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CAN Network Communication   

17

Doc.Id. SCM-1200-121

Anybus Communicator CAN to CANopen
Doc.Rev. 1.00

4.4 Control/Status Word

An optional control/status word can be used to control the startup mode of the module and to read the 
status of the CAN network. The control word is always mapped to the first two bytes of the output data 
area, and the status word is mapped to the first two bytes of the input data area. It is not possible to 
change these locations.

Note

: The picture shows the maximum available data areas in the Communicator. Not all fieldbuses can 

access all addresses in the input and output data areas, please see section Data Exchange Model in chap-
ter 1. 

Through the control word it is possible to reset the CAN controller, reboot the module and decide the 
start-up mode of the Communicator:

The status word holds status information from the CAN network:

Bit

Name

Description

15 - 3

(Reserved)

2

Reset CAN

A transition from 0 to 1 resets the CAN controller (used when the CAN interface is bus off).

1

Reboot module A transition from 0 to 1 reboots the Communicator (software reset)

0

Operation mode This bit sets the start-up operation mode of the Communicator:

0 - Idle (No new data issued to the CAN network. Data received from the CAN network is 
sent on the CANopen network.)
1 - Run (Data is exchanged between the CAN network and CANopen.)

Bit

Name

Description

15 - 6

(Reserved)

5

CAN overrun

0 - OK
1 - CAN reception overrun

4

Error passive

0 - The CAN interface is NOT in error passive state
1 - The CAN interface is in error passive state

3

Bus off

0 - Bus running
1 - Bus off

2

Reset CAN 
complete

If set, the CAN controller has been reset (used when the CAN interface is bus off).

1

(Reserved)

0

Operation mode 0 - Idle

1 - Run

Input Data 

Output Data 

General Data 

CAN network:

CAN network:

CAN network:

Fieldbus: 

Write Only
Read Only 

Read Only 
Write Only

Read/Write 
- 

Fieldbus: Fieldbus: 

0x000 0x200 

0x1FF

0x3FF

0x400 

0x7FF

Status Word (2 bytes)

Control Word (2 bytes)

Содержание Communicator - CANopen

Страница 1: ...ustrial Networks Mailing address Box 4126 300 04 Halmstad Sweden Visiting address Stationsgatan 37 Halmstad Sweden Connecting DevicesTM E mail info hms networks com Web www anybus com User Manual Anyb...

Страница 2: ...for any problems that may arise as a result from the use of undocumented features timing or functional side effects found outside the documented scope of this product The effects caused by any direct...

Страница 3: ...s 11 CANopen Connector and Switches 11 USB Connector 12 CAN Connector 12 Power Connector 12 Software Installation 13 Anybus Configuration Manager 13 Chapter 3 Getting Started Chapter 4 CAN Network Com...

Страница 4: ...ter 8 Basic Settings Network Settings 27 Communicator Settings 28 Subnetwork Settings 29 Chapter 9 Groups and Transactions General 30 Groups 30 Transactions 30 Produce 31 Consume 32 Query Response 32...

Страница 5: ...elative Humidity 42 EMC CE Compliance 43 Chapter B Configuration Example Appendix C CANopen Object Dictionary Standard Objects 48 General 48 Object Entries 48 Manufacturer Specific Objects 50 Input Bu...

Страница 6: ...Related Documents P 2 Document History Summary of Recent Changes 1 00 Revision List Document Author CiA Draft Standard 301 v4 2 CAN in Automation CiA Draft Standard Proposal 302 Part 1 5 CAN in Autom...

Страница 7: ...ered lists provide sequential steps Bulleted lists provide information not procedural steps The terms Anybus or module refers to the Anybus Communicator CAN module The terms host or host application r...

Страница 8: ...mail cn sales hms networks com E mail cn support hms networks com Phone 86 0 10 8532 3183 Phone 86 0 10 8532 3023 Fax 86 0 10 8532 3209 Fax 86 0 10 8532 3209 Online www anybus cn Online www anybus cn...

Страница 9: ...ty and the configu ration of the CAN network and the connection between the networks For information about CAN open please refer to official specifications No proprietary configuration software is nee...

Страница 10: ...lity Through the configuration of the CAN frames the Communicator will adapt to a predefined CAN net work It will be possible to send data to and receive data from the subnetwork but also to act as a...

Страница 11: ...and output data but up to 512 bytes in one direction Input Data Up to 512 bytes This area can be read by the higher level net work how this data is represented on the higher level network will be des...

Страница 12: ...rk configuration using the Anybus Configuration Manager the different ar eas described above are mapped to the memory locations addresses specified below Input Data Output Data General Data CAN networ...

