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CANopen gateway

Wieland Electric GmbH | BA000970 | 07/2019 [9855]

123

CANOPEN GATEWAY

78526987

The following samosPRO gateway can be used for CANopen:
• SP-CANopen

Interfaces and operation

78535947

Operating and display elements

Illustration 34: Operating and display elements of the SP-CANopen module
Table 82: Reference: State LEDs of the SP-CANopen module

LED

Meaning

Key: LED off /

LED flashes / LED lights up

PWR

Power

Off

No power supply

Green

Ready for operation, power supply switched on

Red

System error

(net-

work

status)

Off

CANopen state: stopped (except for node guarding and heartbeat,
when activated)

Green

CANopen state: Ready for operation (PDO and SDO data exchange)

Green

CANopen state: Pre-operational (only SDO data exchange)

Red

CAN-Bus off (hardware problem on CAN - physical layer) or error
passive

Red (1 Hz)

Node guarding failed (NMT master no longer monitors the slave) or
heartbeat consumer failure

(module

status)

Off

Switch on

Green

Executing, internal safety bus and PDO status: all "Good"

Green

Idle (cable not connected or node guarding
failed)

Executing, internal safety bus and PDO status: at least one "Bad"

10.1

Summary of Contents for samos PRO

Page 1: ...samos PRO samos PRO COMPACT Gateways Manual Doc no BA000970 Last Update 07 2019 9855...

Page 2: ...d I O Rockwell Automation Rockwell Software RSBizWare RSFieldbus RSLinx RSLogix 5000 RSNetWorx RSView SLC SoftLogix Stratix Stratix 2000 Stratix 5700 Stratix 6000 Stratix 8000 Stratix 8300 Studio 5000...

Page 3: ...5 1 Disposal 15 2 5 2 Sorting of materials 16 3 Product description 17 3 1 Version compatibility and features 17 3 2 Equipment variants 19 3 3 Data transferred to the network network input data sets...

Page 4: ...us TCP gateway 52 6 1 Interfaces and operation 52 6 2 Basic configuration allocation of an IP address 52 6 3 Configuration of the Modbus TCP interface to the PLC how the data are transferred 53 6 4 Di...

Page 5: ...4 7 4 Typed Write 90 8 4 7 5 Typed Read 91 8 4 7 6 Protected Typed Logical Read with 2 Address Fields 92 8 4 7 7 Protected Typed Logical Write with 2 Address Fields 93 8 4 7 8 Protected Typed Logical...

Page 6: ...9 2 4 ACT Activity Status 106 8 9 3 Diagnostic functions in the configuration software 106 8 10 State bits 107 9 PROFIBUS DP gateway 108 9 1 Interfaces and operation 108 9 2 Projecting 112 9 3 PROFIB...

Page 7: ...etwork 176 11 7 Configuring an EtherCAT network 177 11 8 EtherCAT configuration of the gateway how the data are transferred 178 11 9 Diagnostic LEDs on the gateway and troubleshooting 180 12 Technical...

Page 8: ...e software manual contains a description of the im portant diagnostic functions for operation and detailed information for identifying and elimi nating errors Use the software manual mainly when confi...

Page 9: ...rating instruc tions SP CANopen samosPRO CANopen gateway BA001188 Operating instruc tions SP EN ETC samosPRO EtherCAT gateway BA001178 Target audience 77333387 This manual is aimed at the planners dev...

Page 10: ...0 The hardware manual BA000966 The software manual BA000968 The GSD file of the SP PROFIBUS DP for PROFIBUS DP The EDS file of the SP CANopen for CANopen Abbreviations and Definitions 77372939 Term Ex...

Page 11: ...e CIP specifi cation version 3 18 IP Internet protocol Class A series of objects representing a similar system component A class is a generalization of the object a template for defining variables and...

Page 12: ...ility tests and usually do not require immediate error recognition T O Target to Originator TCP Transmission Control Protocol Internet standard protocol for the transport layer specified in RFC 793 Te...

Page 13: ...warning lets you know about specific or potential hazards It is intended to protect you from accidents and help prevent damage to devices and systems Please read and follow the warnings carefully Fail...

Page 14: ...rranty claims for resulting damage made against Wieland Electric GmbH shall be deemed invalid The risk shall be borne solely by the operator This also applies to any independent modifications made to...

Page 15: ...ead this manual Compliance with standards and regulations Please follow the standards and guidelines valid in your country when installing and using the samosPRO gateways The national international le...

Page 16: ...ntally friendly recycling process it is necessary to sort the various materials of the samosPRO devices Separate the housing from the rest of the components particularly from the PC board Place the se...

Page 17: ...sPRO system works independently of the gateway However if the system has been configured in such a way that non safety related information from the field bus can be integrated into the logic editor sw...

Page 18: ...Yes GSDML profile V2 31 SP COP2 ENI x C 01 Yes SP COP2 ENI x D 01 Yes Vol 1 Ed 3 18 Vol 2 Ed 1 19 CT13 SP COP2 ENI x D 03 Master start delay configurable GSDML profile V2 32 Vol 1 Ed 3 21 Vol 2 Ed 1...

