respond with the latest CANopen data to realize the matching of network speed This is asynchronous mode TPDO and RPDO applies producer consumer mode and often be used in the occasion with high requirement about speed Upload SDO and Download SDO applies client server mode the mode can guaran...

Page 24: ...tio n 0xFF Number of data contained in CAN frame Sequence number Reserv ed Frame header and CAN frame CAN frame data If the GT200 PN CO receives the CAN frame on the CAN network the sequence number of the input frame is increased by 1 The customer can determine whether these CAN frames are needed according to their needs PROFINET output PROFINET outputs data sends CAN frame at CAN side Each CAN fr...

Page 25: ...rame is sent In this way the gateway treats this frame as a new single transmission data The sequence number will become 0 if it reaches 255 and increase by 1 If the CAN frame is sent periodically the sequence number may not be increased by 1 If you want to switch from single transmission mode to repeated transmission mode the sequence number needs to be increased by 1 and the 0th byte is a non ze...

Page 26: ...ut data length users have configured is N1 output data length is N2 GT200 PN CO will periodically send the data within the address range of 0x0000 N1 to PROFINET network When receiving data from PROFINET network GT200 PN CO will write the data to the address range of 0x0000 N2 4 4 Change Device IP and Name 4 4 1 Scan Devices on LAN 1 Open SST TC CFG select Tools in the menu bar as shown below 2 Cl...

Page 27: ...l be shown as below You can see that there is a device on the LAN showing the it s IP address MAC address Device Name Gateway address and subnet mask 4 4 2 Change IP Info and Name 1 Follow the steps in 4 4 1 to search and log in the interface displays as follows ...

Page 28: ...ed in the box on the right side of Target MAC Modify IP address to 192 168 0 0 41 gateway address to 192 168 0 41 device name to sst 100 The operation interface is as follows If the modification is successful the following dialog box will appear Click OK Click Browse again as shown below ...

Page 29: ...and device name conflict users can change IP address and device name of GT200 PN CO according to Chapter 4 4 2 Change IP Info and Name and make sure that other IP address and name are different Notes after changing is complete some relevant changes should be taken in PLC modeling and users must ensure the IP address and name of GT200 PN CO is the same with that of PLC modeling For example When IP ...

Page 30: ...OM 27 You can see the IP address is reset to 0 0 0 0 choose the device and log in the dialog box is shown as below Set IP Subnet and Gateway to 192 168 0 18 255 255 255 0 and 192 168 0 0 and you will see the below picture ...

Page 31: ...WWW SSTAUTOMATION COM 28 Click OK ...

Page 32: ...ase see SST TC CFG Software Content Or open the SST TC CFG select Help Content on the menu bar 5 2 SST CANopen COM SST CANopen COM can realize network configuration based on CANopen device and has EDS parsing function Users can configure CANopen slave devices through CANopen software and CANopen master module SST CANopen COM supports max input data bytes is 384 bytes and output data bytes is 384 b...

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