Страница 13: ...open Connector and Switches on page 11 C USB connector This connector is used for uploading and down loading the configuration and for software up grade of the module See also USB Connector on page 12...

Страница 14: ...ows To snap the Communicator on first press it downwards 1 to compress the spring in the DIN rail mechanism then push it against the DIN rail as to make it snap on 2 To snap the Communicator off push...

Страница 15: ...Bus initialization fault Green Operational 2 Error Off No error Single flash red Warning limit reached Double flash red Error Control Event Triple flash red Sync Error Red Bus off 3 Status Off Normal...

Страница 16: ...o have effect The node address is configured using two rotary switches as follows Node Address Switch B x 10 Switch A x 1 Example To set node address 42 set switch A to 2 and switch B to 4 The baudrat...

Страница 17: ...ble when the configura tion of the module is finished 2 4 3 CAN Connector Next to the USB connector the CAN connector is found 2 5 Power Connector Notes Use 60 75 or 75 C copper CU wire only The termi...

Страница 18: ...more 128 MB recommended Microsoft Windows XP Windows Vista or Windows 7 Installation Anybus Communicator CAN resource CD Insert the CD and follow the onscreen instructions If the installation does no...

Страница 19: ...s the product 3 Build your configuration in the Anybus Configuration Manager tool for an example see Con figuration Example on page 44 for a description of the tool see chapters 7 to 11 4 Connect the...

Страница 20: ...CAN is essentially a produce consume network where all nodes listen to all messages The devices rec ognize what data to collect by what identifier the CAN frame carries The Communicator is also able...

Страница 21: ...from the Communicator s perspective 4 3 Protocol Building Blocks The following building blocks are used in Anybus Configuration Manager to describe the subnetwork communication How these blocks apply...

Страница 22: ...Name Description 15 3 Reserved 2 Reset CAN A transition from 0 to 1 resets the CAN controller used when the CAN interface is bus off 1 Reboot module A transition from 0 to 1 reboots the Communicator...

Страница 23: ...f the transaction is non working or non existent The live list is mapped in the input data area of the memory either at the start of the area or directly after the status word From 8 transactions up t...

Страница 24: ...o the following mapping scheme Data is by default mapped as UINT8 RPDO no Default COB IDs Mapped to Default State Node ID 1 63 Node ID 64 1 200h Node ID 200h Node ID Output Data buffer bytes 0 7 Enabl...

Страница 25: ...128 bytes 0x0080 IO Size Out 32 bytes 0x0020 Resulting memory layout In the Local Object Dictionary input data bytes are mapped to objects starting from index 2000h and output data bytes are mapped t...

Страница 26: ...ex sub index 2000h 1 2000h 2 2000h 3 2000h 4 2000h 29 2000h 30 2000h 31 2000h 32 2020h 1 2020h 2 2020h 15 2020h 16 2040h 1 2040h 8 2003h 125 2003h 126 2021h 127 2003h 83 2003h 84 2003h 85 2003h 86 200...

Страница 27: ...e gen eral settings for the slave interface are configured using the ACM see Network Settings on page 29 Please note that the size of the I O data that can be read from and written to the module is de...

Страница 28: ...information section of the main win dow 7 1 Main Window The main window in the Anybus Configuration Manager ACM is divided into 4 sections as follows 1 Pull down Menus Toolbar The toolbar provides qui...

Страница 29: ...us Configuration Manager Edit This menu features the following entries Undo Undo the most recent action Repeat to undo more actions Redo Redo the most recent undo Cut Remove selected group transaction...

Страница 30: ...ess Overview on page 38 Diagnostics Status Display diagnostics and status of the Communicator and the present configuration See Diagnostics Status on page 38 Options This will bring out the following...

Страница 31: ...on tool to the module Upload Configuration This entry uploads a previously downloaded configuration to the Anybus Configuration Manager Download Configuration This entry downloads the configuration to...

Страница 32: ...ialization parameters can be set manually to provide better control over how the data shall be treated by the Communicator Network Type The Anybus Configuration Manager supports a wide range of networ...

Страница 33: ...beginning of the input area or if the Control Status Word is enabled after the Status Word It is possible to map from 8 to 128 trans actions in steps of 8 Each transaction is represented by a bit tha...

Страница 34: ...lect what will happen to the CAN controller when the CAN network goes bus off Available only when the Control Status Word is not used 11 29 bit CAN Identifier 11 bit 29 bit Select CAN identifier size...

Страница 35: ...ere copied from or their parent 9 2 Groups To create a group right click on Subnetwork and select Add Group The name of the group can be changed by selecting Group and then entering a new name at Grou...