Page 19: ...VPN to exchange data via the Internet Table 9 Equipment variants and their main characteristics Gateway Network type Ethernet IP socket interface SP EN MOD Modbus TCP with master and slave operation C...

Page 20: ...ay data set 1 was divided into five input data blocks with data blocks 1 4 each containing 12 bytes and data block 5 two bytes For the SP CANopen gateway data set 1 was divided into four blocks each w...

Page 21: ...P COPx Byte 2 Input values for Module 0 IQ1 IQ4 Test pulse comparison controller module inputs Byte 3 Output values for Module 0 Q1 Q4 IQ1 IQ4 Test pulse comparison controller module inputs Byte 4 Dir...

Page 22: ...1 State of Module 10 Byte 52 Byte 55 State of Module 11 Status of Module 11 Byte 56 State of Module 12 Byte 57 State of Module 12 Byte 58 State of Module 12 Byte 59 State of Module 12 Length 50 bytes...

Page 23: ...7 State of Module 2 Byte 18 State of Module 2 Byte 19 State of Module 2 Byte 20 State of Module 3 Reserved Byte 21 State of Module 3 Byte 22 State of Module 3 Byte 23 State of Module 3 Byte 24 Reserve...

Page 24: ...n of gateways with samosPLAN6 ch 5 p 39 Module state The samosPRO gateways can transfer the state of the linked modules to the network A total of 4 bytes are available for this purpose Table 13 Module...

Page 25: ...e lower value bit represents the control information e g bit 0 for Q1 and Q2 bit 2 for Q3 and Q4 bit 4 for Q5 and Q6 bit 6 for Q7 and Q8 The higher value bit bit 1 3 5 and 7 is not used as follows in...

Page 26: ...quire ment 0 Overcur rent 1 no over current IQ1 IQ2 power require ment 0 Overcur rent 1 no over current Q3 Q4 power require ment 0 Overcur rent 1 no over current Q1 Q2 power require ment 0 Overcur ren...

Page 27: ...or not used 0 I15 Stuck at low 1 OK or not used 0 I15 Stuck at high 1 OK or not used 0 I14 Stuck at low 1 OK or not used 0 I14 Stuck at high 1 OK or not used 0 I13 Stuck at low 1 OK or not used 0 I13...

Page 28: ...Byte 3 Q4 Stuck at low 0 Stuck at error 1 no stuck at Q4 Stuck at high 0 Stuck at error 1 no stuck at Q3 Stuck at low 0 Stuck at error 1 no stuck at Q3 Stuck at high 0 Stuck at error 1 no stuck at Q2...

Page 29: ...ve upper limit of monit range I2 or R2x Above upper limit of monit range I1 or R1x Byte 3 Open circuit I4 or Rbx2 Open circuit I3 or Rax1 Open circuit I2 or R2x Open circuit I1 or R1x Short circuit I4...

Page 30: ...s corresponds to the error message Summary of bits 0 5 to 0 7 external error byte 0 bit 2 in the following table Meaning of module state bits of the secure I O modules ch 3 3 5 p 27 The second relevan...

Page 31: ...ecific tag names will not be available in the logic editor or for routing via a se cond gateway Detailed information about how to assign tag names for the data received may be found in the correspondi...

Page 32: ...program removable storage Module width The modules are placed in a mounting box that is 22 5 mm or 45 mm wide depending on type Quality of hat rail The mounting boxes are suitable for 35 mm hat rails...

Page 33: ...n the hat rail Attempt to pull the module from the hat rail using slight pressure If the module stays connec ted to the hat rail during this test then the installation is correct Step 2 Installation o...

Page 34: ...nnec ted to the hat rail during this test then the installation is correct If you are installing multiple modules Push the individual modules together in the direction of the arrow until the lateral p...

Page 35: ...system Remove plug in terminals with wiring and remove the end terminal If expansion modules or gateways are used Slide the controller module in the direction of the arrow until the lateral plug conne...

Page 36: ...emove any plug in terminals with wiring and remove the end terminals Pull the modules apart from one another individually in the direction of the arrow until the late ral plug connection is disconnect...

Page 37: ...IP 54 Installation according to EN 50274 Electrical installation as per EN 60204 1 The external power supply of the devices must be able to bridge a short term power outage of 20 ms in accordance wit...

Page 38: ...etailed information Software manual chapter Connecting to the safety controller 2 Configure gateway You will find detailed information in this regard at the following points in the gate way manual Mod...

Page 39: ...face of samosPLAN6 in the following windows Window Brief explanation Gateway view Depending on module configuration shows two or three tabs with the routing tables and additional gateway func tionalit...

Page 40: ...the controller module In this case you must use the SP COP2 ENI module as the controller module for the controller and explicitly set the gateway func tionality there How to activate the gateway funct...

Page 41: ...output values Example SP EN ETC module You are using the gateway function of the SP COP2 ENI module In the Gateway view you see an additional third tab Gateway con figuration It contains the basic se...

Page 42: ...several gateways Changes between the gateway configurations Importing exporting Allows for the import export of the configuration defined in the Gate way view Notes Caution When you import a configura...

Page 43: ...shown in tabular form Bits which have been used appear on a dark blue back ground In online mode the input data of the relevant gateway is displayed byte display 0x00 at the start of the relevant line...

Page 44: ...ateway and Properties docking windows 81088011 In addition to the Gateway view in the gateway configuration in samosPLAN6 you work with the following windows Gateway docking window From the Gateway do...

Page 45: ...tes have been divided into one or several data blocks depending on the network protocol Detailed information about the modularization of the data sent to the network may be found in the section on the...

Page 46: ...5 10 Direct data Off 6 Direct data Off 6 11 Direct data Off 7 Direct data Off 7 12 Inputs for Module 1 Continued 1 50 bytes Inputs for Module 1 2 12 bytes 13 Inputs for Module 2 Inputs for Module 2 14...

Page 47: ...ettings for the output values of a gateway in tab 1 Basic setting Depending on the gateway function selected you will find four or eight bytes in tab 1 which are re served as direct gateway output val...

Page 48: ...te the pre allocated values with the desired new value under Parameters in the confi guration dialog In the Logic view these bits will appear with the corresponding tag names Configuring additional di...

Page 49: ...Basic setting Depending on the gateway function selected you will find four or eight bytes in tab 2 which are re served as direct gateway input values You can also see these bytes in the Logic docking...

Page 50: ...idual bits Overwrite the pre allocated values with the desired new value under Parameters in the confi guration dialog In the Logic view these bits will appear with the corresponding tag names Configu...

Page 51: ...ts being forced the changed state of these outputs will also be transmitted to the PLC as the actual physical state of the equipment outputs has changed Simulation mode offline mode You can test a gat...

Page 52: ...992459 The SP COP2 ENI is equipped with a RJ 45 socket Illustration 9 Interfaces and display elements Further information Here in this manual Diagnostics and troubleshooting ch 6 4 p 60 In the hardwar...

Page 53: ...nformation on the link to the controls Software manual chapter Connecting to the safety controller Click Send in the Properties docking window to transfer the configuration to the samosPRO system Conf...

Page 54: ...ess of the PLC is zero and the read transfer mode and or write transfer mode has been set for the master The number of possible connections to the PLC depends on whether the SP COP2 ENI module is oper...

Page 55: ...settings in the gateway configurati on via SP COP2 ENI Settings required for the PLC program and or in the Modbus TCP configuration tool Select PLC requests and PLC writes in the ga teway configurati...

Page 56: ...settings can be activated simultaneously They determine the frequency of data transmission Activating updates following changes Recommended Determines that the SP COP2 ENI module immediately up dates...

Page 57: ...n of the data sets here Data transferred to the network network input data sets ch 3 2 p 19 Register column Define from and to where in the PLC memory the selected data should be read and written Colu...

Page 58: ...e transmitted to the PLC in 16 bit word format with the first byte having to be placed as the lowest value i e on the far right of the integer while the second byte will have the highest value i e on...

Page 59: ...nsmitted to the PLC in 16 bit word format with the first byte having the lowest value i e on the far right of the integer while the second byte has the highest value i e on the very left of the intege...

Page 60: ...not permitted Undefined data address received 3 Data value not permitted Request with prohibited data values e g insuffi cient data requested for a data set 4 server errors An error occurred during ex...

Page 61: ...not yet been fully transmitted The module version of the controller module does not support the gateway func tion Configure the SP COP2 ENI module and transfer the configuration to the sys tem Wait un...

Page 62: ...ower supp ly again Check the power supply Check the other modules of the samosPRO system LED PWR EC Red LED LINK Green LED ACT Orange MS LED Red State bits 78215947 The Modbus TCP Gateway SP EN MOD se...

Page 63: ...res The SP COP2 ENI module supports PROFINET IO Conformance Class A Cyclical EA communication RT LLDP DCP Auto MDI Auto negotiation I M 1 4 Equipment diagnostics alarms Currently not supported SNMP Sh...

Page 64: ...structure docking window and there click on the Controller entry right at the top Additionally open the Proper ties docking window and enter the desired value there in the configuration dialog under C...

Page 65: ...PROFINET IO is provided on the SP COP2 ENI module then only one device in samosPLAN6 can be found by USB If you would like to use the Ethernet to connect with the SP COP2 ENI module then select Edit i...

Page 66: ...e SIEMENS TIA Portal Step 1 Install the device master file GDSML file Before the SP COP2 ENI module can be used for the first time as part of the network configuration tool e g the SIEMENS TIA Portal...

Page 67: ...ay must first be added to the hardware configuration The procedure to be used depends on the hardware configuration software of the PLC used Please also read the documentation for the cor responding s...

Page 68: ...Configure the IP address the device name and the update interval of the cyclical I O data exchange Select the Properties tab for this NOTICE The PLC can only communicate with the SP COP2 ENI module i...

Page 69: ...data Byte 0 Input values SP COP2 ENI I O module 1 input values I O module 1 output values Not allocated Not allocated Byte 1 Input values SP COP2 ENI I O module 2 input values I O module 2 output val...

Page 70: ...in each cor responding slot 21 to 25 The content of these data blocks can be used as input in the samosPLAN6 logic editor or forwarded to another network by a second gateway Every bit to be used must...

