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GW-7553-CPM PROFIBUS/CANopen GATEWAY User Manual 

(Version 1.00, Apr/2016)      

        PAGE: 18 

3.3    Communication protocol transfer 

 

In section 3.1 and 3.2, we can understand that data exchange is through CANopen 
Output  Buffer

、

CANopen  Input  Buffer  of  the  GW-7553-CPM  between 

PROFIBUS master

、

CANopen Slave and the GW-7553-CPM. The data exchange 

runs  continuously  between  PROFIBUS  master

、

CANopen  slave  and  the  GW-

7553-CPM, as shown in figure 15

、

16. 

 
 

 

 

Figure 15    GW-7553-CPM communication protocol transfers   

 

ГК

 

Атлант

 

Инжиниринг

 – 

официальный

 

представитель

 

в

 

РФ

 

и

 

СНГ

 

+7(495)109-02-08 [email protected] www.bbrc.ru 

Содержание GW-7553-CPM

Страница 1: ...nual Version 1 00 Apr 2016 PAGE 1 GW 7553 CPM PROFIBUS CANopen GATEWAY User s Manual High Quality Industrial Data Acquisition and Control Products ГК Атлант Инжиниринг официальный представитель в РФ и СНГ 7 495 109 02 08 sales bbrc ru www bbrc ru ...

Страница 2: ...y time without notice The information furnished by ICP DAS is believed to be accurate and reliable However no responsibility is assumed by ICP DAS for its use or for any infringements of patents or other right of third parties resulting from its use Copyright Copyright 2016 by ICP DAS All rights are reserved Trademark The names used for identification only may be registered trademarks of their res...

Страница 3: ...ting Dip Switch 14 3 Communication protocol transfer theorem 16 3 1 PROFIBUS data exchange 16 3 2 CANopen data exchange 17 3 3 Communication protocol transfer 18 4 Communication 19 4 1 Field of application 19 4 2 GSD file 21 4 3 The Configuration of the modules 23 4 4 Diagnostic messages 23 4 5 I O data exchange 24 5 Application of Utility 26 5 1 Install Utility 26 5 2 Utility introduction 26 6 Tr...

Страница 4: ...1 Application architecture of the GW 7553 CPM module The GW 7553 CPM Gateway is specially designed for the slave device of PROFIBUS DP protocol It allows the PROFIBUS master to access the CANopen slave devices We also provide the utility software for users to configure the GW 7553 CPM The main features and specification of GW 7553 CPM are described as below 1 1 Features 16 Bit Microprocessor insid...

Страница 5: ...US side Provide LED indicators Built in Watchdog Mountable on DIN Rail 1 2 Modules Support Only the following CANopen commands are supported by the gateway Table 1 CANopen command support Communication object COB ID s hex Slave node NMT node control 000 Receive only Sync 080 Receive only Emergency 080 NodeID Transmit PDO 180 NodeID 1 Transmit PDO 200 NodeID 1 Receive PDO 280 NodeID 2 Transmit PDO ...

Страница 6: ... interface ISO 11898 2 screw terminal connector Baud Rate 10 20 50 125 250 500 800 1000 Kbps Power requirement Unregulated 10V 30V DC Power reverse protection Over Voltage brown out protection Power consumption 2 5W Module specs Dimensions 119mm X 72mm X 33mm Operating temperature 25 75 ºC Storage temperature 30 85 ºC Humidity 5 95 non condensing LED Status Indicators Table 2 Table 2 LED status in...

Страница 7: ...r 2016 PAGE 7 2 Hardware 2 1 Block Diagram of GW 7553 CPM Figure 2 Block diagram of GW 7553 CPM 2 2 Pin Assignment Figure 3 Pin assignment of GW 7553 CPM RS 485 DRIVE ГК Атлант Инжиниринг официальный представитель в РФ и СНГ 7 495 109 02 08 sales bbrc ru www bbrc ru ...

Страница 8: ...Connector Pin Name Description 1 N A 2 N A 3 B Non inverting Bus Line 4 ISODE Isolated DE output for use in PROFIBUS applications where the state of the isolated drive enable node needs to be monitored 5 GND Power supply ground for the first node and the last node 6 VP 5V Power Supply for the first node and the last node 7 N A 8 A Inverting Bus Line 9 N A 2 3 Wiring GW 7553 CPM supports PROFIBUS t...

Страница 9: ...bus the rate of safe data transmission in a PROFIBUS network decreases with increasing distance between master and slave Table 7 shows the transmission rate and range for a cable with the following properties 1 Impedance 135 165Ω 2 Capacity lower than 30 pF m 3 Loop resistance lower than 110Ω Km 4 Wire diameter greater than 0 65mm 5 Core cross section greater than 0 34mm2 Table 5 Transmission rate...

