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Doc.Id. SCM-1200-080

Anybus X-gateway CANopen
Doc.Rev. 1.02

NMT State Machine............................................................................................................................... 21

Data Exchange........................................................................................................................................ 22

Control Word

................................................................................................................................ 23

Status Word

.................................................................................................................................. 24

Example

........................................................................................................................................ 25

PDO Functionality

........................................................................................................................ 26

LSS Services............................................................................................................................................. 27

Error Control .......................................................................................................................................... 28

Heartbeat Mechanism

.................................................................................................................... 28

Node Guarding1

............................................................................................................................ 28

Emergency Object (EMCY)

........................................................................................................... 28

Chapter 7

CANopen Supported Objects

Static Data Types.................................................................................................................................... 29

Communication Profile Area................................................................................................................ 29

DS301 Communication Profile Objects

.......................................................................................... 29

Configuration Manager

.................................................................................................................. 31

Network Management Objects

....................................................................................................... 32

Vendor Specific Objects........................................................................................................................ 37

Transmit Buffer

............................................................................................................................. 38

Receive Buffer

................................................................................................................................. 39

I/O Buffer Addresses and Object Dictionary Indices Relation

........................................................ 40

General Fieldbus Parameters

.......................................................................................................... 41

PROFIBUS Specific Parameters

................................................................................................... 41

Appendix A Technical Specification

Protective Earth (PE) Requirements................................................................................................... 42

Power Supply .......................................................................................................................................... 42

Environmental Specification ................................................................................................................ 42

Temperature

................................................................................................................................... 42

Relative Humidity

.......................................................................................................................... 42

EMC (CE) Compliance ......................................................................................................................... 43

Appendix B Status LED Timing Diagrams

Appendix C CANopen Emergency Codes

Appendix D CANopen Configuration Example

Configuration Example ......................................................................................................................... 46

Содержание Anybus X-gateway CANopen Series

Страница 1: ...strial 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 Anybu...

Страница 2: ...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 documented sc...

Страница 3: ...1 Configuration Switches 11 USB Connector 12 CANopen Connector 12 Power Connector 12 Configuration Switches 13 Baud Rate 13 Node Address 13 Hardware Installation 14 CANopen Electronic Data Sheet EDS 1...

Страница 4: ...Communication Profile Objects 29 Configuration Manager 31 Network Management Objects 32 Vendor Specific Objects 37 Transmit Buffer 38 Receive Buffer 39 I O Buffer Addresses and Object Dictionary Indi...

Страница 5: ...2 CAN in Automation CiA Draft Standard Proposal 302 Part 1 5 CAN in Automation PROFIdrive Profile Drive Technology v 3 PROFIBUS Nutzerorganisation e V PNO Network specification IEC 61158 IEC Change Pa...

Страница 6: ...wing conventions are used throughout this manual Numbered lists provide sequential steps Bulleted lists provide information not procedural steps The terms Anybus or module refers to the Anybus X gatew...

Страница 7: ...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 8: ...push the it downwards 1 and pull it out from the DIN rail 2 as to make it snap off from the DIN rail 2 Connect the gateway to the CANopen network 3 Set the CANopen node ID and operating baud rate see...

Страница 9: ...tches on page 14 12 Restart the gateway 13 Download the appropriate Generic Station Description GSD file from HMS See PROFIBUS GSD Files on page 16 14 The actual configuration of the module is perform...

Страница 10: ...EtherNet IP PROFINET IO both RT and IRT or Modbus TCP No proprietary configuration software is needed though dedicated configuration tools are required when setting up the actual industrial network c...

Страница 11: ...nnects up 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 type...

Страница 12: ...arated from the network data exchange While the gateway ensures data consistency where applicable it does not fea ture any built in mechanisms for synchronisation between the CANopen network and the P...

Страница 13: ...data that shall be exchanged and the use of the control and status functionality is spec ified separately for each application This means that even though up to 510 bytes of data can be for warded to...

Страница 14: ...ure that interface They are described in Fieldbus Specific on page 12 C USB connector This connector simulates a COM port used for soft ware upgrade of the module See also USB Connector on page 13 D C...

Страница 15: ...tly being executed 4 Fieldbus Diag Off No diagnostics present Red flashing 1Hz Error in configuration Red flashing 2Hz Error in user parameter data Red flashing 4Hz Error in initialization of the PROF...

Страница 16: ...n not be changed during runtime i e the Anybus X gateway CANopen re quires a reset for any changes to have effect The configuration is done using two rotary switches as follows Node Address Switch B x...

Страница 17: ...is also used to download the CANopen configuration to the module 3 6 Power Connector Notes Use 60 75 or 75 C copper CU wire only The terminal tightening torque must be between 5 7 lbs in 0 5 0 8 Nm Se...

Страница 18: ...for any changes to have effect Note When these switches have been set cover them with the switch covers that accompany the module 3 7 1 Baud Rate The baud rate is set via switch A 3 7 2 Node Address...

Страница 19: ...ap the gateway on first press the 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 gateway off push the it downward...

Страница 20: ...should be uploaded to the CANopen configuration tool The latest version of the EDS file for the Anybus X gateway CANopen can be downloaded from the HMS website www anybus com 3 10 PROFIBUS GSD Files O...

Страница 21: ...t PDOs 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 D...