Page 71: ...in slot 32 Data set 3 comprises 60 bytes and contains the status of SP COP2 ENI module and the individual I O modules This can only be placed in slot 33 See the following to interpret the status bits...

Page 72: ...P2 ENI IM_SUPPORTED IM_Supported 2 bytes 10 0b1010 0 SP COP2 ENI TAG_FUNCTION 32 bytes 32 Bytes 0x20 0x7E 1 SD card TAG_LOCATION 22 bytes 32 Bytes 0x20 0x7E 1 SD card INSTALLATION_DATE IM_Date 16 byte...

Page 73: ...any data Configuration required The configuration has not yet been fully transmitted The module version does not support any PROFINET IO Configure the SP COP2 ENI module with a project file in which P...

Page 74: ...logic editor Name of the state bits Set to 1 if Reset to 0 Output state Data from slot 16 17 18 19 20 32 or 33 was transmitted without error No AR Application Relation exists Input state Data from slo...

Page 75: ...UCMM Message Server no connection Supported objects Message router connection manager port identity Ethernet link TCP IP I O point and group discrete vendor class 0x78 assembly Up to five simultaneou...

Page 76: ...COP2 ENI module in your PLC configuration program You can find the current EDS file on the Internet at https eshop wieland electric com The follo wing diagram shows you how you can make the setting us...

Page 77: ...on 14 Selection of the module type in the Logix Designer In the Internet Protocol tab in the Logix Designer select Manually configure IP settings Select the required IPv4 address and the appropriate n...

Page 78: ...I module to the PLC assembly instance 57 The following table offers an over view of these data bytes Table 38 Data of the class 1 connection Logic output 1 to 400 and logic physical input Instance Byt...

Page 79: ...physical input 140 57 Logic output 241 to 400 and logic state system mode assembly 140 167 Logic output 321 to 400 and logic physical input 141 57 Logic output 321 to 400 and logic state system mode...

Page 80: ...command as shown in the following illustrations If this is not the case stop the device via the Stop button Required window layout Illustration 18 Setting of the IPv4 device data in samosPLAN6 Config...

Page 81: ...ram legibility and troubleshooting Tag names can be configured in the Parameters section of the Properties do cking window Illustration 20 Adding new data bytes T O for use in the Logic view by config...

Page 82: ...for a discrete universal I O device Instance 1 attribute 3 stands for the product code It is of the type UNIT and thus comprises 2 bytes The decimal value is always constant at 1320 Instance 1 attrib...

Page 83: ...20 1 1 4 Read USINT 2 Revision software version The left byte is the main section and is transmitted first 1 1 to 99 99 1 1 5 Read WORD Device state See next table 1 1 6 Read UDINT Serial number 16010...

Page 84: ...8 of Class 8 See 1 4 57 4 Read UINT Number of data bytes 67 4 138 1 Read UINT Number of members 0 4 138 3 Read write BYTE 40 Bits of the logic outputs ch 8 5 2 p 99 Instance 81 to 400 of Class 9 See 1...

Page 85: ...ributes 1 2 3 8 1 to 400 3 Read BOOL The value of the input bit configured by the output data set 1 in samos PLAN6 stands for the data transferred by the logic of the controller module to the PLC 0 Of...

Page 86: ...application agree with the results from the risk analysis and the avoidance strategy Have all of the applicable standards and guidelines been complied with If not you are placing the machine s operat...

Page 87: ...OP2 ENI module as well as the safe input output expansion modules in one bit If an error occurs at at least one input terminal and the SP COP2 ENI module is in Run mode the value of the attribute 5 of...

Page 88: ...P packages The SP COP2 ENI module supports the encapsulation of PCCC data in CIP packages as described above under b For this the class ID 0x67 103 was specified The PCCC commands listed in the follow...

Page 89: ...Size Data range Length USINT Header size 1 Byte 7 Vendor UINT Vendor ID of requester 2 Byte S N UDINT Serial number of requester 4 Byte 0 to 232 1 CMD USINT Command of requester plus Bit 6 set 1 Byte...

Page 90: ...able Table 53 Write data structure of PLC 5 input Name Data type Description Data range Packet offset UINT Offset as number of elements Total Transaction UINT Number of elements in the transaction Add...

Page 91: ...first byte of the type ID is 0x9a 0b1001 1010 meaning that the data type is given in the following byte and the data size in the byte after that The fourth byte of the type ID is 0x42 0b0100 0010 sta...

Page 92: ...7 is also transferred Note The position of the word data with system state and system mode are dependent on the requ ested amount of data x 80250763 Protected Typed Logical Read with 2 Address Fields...

Page 93: ...t with three address fields Name Data type Description Data range Size USINT Number of data bytes to be read Assembly instance 37 0 to 50 Assembly instance 57 0 to 67 Assembly instance 167 0 to 112 Fi...

Page 94: ...ch 8 4 8 7 p 96 This data corresponds to data set 3 which is described at various points in this document A value 1 for bits in instance 3 attributes 1 to 60 stands for OK Not used Reserved A value 0...