Страница 36: ...output data if the CANopen network goes offline Freeze Data Stop Transaction Update Mode Cyclically Defines how the transmission of the transaction is triggered On Data Change Single Shot Trigger Byte...

Страница 37: ...es Selecting Query will give the same options as selecting Produce except Up date on RTR see Produce on page 31 Selecting Response will give the same options as selecting Consume see Consume on page 3...

Страница 38: ...rame has a CAN identifier to make it possible for each node on the CAN network to recognize data meant for it Default identifier is 0 It can be changed by selecting the CAN Frame and enter the new CAN...

Страница 39: ...304 Word Swap 0201 0403 Double Word Swap 0403 0201 Byte Constant Value 1 byte valid range 0x00 0xFF Constant value to be transmitted little endian Word Constant Value 2 bytes valid range 0x0000 0xFFFF...

Страница 40: ...ignored Word Limit 2 bytes valid range 0x0000 0xFFFF Minimum Value When receiving a message with a limit object the received value will be checked against the mini mum value If the received value is l...

Страница 41: ...downloaded to the Communicator is the same as is open in the ACM it is possible to monitor and modify the transactions Pressing the green button on the left starts the monitoring modifying If Modify i...

Страница 42: ...usly or it is possible to stop logging after 5000 frames from a defined time The CAN Line Listener shows all CAN frames present on the CAN network not only those sent or received by the Communicator I...

Страница 43: ...s the usage of the different memory areas in the module It gives an easy view of any collisions of data that are present in the different memory areas If needed the memory location for the data of one...

Страница 44: ...used when the configuration tool is not connected to a Communicator CAN Information on the status of the CAN subnetwork Identification Information on the module Communicator This item gives the operat...

Страница 45: ...able Anybus Communicator CAN modules There is also the option to select first available device to down load a configuration to When selecting a connection the PC running the ACM will lock to that spec...

Страница 46: ...to the Anybus Configuration Manager If the configuration is to be downloaded to another Communicator change the connection see Select Connection on page 40 Set Module Password A password can be set e...

Страница 47: ...s are fulfilled A 2 Power Supply Supply Voltage The Communicator requires a regulated 24 V 10 DC power source Power Consumption The typical power consumption is 150 mA at 24 V A 3 Environmental Specif...

Страница 48: ...00 A 4 EMC CE Compliance EMC compliance testing has been conducted according to the Electromagnetic Compatibility Directive 2004 108 EC For more information please consult the EMC compliance document...

Страница 49: ...s the ACM will show the amount of data that can be transferred 3 Select Communicator Enable the Control Status Word If the Control Status Word is to be used in a configuration it is recommended to ena...

Страница 50: ...nce at start up A query response transaction ensures an acknowl edgement of a successful initialization In this exam ple the initialization is performed in two steps Also instructions and information...

Страница 51: ...g default values If any collisions appear the addresses can be changed at a later stage The ACM will not allow you to add a data or a constant object that is larger than the remaining data area in the...

Страница 52: ...onflicts are present check the Address Overview to see which transac tions cause the conflict Change the ad dresses of the data objects in the frames to remove conflicts 12 Download the configuration...

Страница 53: ...ng RO 1009h Manufacturer hardware ver sion 00h Manufacturer hardware version Visible string RO Current hardware revision 100Ah Manufacturer software ver sion 00h Manufacturer software version Visible...

Страница 54: ...object 6 U32 RW 07h Mapped object 7 U32 RW 08h Mapped object 8 U32 RW 1800h 184Fh Transmit PDO parameter 00h Largest sub index sup ported U8 RO 05h 01h COB ID used by PDO U32 RW 02h Transmission type...

Страница 55: ...U8 RO 02h Input area byte 129 80h Input area byte 255 2003h Input area 00h No of entries U8 RO 129 01h Input area byte 384 U8 RO 02h Input area byte 385 80h Input area byte 511 2004h 200Fh reserved In...

Страница 56: ...dword 33 20h Input area dword 63 2043h Input area 00h No of entries U8 RO 33 01h Input area dword 96 U32 RO 02h Input area dword 97 20h Input area dword 127 2044h 204Fh reserved Index Object Name Sub...

Страница 57: ...ord 65 40h Output area word 127 2123h Output area 00h No of entries U8 RO 65 01h Output area word 192 U16 R W 02h Output area word 193 40h Output area word 255 2124h 212Fh reserved Index Object Name S...

Страница 58: ...0h Bus State Indicator 00h U8 RO Reflects the actual state of the bus 1 Bus running 2 Bus error 2205h Module State Indicator 00h U8 RO Reflects the state of the slave interface 1 Init error 2 Prepared...

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