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1. HD67134 Gateway CANopen DeviceNet www adfweb com product HD67134 HD67117 CAN bus Repeater www adfweb com product HD67117 HD67216 CAN bus Analyzer www adfweb com product HD67216 ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 312. word of Operational Pre Operational State to one or all devices in CAN network o The sender word must have The high byte with the value of 1 for Operational or 2 for Pre Operational The low byte must have the address of the device that is commanded to do the action Operational PreOperational e Example if you want to set the state of Operational to the device CANopen with address 3 You must write the word 259 in the field Add Word Modbus Note 257 0x01 11 If in the field Add Word Modbus you set 0 then this action commands all the devices gt The Gateway has two alternative for PDO 15RPDO and 3RPDO or 8 RPDO and 8 TPDO Select the desired choice gt The Gateway has two alternative outlets from the Modbus side RS485 or RS232 Select the desired choice gt In the field Parity the serial parity is defined gt SDO Timeout is the maximum time that the device attends for the answer from the Slave interrogated gt Data bits and Stop bits are a serial parameter and they are fixed in order at 8 and 1 for default ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Document code MN67002M12 ENG User Manual CANopen to Modbus RTU Slave Revision 3 102 Page 9 of 21 SET COMMUNICATION CanQpen bus A pep BP Baud rate 250 de Set Operational State at Start Up Network Start at Start Up o ae Delay ly 0 255 sec Can Start on Modbus command
3. RTU Slave Document code MN67002M12_ENG Revision 3 102 Page 6 of 21 S Industrial Electronic Devices Jumper2 Termination CANopen Line Termination Modbus Line V Ground V Positive wire G Open EE 120 ohm S Open Mm 220 ohm Connector3 Modbus on RS485 12 18 VAC 4 VA 12 24 VDC 4 Watt S Shield SR _ B Negative wire A Positive wire Connector4 Port RS232 D SUB9 Male CAN_SHLD NOT USED CAN_H CAN_OV CAN_L A Programmation Port B Modbus on RS232 To connect the device to the COM port of a PC in order to set it You have to use the programming cable AC34107 N _ Or a cable made as showed here s CABLE CABLE Side A Side B FEM FEM Jumpers3 Boot mode E Yes Jumper Boot Mode No Jumper Normal Mode Figure 3 Connection Scheme for HD67002 M12 ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 AL Industrial Electronic Devices CONFIGURATION The Gateway CANopen to Modbus allows a CANopen network to communicate with a Modbus network You need Compositor SW67002 software on your PC in order to perform the following gt Define that the SDO of the CANopen are accessible from Modbus gt Define how to update SDO in CANopen from Modbus gt Define that the EMCY of the CANopen are accessible from Modbus gt Define how and which EMCY generated in CANopen can be filtered gt Define whi
4. V AC Order Code AC34002 Rail DIN Power Supply 110V AC 50 60Hz 12 V AC ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 ir User Manual CANopen to Modbus RTU Slave Document code MN67002M12_ ENG Revision 3 102 Page 21 of Industrial Electronic Devices WARRANTIES AND TECHNICAL SUPPORT For fast and easy technical support for your ADFweb com SRL products consult our internet support at www adfweb com Otherwise contact us at the address support adfweb com RETURN POLICY If while using your product you have any problem and you wish to exchange or repair it please do the following 1 Obtain a Product Return Number PRN from our internet support at www adfweb com Together with the request you need to provide detailed information about the problem 2 Send the product to the address provided with the PRN having prepaid the shipping costs shipment costs billed to us will not be accepted If the product is within the warranty of twelve months it will be repaired or exchanged and returned within three weeks If the product is no longer under warranty you will receive a repair estimate PRODUCTS AND RELATED DOCUMENTS Part Description URL HD67121 Gateway CANopen Canopen www adfweb com product HD67121 HD67001 Gateway CANopen Modbus RTU Master www adfweb com product HD67001 HD67505 Gateway CANopen Modbus Ethernet TCP www adfweb com product HD67505
5. dimension 1 Z 1 4 The user who has to memorize a PDO from CAN open to Modbus needs to insert the coordinates of the PDO to be transmitted in the field SET Translate PDO of the window gt In the field cobid insert the Cob_ID of the original PDO gt In the field id _dev_ori insert the address of the original device of BUS A note an alias can be inserted in the field instead of the actual address Wf ok M cancel B Export Expart M2 import rt of the PDO generator ANE dsb gt In the field dimension insert the number of byte of PDO Figure 11 RPDO window DEFINE STORE PDO ModBus Cand By pressing the Define store PDO button from the Main Window for SW67002 Fig 4 the ine window INFOPDO appears Fig 12 Selected PDO Byte Figure 12 INFOPDO window E gt Export W Import ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 ir User Manual CANopen to Modbus RTU Slave Document code MN67002M12 ENG Revision 3 102 Page 16 of Industrial Electronic Devices SET TRANSMIT PDO It is possible to write the PDOs using the Preset Multiple Registers Eare Nhi Function Modbus function 16 You have to write all the Modbus register that represent the PDO Data with one Modbus command Transmit PDO Dirnension Start Modbus Address By pressing Set Transmit PDO button the w