Page 95: ...T Max class attribute ID 7 120 0 Class 7 Read UINT Max instance attribute ID 60 120 1 n 1 Read USINT The input byte n configured by the output data set 1 in samosPLAN6 stands for the data transferred...

Page 96: ...ontroller module IQ4 input Test pulse error Controller module IQ3 input Test pulse error Controller module IQ2 input Test pulse error Controller module IQ1 input Test pulse error 5 Controller module I...

Page 97: ...low IO module at pos n Q4 Stuck at high IO module at pos n Q3 Stuck at low IO module at pos n Q3 Stuck at high IO module at pos n Q2 Stuck at low IO module at pos n Q2 Stuck at high IO module at pos...

Page 98: ...E 50 Logic output bytes configuration via Output data block 1 in samos PLAN6 see ch 8 5 3 p 100 1 to 50 Bytes 0 to 0xff 50 Read BYTE Bit 7 Input state Bit 6 Output state Bit 5 Error code 0 1 byte 0x00...

Page 99: ...urther example the first PLC possesses 10 output bytes of the assembly instance 37 whilst the second PLC possesses 10 output bytes of assembly instance 138 and the third assembly in stance 139 with 30...

Page 100: ...ce 57 in the Logix Designer 80571019 Assembly Instances 167 0xa7 Assembly instance 167 possesses a different data structure to instance 57 Instance 167 makes the data available in the samosPRO system...

Page 101: ...ate attribute can be written using the SetAttributeSingle service if it is labeled as Write in these tables Implicit Messaging 80662667 Implicit message transmission uses EtherNet IP the UDP IP protoc...

Page 102: ...es vendor specific assemblies by black lines The controller module is shown as a hatched rectangle Illustration 27 Data flow when using assembly instances of the SP COP2 ENI module Symbolic Addressing...

Page 103: ...ple PLCs are to be transmitted to the SP COP2 ENI module the other PLCs can access the assembly instances 138 to 141 for Class 1 connections Class 3 connections can be set up in parallel provided that...

Page 104: ...green red or flashes red Valid Critical error Doesn t matter Turns red 80788875 NET Network Status The SP COP2 ENI module possesses a two color red green LED with the designation NET This is the Netwo...

Page 105: ...Ethernet communication has been established or the communication is faulty Duplicate IP address detec ted Another network de vice has the same IP address Incorrectly formatted PRO FINET device name PR...

Page 106: ...ation ACT If no port activity can be detected it stays dark If port activity is detected it switches on Diagnostic functions in the configuration software 80832139 Additional diagnostic functions are...

Page 107: ...if a connection of transport class 1 implicit connection was terminated and no further connection exists Input state a SetAttribute command was processed successfully or data of transport class 1 rece...

Page 108: ...P module Table 71 Meaning of the state LEDs on the SP PROFIBUS DP module LED Meaning Key LED off LED flashes LED lights up BF Off Connection to the DP master established Red No bus connection Field bu...

Page 109: ...address switches on the front of the device to 00 Launch samosPLAN6 Read in the hardware configuration including the PROFIBUS DP gateway Instructions Software manual chapter Connecting to the safety c...

Page 110: ...ND EXT SHLD Shielding Bus cable The bus topology for PROFIBUS DP is a linear structure consisting of a shielded and twisted 2 lead cable with active bus termination at both ends The potential bus leng...

Page 111: ...resistance 110 km Lead diameter 0 64 mm Wire cross section 0 34 mm2 These cable parameters provide the following maximum physical dimensions for a bus section Table 76 Maximum line lengths of the SP P...

Page 112: ...ocess data transmitted by the SP PROFIBUS DP module The GSD file of the SP PROFIBUS DP module provides input and output data blocks virtual I O de vice modules which contain the process data These 5 b...

Page 113: ...Direct data Off 2 Input values for Module 7 Output values for Module 7 Not allocated Byte 7 Direct data Off 3 Input values for Module 8 Output values for Module 8 Not allocated Byte 8 Direct data Off...

Page 114: ...23 in our example has not been allocated When the target address is assigned here delete the bytes placed there To do this click on the byte in the work area and click on the Delete symbol in the com...

Page 115: ...ile and the equipment symbol from the product site of the SP PROFIBUS DP module https eshop wieland electric com Follow the instructions for the installation of GSD files in the online help section or...

Page 116: ...tent of the PROFIBUS diagnosis messages Octet Content Comment 7 0x09 Header 8 See following table Module number 9 0 PROFIBUS slot number of the module The PROFIBUS gateway supports five slots which do...

Page 117: ...ble 80 PROFIBUS error messages Module num ber Diagnosis bit X_Unit_Diag_Bit Error cause Error message 01 0 Reserved Reserved 1 Module operating state is Critical Error 2 Power supply not in permitted...

Page 118: ...est signal at input 2 Check to short circuit to high or cabling error 18 Error of the external test signal at input 3 Check to short circuit to high or cabling error 19 Error of the external test sign...

Page 119: ...ed 5 0 EtherCAT Gate way Reserved 1 Internal error Internal tests failed 2 Reserved 3 Reserved 4 Configuration is incompatible or invalid 5 Module state input data 6 Module state output data 7 to 31 R...