Страница 10: ...andard PROFIBUS connector is usually already equipped with a terminal resistor The user therefore only has to switch on the resistor of the devices stationed at the ends of a segment as shown in figure5 Figure 5 PROFIBUS connection Figure 6 PROFIBUS connector The number of stations in a PROFIBUS network is restricted to 126 According Terminator Switch Terminator OFF Terminator ON ГК Атлант Инжинир...

Страница 11: ...s line the CAN bus lines have to be terminated at both ends by two terminal resistances Based on the ISO 11898 2 spec each terminal resistance is 120Ω or between 108Ω 132Ω The length related resistance should have 70 mΩ m Users should check the resistances of their CAN bus before they install a new CAN network as figure 7 8 Figure 7 CANopen terminator resistor Figure 8 CANopen terminator resistor ...

Страница 12: ...after power on if the dip switch address setting differs from the address stored in the EEPROM Table 6 Dip switch setting example Station address DIP SWITCH SW1 1 2 3 4 5 6 7 8 1 1 0 0 0 0 0 0 0 10 0 1 0 1 0 0 0 0 126 0 1 1 1 1 1 1 0 Table 7 The Address setting of the GW 7553 CPM Dip Switch Setting Description 0 125 1 The address setting of the EEPROM is ignored 2 The address can not be set by the...

Страница 13: ...om 126 to 254 This step is necessary in order to prevent the module to change its address in the EEPROM to 126 every time it is powered on The configuration tool can now assign the slave a new address 2 5 LED status indicator The GW 7553 CPM provides three LEDs to indicate the statuses of the GW 7553 CPM module The position of LEDs and descriptions are shown in table 8 and figure 10 Table 8 LED st...

Страница 14: ...s a dip switch on the back of the GW 7553 CPM module as shown in Figure 11 The dip switch is used to set the GW 7553 CPM module works in operation mode or setting mode In the normal situation it needs to set the dip switch to the Normal position In this case the GW 7553 CPM module can communicate with CANopen devices module can communicate with the utility tool and read the information of CANopen ...

Страница 15: ...CPM PROFIBUS CANopen GATEWAY User Manual Version 1 00 Apr 2016 PAGE 15 Figure 11 Dip switch of the GW 7553 CPM ГК Атлант Инжиниринг официальный представитель в РФ и СНГ 7 495 109 02 08 sales bbrc ru www bbrc ru ...

Страница 16: ...FIBUS data exchange The GW 7553 CPM is a PROFIBUS DP slave device The GW 7553 CPM is first parameterized then configured and finally it goes into the data exchange mode Figure 12 Figure 12 State machine of PROFIBUS DP slave device ГК Атлант Инжиниринг официальный представитель в РФ и СНГ 7 495 109 02 08 sales bbrc ru www bbrc ru ...

Страница 17: ...ter device to be the module parameters The GW 7553 CPM and PROFIBUS master device have different data type and data address the GW 7553 CPM can transfer different data format to PROFIBUS master device through module parameters 3 2 CANopen data exchange CANopen protocol belongs to Master Slave communication and it uses query and response message to arrive at data exchange and device control as show...

Страница 18: ...open Output Buffer CANopen Input Buffer of the GW 7553 CPM between PROFIBUS master CANopen Slave and the GW 7553 CPM The data exchange runs continuously between PROFIBUS master CANopen slave and the GW 7553 CPM as shown in figure 15 16 Figure 15 GW 7553 CPM communication protocol transfers ГК Атлант Инжиниринг официальный представитель в РФ и СНГ 7 495 109 02 08 sales bbrc ru www bbrc ru ...

Страница 19: ...pplication A master station can be a PLC PC or any other smart device The system can be a mono master system Figure 17 or a multi master system Figure 18 The GW 7553 CPM enables the integration of the CANopen devices into a PROFIBUS DP network ГК Атлант Инжиниринг официальный представитель в РФ и СНГ 7 495 109 02 08 sales bbrc ru www bbrc ru ...

Страница 20: ...US CANopen GATEWAY User Manual Version 1 00 Apr 2016 PAGE 20 Figure 17 Mono master system Figure 18 Multi master system ГК Атлант Инжиниринг официальный представитель в РФ и СНГ 7 495 109 02 08 sales bbrc ru www bbrc ru ...

Страница 21: ... file icp_7553 bmp i_7553 bmp to the PROFIBUS configuration tool 4 2 1 The example of how to load GSD file In the following examples the Siemens S7 300 PLC is used The configuration and communication is done by the program SIMATIC Manager provided by Siemens Step 1 Open SIMATIC Manager tool and select New Project Wizard to open a new project Step 2 Double Click Hardware to open HW Config Step 3 Cl...

Страница 22: ... 7553 CPM PROFIBUS CANopen GATEWAY User Manual Version 1 00 Apr 2016 PAGE 22 Step 5 Click Install button ГК Атлант Инжиниринг официальный представитель в РФ и СНГ 7 495 109 02 08 sales bbrc ru www bbrc ru ...

Страница 23: ...es to PROFIBUS Master and the system will be abnormal The modules have module parameters about the communication settings The module parameters are shown in the below A TxPDO module parameters TxPDO COBID 0x180 0x4FF B RxPDO module parameters RxPDO COBID 0x200 0x57F C TxSDO module parameters TxSDO COBID 0x580 0x5FF D RxSDO module parameters RxSDO COBID 0x600 0x67F 4 4 Diagnostic messages The GW 75...

Страница 24: ...gth of input data is 240 bytes Before arrange Input module or CANopen Command module the user must arrange and configure the system setting module The user can get data form CANopen slave devices by read Input module or CANopen Command module Table 10 Input data area 4 5 2 Output data area and communication command The maximum length of output data is 240 bytes Before arrange the output module the...

Страница 25: ...increase this byte in order ex 0 1 1 2 255 0 or else the GW 7553 CPM will send a diagnostic message to the PROFIBUS master Control bit byte 1 DC bit 0 When this bit is set DC 1 diagnostic messages send by the GW 7553 CPM module will all be cleared Bit 1 7 The remaining bits have to be set to zero Output module select byte 2 When this byte isn t 0 and the user change data output command byte 0 it w...

Страница 26: ...ities or the web site ftp ftp icpdas com tw pub cd fieldbus_cd PROFIBUS gateway gw 7553 cpm utilities 5 2 Utility introduction It introduces main window of the utility first as shown in Figure 19 Figure 19 Main window of the utility Main window of the utility has 4 parts they are 1 Menu 2 Connection control 3 Device state 4 Device information 5 2 1 Menu 1 Save ГК Атлант Инжиниринг официальный пред...

Страница 27: ...ll read the diagnosis messages from GW 7553 CPM and display on PC 5 2 2 Connection control 1 Connect button When the user clicks this button the PC will open the com port and try to connect the GW 7553 CPM module 2 Disconnect button When the user clicks this button the PC will break the connection of theGW 7553 CPM and close the com port 3 Com port select The PC will finds usable com port 5 2 3 De...

Страница 28: ...usy d CAN Boot Up Delay This parameter let user decide when the GW 7553 CPM will really boot up after power on Figure 20 Select Edit GW 7553 CPM Parameter of the utility Figure 21 Edit GW 7553 CPM Parameter of the utility 2 Device Configurations Double click a Device_1 item then the Device Configurations setting dialog is shown on the screen Users can set CANopen slave ID ГК Атлант Инжиниринг офиц...

Страница 29: ...O RxSDO and so on as shown in figure 22 23 Figure 22 Select Device_1 of the utility Figure 23 Device Configurations of the utility a Station ID User can change it refer to his real CANopen slave ID The range of ID is 1 127 ГК Атлант Инжиниринг официальный представитель в РФ и СНГ 7 495 109 02 08 sales bbrc ru www bbrc ru ...

Страница 30: ...k the TxPDO Cob ID finction code on combo box The Cob ID can is used to transmit the slave data which users want to read Second click Len combo box to set the proper PDO s data length Users must refer to the user manual of the CANopen slave device to set the data length Then select the data type of each byte in the TxPDO and click Add to store the PDO configuration into the list Users can also sel...

Страница 31: ...53 CPM whether the GW 7553 CPM has received the PROFIBUS triggers event to output the RxPDO message or not If the Cyc not be checked the RxPDO will be sent only while the GW 7553 CPM has received a PROFIBUS triggers event to output it e TxSDO Input the Index and SubIndex of the object dictionary of the CANopen slave in these fields if users want to get the data via SDO The GW 7553 CPM will polling...

Страница 32: ... some objects of a CANopen slave Fill the Index and SubIndex of the object dictionary of the CANopen slave here 5 2 4 Device information Figure 24 Device Information of the utility Display module parameters of the GW 7553 CPM ГК Атлант Инжиниринг официальный представитель в РФ и СНГ 7 495 109 02 08 sales bbrc ru www bbrc ru ...

Страница 33: ...ter station are not correct 3 ERR LED indication of the GW 7553 CPM is flashing fast It means the GW 7553 CPM is connects with Utility Please close Utility 4 ERR LED indication of the GW 7553 CPM is flashing slow It means the GW 7553 CPM has diagnostic messages Please check diagnostic messages in the PROFIBUS master station 5 PROFIBUS master station can not communicate with the CANopen device when...

Страница 34: ... PAGE 34 7 Dimensions 111 10 5 Back View Top View From View Side View O4 5X4 56 00 25 00 40 50 7 30 88 50 35 30 33 00 72 00 25 00 58 50 72 00 56 00 29 50 33 00 2 SCREW M3 8 ГК Атлант Инжиниринг официальный представитель в РФ и СНГ 7 495 109 02 08 sales bbrc ru www bbrc ru ...

Страница 35: ...GW 7553 CPM PROFIBUS CANopen GATEWAY User Manual Version 1 00 Apr 2016 PAGE 35 ГК Атлант Инжиниринг официальный представитель в РФ и СНГ 7 495 109 02 08 sales bbrc ru www bbrc ru ...

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