Страница 22: ...S interface of the module The CANopen subnet interface is configured prior to the PROFIBUS interface The I O data sizes configured for CANopen decides the data sizes on the PROFIBUS interface 5 1 Modu...

Страница 23: ...14 Node ID s above 99 can be set using the con figuration tool or from the CANopen network Baud rate This parameter defines the baud rate on the CANopen network If Auto is selected the baud rate will...

Страница 24: ...that the amount of data that can be exchanged already is decided by the CANopen master configuration CANopen objects 3000h and 3001h The first two bytes of the input data or the output data are alway...

Страница 25: ...twork An GSD file for the ada per interface is available at www anybus com An application note describing how to configure an Anybus PROFIBUS slave interface with Siemens STEP7 is available on the sup...

Страница 26: ...values 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...

Страница 27: ...ed is highly network dependent see the section on configuration of the PROFIBUS network in chapter 5 The control and status words of the module are used by the master of the PROFIBUS network to con tr...

Страница 28: ...twork Any other NodeID value will specify the single node that the com mand is valid for If the Anybus X gateway CANopen interface is configured as a slave the only allowed value of NodeID is 0 Data T...

Страница 29: ...3 bits CmdExt 4 bits Error Node Data Toggle bita a The most significant bit in byte 0 is a toggle bit that is toggled by the module to mirror the toggle bit of the control word CmdRsp 3 bits CmdExtRsp...

Страница 30: ...is sent to make sure it is distinguished from the previous com mand Network master Anybus X gateway CANopen module Control word 0x01 0x02 Status word 0x01 0x00 Command Response Command Set node with N...

Страница 31: ...object is transmitted periodically by a synchronization master The data in synchronous RPDOs are not transferred to the application until after the next SYNC object is received Asynchronous RPDOs will...

Страница 32: ...SS Slave is identified upon its LSS address that consists of Vendor ID Product Code Revision Number and Serial Number of the LSS slave module If there is a missing slave on the network after the boot...

Страница 33: ...ter transmits guarding requests If an NMT Slave has not responded within a defined time span node lifetime or if the communication status of the slave has changed the master takes appropri ate action...

Страница 34: ...des on page 46 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 message U32 RW 1006h Communica tion Cycle Period 00h Commu...

Страница 35: ...ni 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 entr...

Страница 36: ...t 4 U32 RW 05h Mapped object 5 U32 RW 06h Mapped object 6 U32 RW 07h Mapped object 7 U32 RW 08h Mapped object 8 U32 RW Index Object Name Sub Index Description Type Access 1F22h Concise DCF The concise...

Страница 37: ...ssign 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 AR...

Страница 38: ...ed 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...

Страница 39: ...r Control Event or on detection of a new slave inform the application and start the process Start Boot Slave 3 0 Optional slave The network may be started even if this node could not be contacted 1 Ma...

Страница 40: ...8 Examples Node 5 should be transferred to the OPERATIONAL state An SDO write access with the value 5 is executed to object 1F82h sub index 5 in the local object dictionary When an NMT command is sent...

Страница 41: ...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 gua...

Страница 42: ...ices on page 28 If the assigned 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...

Страница 43: ...nsmit Byte 258 385 area 0 U8 RO 128 1 U8 RW Transmit Byte 258 2 U8 RW Transmit Byte 259 128 U8 RW Transmit Byte 385 2003h STRUCT Transmit Byte 386 511 area 0 U8 RO 126 1 U8 RW Transmit Byte 386 2 U8 R...

Страница 44: ...CT Receive Byte 258 385 area 0 U8 RO 128 1 U8 RW Receive Byte 258 2 U8 RW Receive Byte 259 128 U8 RW Receive Byte 385 2103h STRUCT Receive Byte 386 511 area 0 U8 RO 126 1 U8 RW Receive Byte 386 2 U8 R...

Страница 45: ...2 Byte 511 Byte 510 Byte 509 Byte 507 Byte 475 Byte 474 Byte 473 Byte 472 Byte object Index sub index Long object Index sub index Word object Index sub index 2000h 1 2000h 2 2000h 3 2000h 4 2000h 29...

Страница 46: ...IBUS specific parameters For this version of the mod ule they are not used and the index range is reserved for future use Index Sub Index Type Access Name and Description Comment 3000h 0 U16 RW Input...

Страница 47: ...nts are fulfilled A 2 Power Supply Supply Voltage The gateway requires a regulated 24 V 10 DC power source Power Consumption The maximum power consumption is 150 mA at 24 V A 3 Environmental Specifica...

Страница 48: ...1 02 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 docume...

Страница 49: ...rent indications described in Status LEDs on page 11 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 2...

Страница 50: ...110h 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 exceed...

Страница 51: ...dule as master and change the input and output data sizes follow the steps below Step 1 Baud Rate and Node Address Baud rate and node address are set using the rotary switches on the side of the modul...

Страница 52: ...Right click on the new node and select Load EDS file Select the EDS file for Anybus X gateway CANopen EDS_X_GATEWAY_COPM_V_x_yy eds and press OPEN x_yy for correct version 4 Select tab Mask Then selec...

Страница 53: ...om the CANopen network to the other fieldbus the CANopen object 3001h has to be changed and saved This is done in the ex ample below using the CANopen Configurator from PORT Another configuration tool...

Страница 54: ...download the configura tion to the network All modules have to be connected to the CANopen dongle and be in PRE OPER ATIONAL state The configuration is saved in non volatile flash memory by writing sa...

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