Page 120: ...erved 3 Reserved 4 Configuration is incompatible or invalid 5 Module state input data 6 Module state output data 7 to 31 Reserved 10 0 Other module Reserved 1 Internal error Internal tests failed 2 Re...

Page 121: ...ully transferred LED PWR Green LED BF Off MS LED Red 1 Hz The SP PROFIBUS DP mo dule does not provide any data No data set was activated Activate at least one data set LED PWR Green LED BF Off MS LED...

Page 122: ...id of the samos PLAN6 Use the controller module with the required module version If the error persists replace the gateway LED PWR Green LED BF Red MS LED Red 2 Hz The SP PROFIBUS DP mo dule the samos...

Page 123: ...power supply switched on Red System error NS net work status Off CANopen state stopped except for node guarding and heartbeat when activated Green CANopen state Ready for operation PDO and SDO data ex...

Page 124: ...address switches at the front of the sys tem Switch the samosPRO system off and on again Table 83 Address switch on the SP CANopen module Switches Function 10 Address switch 1 Rotary switch with 10 po...

Page 125: ...ate Combine samosPLAN6 with the samosPRO system and transmit the configuration More detailed information on the link to the controls Software manual chapter Connecting to the safety controller NOTICE...

Page 126: ...ables and terminal re sistances at both bus ends The shielding is connected to ground at both ends The transmission ra te depends on the network length and ranges from 125 kbit s to 1000 kbit s The po...

Page 127: ...tics are described with the aid of the electronic data sheet EDS file that makes use of any standard bus configuration tool You will fin the EDS file and the equipment symbol for integration into a PL...

Page 128: ...DS file and the equipment symbol from the product site of the SP CANopen mo dule https eshop wieland electric com Follow the instructions for the installation of EDS files in the online help section o...

Page 129: ...ment select the command SP CANopen00000 EDS to attach the SP CANopen module to the CanMaster Step 3 Select and configure the process data objects PDOs Once you have added the device to the automation...

Page 130: ...to control the devices The following sections contain more detailed descriptions of the various ob jects Predefined Connection Set PCS The Predefined connection set provides a simple CAN identifier st...

Page 131: ...of data bytes NMT network management 78602635 The broadcast object NMT is used to start stop or initialize CANopen devices A device in the CANo pen network must take on the role of the NMT master for...

Page 132: ...NMT object CAN ID 00h contains 2 data bytes DLC 2 Data byte 1 contains the command Reset communication 82h data byte 2 addresses this command to all devices in the CANopen network address 0 Table 91 E...

Page 133: ...ecific state bits Active bits are high 1 see below Table CANopen Emergency Messages The following table shows the module specific diagnostic data and the corresponding error messa ges Table 94 CANopen...

Page 134: ...compatible or inva lid 05 Output power supply not in permitted range 06 Reserved 07 Reserved 08 Dual channel evaluation of input 1 2 Error detected 09 Dual channel evaluation of input 3 4 Error detect...

Page 135: ...a cabling error 24 Error Short circuit after high at out put 1 25 Error Short circuit after low at output 1 26 Error Short circuit after high at out put 2 27 Error Short circuit after low at output 2...

Page 136: ...incompatible or inva lid 05 to 31 Reserved 07 00 Reserved Reserved 01 Internal error Internal tests failed 02 Reserved 03 Reserved 04 Configuration is incompatible or inva lid 05 to 31 Reserved 08 00...

Page 137: ...st respond to the query of the NMT master within the node guarding time The node guarding time must be monitored by the NMT master The NMT master sends a CAN message with the identifier 700h node ID a...

Page 138: ...changed by using SDOs 1400 to 1403 for the RxPDOs and SDOs 1800 to 1803 for the TxPDOs PDO linking NOTICE Each process data object contains 8 bytes The content of the process data objects can be free...

Page 139: ...17 B18 B19 B20 B21 B22 B23 B24 481 4FF 8 B25 B26 B27 B28 B29 B30 B31 B32 B1 B32 CAN telegram bytes as in the network input data with the aid of samosPLAN6 see Confi guring the gateway output values ta...

Page 140: ...B3 B4 B5 B6 B7 B8 301 2FF 8 B9 B10 B11 B12 B13 B14 B15 B16 401 3FF 8 B17 B18 B19 B20 B21 B22 B23 B24 501 4FF 8 B25 B26 B27 B28 B29 B30 B31 B32 B1 B32 CAN telegram bytes as for the gateway input data w...

Page 141: ...4 SDO_L SDO Index Low Byte SDO_H SDO Index High Byte SUB SDO Subindex The server then responds with a confirmation Table 102 SDO write confirmation CAN ID DLC Data 580h N 8 60h SDO_L SDO_H SUB Byte 1...

Page 142: ...mally described in an EDS file Many CANopen tools can ready this EDS file and therefore know the object characteristics of the CANopen device The following table shows all SDOs for the SP CANopen gate...

Page 143: ...of an emergency the module state diagno sis 4 bytes will be entered here SDO 1005 COB ID SYNC SDO 1005 contains the COB ID of the sync object This value has been preset to 80h but can be changed NOTI...

