User Manual
CANopen/PROFIBUS DP Gateway
GT200-DP-CO
WWW.SSTCOMM.COM
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Download SDO commands of CANopen slave. Outputting mode of GT200-DP-CO is change of value, that is,
until the DP output data is changed, GT200-DP-CO transmits corresponding commands (RPDO or Download
SDO) to CANopen network; For DP input data, GT200-DP-CO receives data through TPDO or Upload SDO
commands configured in the configuration software SST-CP-CFG and save the data to DP input buffer.
When the “Control&Status” bit is “Enable” in configuration software (SST-CP-CFG), there are two bytes in
the end of input and output buffer of GT200-DP-CO showing status of CANopen slaves and controlling status of
CANopen slave.
The last two bytes of input buffer (PROFIBUS DP) shows the status of CANopen slaves. The first byte of
this two bytes is address of CANopen slave and the second byte is status of CANopen slave (i.e. Pre-run status,
run status, stop status, for detailed information, please refer to CANopen protocol). One time it only shows status
of one CANopen slave, GT200-DP-CO applies FIFO mechanism to save all status of every CANopen slave and
output to PROFIBUS DP master in FIFO order.
The last two bytes of output buffer (PROFIBUS DP) is the status that DP master controls CANopen slaves.
The first byte of this two bytes is address of CANopen slave, the second byte is command controlling CANopen
slave (i.e. go into pre-run status, go into run status, go into stop status, reset node, reset application and reset
communication, for specific command format, please refer to NMT of CANopen protocol).
CANopen acts as slave
Communication mode between CANopen and PROFIBUS DP is asynchronous mode, as shown below:
