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CANopen Object Implementation

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7.3.3

Local Object Dictionary Index Mapping

The data in the Input/Output Buffers is mapped to three different areas in the Local Object
Dictionary:

Byte

Word

and

Long

, using different data types.

Example:

Application data bytes

2 - 5

are mapped to the following object indices:

•

Byte object index 2000h, 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 transmit data area. The receive data area has the same
structure, but with indices for byte objects starting at 2100h.

The first two bytes are reserved for the Control Word (transmit buffer) and Status Word (receive buffer)
and cannot be used for data exchange.

Anybus

X-gateway

™

CANopen

PROFINET

IRT (2.32) User Manual

SCM-1202-029 1.2 en-US

Содержание Anybus X-gateway CANopen

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

Страница 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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