Page 144: ...The NMT master must send at least one node guarding message to the slave within this time When the consumer heartbeat time is exceeded life guarding error the gateway reports a cable break er ror and...

Page 145: ...le 22 EtherCAT gateway SDO 1400 1403 Communication parameters for the RxPDOs SDO 1400 to 1403 can be used to configure the communication parameters for RxPDOs 1 to 4 e g SDO 1400 defines the parameter...

Page 146: ...The synchronous transmission types n 1 240 mean that the TxPDO is sent after the nth sync command has been received Asynchronous event driven with change of state The asynchronous transmission type 2...

Page 147: ...objects The 32 bytes of the process input data can be written into SDO array 6000 These are the same data as in RxPDO 1 4 see PDO Communication ch 10 8 p 138 The mapping is as follows Table 113 Mappi...

Page 148: ...Node guarding is carried out by a NMT master This can be any CANopen device that can fulfill this function as a client The NMT master sends a cyclic node guarding message to the device to be mo nitore...

Page 149: ...rtbeat gateway Life Guarding Gateway Node guarding NMT master 0 0 0 Not permitted Always make use of either node guarding or heartbeat 0 0 0 Deactivated Cable break detec tion Required 0 0 0 Cyclic he...

Page 150: ...e gateway is in one of two possible emergency states either error free or errors detected Emergency objects are sent depending on the transitions between these two emergency states The error code in t...

Page 151: ...events for which the gateway is to send CAN messages is too high for the set baud rate Increase the baud rate or change the configuration of the gateway CAN initializati on failed The CAN con trols c...

Page 152: ...rs exist 3 0xFF03 0x81 M1 Module index M2 M5 Module diag nostic data M2 M3 M4 M5 All errors remo ved 4 0x0000 0x00 M1 0 M2 M5 0 CANopen diagnostic examples 78773259 Example 1 Secure IO module in posit...

Page 153: ...dex 3100 04 Subindex Module to Position 1 see table Content of SDO 3100 ch 10 10 p 147 Gateway response CAN ID DLC DATA 58C 8 42 00 31 04 BF FF FF FB 58C Identifier 580 C 8 Data length code This is fo...

Page 154: ...2 0 Short circuit after high at output 4 Example 2 Secure I O module with error at two channel input I1 I2 The gateway sends am Emergency message see Table Emergency Messages ch 10 6 p 133 CAN ID DLC...

Page 155: ...00 ch 10 10 p 147 FB Error byte M5 Bit 2 0 external error FE Error byte M4 bit 0 0 two channel evaluation of inputs 1 2 Error detected See Table CANopen Emergency Messages ch 10 6 p 133 Reading of err...

Page 156: ...DO transfer since switch on Start the PDO transfer Transfer the PDO via SDO 6000 or SDO 6200 LED PWR Green LED NS Green MS LED Red green The SP CANopen module does not provide any data No PDO transfer...

Page 157: ...es not provide any data CANopen master is in the stop or pre operational sta te Another slave could not be initialized during initializa tion of the bus system CANopen state of the SP CANopen module i...

Page 158: ...pply off and on again Check the diagnostic mes sages with the aid of the samosPLAN6 Use the controller module with the required module version If the error persists replace the gateway LED PWR Green L...

Page 159: ...ead on the side of the housing Later versions have different letters as the first letter of the module versi on in alphabetical order e g the module version D xx would be a more recent version Illustr...

Page 160: ...dule LED Meaning Key LED off LED flashes LED lights up ECAT IN LINK Off No EtherCAT device connected no connection Green EtherCAT device connected Green Communication with connected EtherCAT device TX...

Page 161: ...sly changed the EtherCAT status The Chan ge parameter in the ALStatus register is 0x01 change error Red Blink Invalid configuration General configuration error Example The configuration has not yet be...

Page 162: ...on GmbH Germany EtherCAT stands for Ethernet for Controller and Automation Technology It was originally developed by Beckhoff Automation GmbH and is now supported and further developed by the EtherCAT...

Page 163: ...DO 6 Remote request of TxPDO 7 Remote request of RxPDO 8 SDO information 9 15 reserved Service Ethernet Frame DA Destination address SA Source address CRC Checksum Type Ether type example the entry 0x...

Page 164: ...ilbox communication PS Start input update SP Stop input update SO Start output update OS Stop output update OP Stop input update stop output update SI Stop input update stop mailbox com munication OI...

Page 165: ...Standard CAT5 cable is used Cable lengths of up to 100 m between 2 devices are possible Only EtherCAT components may be used in an EtherCAT network To implement topologies devia ting from the linear...

Page 166: ...5 Available data The samosPRO EtherCAT gateway can provide the following data Process data Logic results from the samosPRO see Routing Table ch 5 1 3 p 43 Input values HIGH LOW for all samosPRO input...

Page 167: ...Module 5 Byte 7 Not allocated Byte 17 Input values for Module 6 Byte 8 Not allocated Byte 18 Input values for Module 7 Byte 9 Not allocated Byte 19 Input values for Module 8 Output data block 3 Outpu...

Page 168: ...total number of 50 bytes of data set 1 may be configured as direct gateway output values You can obtain additio nal information at Direct gateway output values ch 3 3 1 p 24 The samosPRO gateway can...

Page 169: ...bit 0 for I1 and I2 bit 2 for I3 and I4 bit 4 for I5 and I6 bit 6 for I7 and I8 The higher value bit bit 1 3 5 and 7 is used as follows in this case 0 error 1 no error Table 125 Module state input dat...

Page 170: ...ion of data from a second network If your samosPRO system contains two gateways it is possible to forward information which the first gateway receives from a network e g from an EhterCAT PLC via the s...

Page 171: ...yte 23 in output data block 0 Step 1 Check target address Ensure that the desired address byte 23 in our example has not been allocated When the target address is assigned here delete the bytes placed...

Page 172: ...ic GmbH BA000970 07 2019 9855 172 Step 3 Place byte on new target address Open the Gateway docking window and select the desired bytes under the associated module Use the mouse button to drag the Byte...

Page 173: ...rnal software and hard ware version The CRCs are each 4 Bytes in length Data set 2 can be read only The project CRC is transmitted in Big Endian format Table 129 Output data set 2 samosPRO COMPACT to...

Page 174: ...hanged NOTICE Reserved for future use static 1 no state change Not used can be 0 or 1 both values occur If there is no module all values including the reserved values are set to logical 1 Table 130 Ou...

Page 175: ...le 7 Byte 39 Status of Module 7 Byte 40 Status of Module 8 Byte 41 Status of Module 8 Byte 42 Status of Module 8 Byte 43 Status of Module 8 Byte 44 Status of Module 9 Byte 45 Status of Module 9 Byte 4...

Page 176: ...n tag names for the data received may be found in the corresponding sections of the chapters on the various gateways You can monitor current communication with the network with the aid of input data s...

Page 177: ...stem The values are only current as long as the gateway to the EtherCAT network is connected and the gateway status is Operational As soon as the state machine of the gateway adopts a state other than...

Page 178: ...the tool Download the GSD file and the equipment symbol from the product site of the SP EN ETC mo dule https eshop wieland electric com Follow the instructions to install XML in the online help or us...

Page 179: ...970 07 2019 9855 179 Example This is not true for the gateway but is important for other slaves Step 3 Create a new project After you have connected the controller i e the EtherCAT master to the Ether...

Page 180: ...een created in the input data set Diagnostic LEDs on the gateway and troubleshooting 79444363 You can find information on the diagnosis of the samosPRO system in the software manual Table 133 Troubles...

Page 181: ...input data After switch on Gateway state is Init Switch EtherCAT to Op state MS LED Red green LINK Green LINK Green The SP EN ETC does not provide any input data After switch on Gateway state is Pre...

Page 182: ...ck that the pin assignment of the used cable is correct Configuration Make sure that the gateway is installed right next to the controller module and that no more than 2 samosPRO gateways are connecte...

Page 183: ...AT to samosPRO COMPACT Data length Outputs 142 bytes 50 32 60 from samosPRO COMPACT to EtherCAT Galvanic isolation Yes between EtherCAT RJ45 and system voltage Type of insulation Function insulation F...

Page 184: ...uit 78947851 These technical data apply to all gateway modules Supply circuit e g via internal safety bus Minimal Typical Maximum Supply voltage 16 8 V DC 24 V DC 30 V DC Power consumption 2 4 W Gener...

Page 185: ...6 2 EN 55011 Class A Mechanics and set up Housing material Polycarbonate Housing type Device for installation in switch box Housing protection type terminals IP 20 IP 40 Color Light gray Weight 0 16...

Page 186: ...Technical data Wieland Electric GmbH BA000970 07 2019 9855 186 Spring loaded terminal...

Page 187: ...Technical data Wieland Electric GmbH BA000970 07 2019 9855 187 CANopen and PROFIBUS gateways old housing 78994571 Illustration 46 Dimensional drawing CANopen and PROFIBUS gateways mm 12 7 2...

Page 188: ...Technical data Wieland Electric GmbH BA000970 07 2019 9855 188 EtherCAT gateway 79007499 Illustration 47 Dimensional drawing EtherCAT gateway mm 12 7 3...

Page 189: ...nd 4 configurable inputs or outputs Screw terminals pluggable R1 190 1210 0 SP COP2 EN C Controller module USB and Ethernet connection 16 inputs 4 outputs and 4 configurable inputs or outputs Spring l...

Page 190: ...DP gateway R1 190 0190 1 SP SDIO84 P1 K A Safe input output expansion with output test pulses 8 inputs 4 outputs Screw terminals pluggable R1 190 0030 0 SP SDIO84 P1 K C Safe input output expansion wi...

Page 191: ...on 24 V DC 4 NC normally closed contact 3 NO normally open contact Spring loaded terminals pluggable R1 188 1980 0 SNE 4012K A Contact expansion 24 V DC 2 NC normally closed contact 1 NO normally open...

Page 192: ...77123979 Wieland Electric GmbH Brennerstra e 10 14 96052 Bamberg Germany Phone 49 951 9324 0 Fax 49 951 9324 198 info wieland electric com www wieland electric com...

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