6. scenario Fig 7 The Modbus master can read or write note RW 1 gt tothe address of the ModBUS side Gateway slave note the one specified in the Set communication gt to the word ModBUS 3000 note Addr word 3000 gt the first byte of the SDO found in the low byte of the ModBUS word note Lo Word 1 gt the second byte of the SDO found in high byte of the ModBUS word note Hi Word 2 The SDO gt two byte dimension note nByte 2 gt belonging to a CANopen device ID 16 note ID 16 gt of the following coordinates Index 2003 and Subindex 0 ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 User Manual CANopen to Modbus RTU Slave Document code MN67002M12_ENG Revision 3 102 Page 12 of Industrial Electronic Devices spo eee rts or be eps ote aoe am Wil Pine Upoate 0f the Prohowing ony eee The word 3000 of the ID 27 S eee Gateway Modbus linked at the SDO i of coordinates followings Request SDO Step 1 1044 Gateway CANopen To ID 44 gateway Index 3000 Index 3000 Subindex 2 Subindex 2 Start 7 CANopen up to 1000 ID 24 Modbus up to 115200 ID 10 Generic CANopen Module Generic CANopen Module HD67002 Figure 8 Chart of SDO request from Modbus side ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 ir User Manual CANopen to Modbus RTU Slave Document code MN6
7. window Set translate EMCY ee Fi gt In the field List of Modbus Register there are the Modbus Hi Byte of Modbus Register register that you insert None gt Inthe field Number of Modbus register insert the number O First Byte of register that contain the Modbus word Second Byte gt In the field Hi byte of Modbus register select which byte Pree you would locate in the Hi position O Fifth Byte gt Inthe field Lo byte of Modbus register select which byte you would locate in the Lo position a a healer None For example eN Third Byte Click on the List of EMCY insert the valid address in the field Number Fourth Byte of Modbus register select the byte position First byte in Hi byte of O Fifth Byte Modbus register and Second Byte in Lo byte of Modbus register click the New button then in the field List of Modbus Register the New number of Modbus register appears The maximum number of setting byte are 500 Zor Figure 10 Word EMCY window ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 ir User Manual CANopen to Modbus RTU Slave Document code MN67002M12 ENG Revision 3 102 Page 15 of Industrial Electronic Devices SET TRANSLATE PDO By pressing the Set Translate PDO button from the Main Window for SW67002 se RPDO Es Fig 4 the window RPDO appears Fig 11 ModBus Can0 id dev orig
8. 0 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 ir User Manual CANopen to Modbus RTU Slave Document code MN67002M12_ ENG Revision 3 102 Page 18 of Industrial Electronic Devices amp DFweb com Compositor SW67002 Traslate CAN TO MODBUS Example1 i PENS step1 T New projet open project Section Update Device Step 1 Insert the boot jumper see figure 2 step 2 F Set Communication In order to load the parameters after they are set set the Com port you used for p G sesoses UPDATE DEVICE update then you must click the button Execute update firmware on the principal step 4 Set Translate EMCY AWW Define EMCY Word arena leet trenni eee Step 7 2 Set NodeGuarding Step 8 www ADFweb com window Generate Firmware Flash Write Setup Port COM E Programma0FwebsCompositor SW6FO02 PROJECT SSE sample We STEP Vat tor device pe Figure 15 Update device procedure ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 Industrial Electronic Devices CHARACTERISTICS OF THE CABLES User Manual CANopen to Modbus RTU Slave Document code MN67002M12 ENG Revision 3 102 Page 19 of The connection from RS232 socket to a serial port example one from a personal computer must be made with a Null Modem cable a serial cable where the pins 2 and 3 are crossed It is recomme
9. 7002M12 ENG Revision 3 102 Page 13 of Industrial Electronic Devices SET TRANSLATE EMCY By pressing the Set Translate EMCY button from the Main Window for i Set Translate EMCY SW67005 Fig 4 the window Set Translate EMCY appears Fig 9 2 OxOo001L A user who has to pass a EMCY from CAN open to Modbus needs to insert the 0x001 coordinates of the EMCY to be transmitted in the field Set Translate EMCY of the window EMEY Error Code gt In the field ID EMCY insert the Node ID of your CANopen device who transmit the EMCY altel Ate lee gt In the field EMCY Error Code insert the value of your error code the maximum value is OxFFFF gt In the field Error Register insert the value of your error register the maximum value is OxFF New EMOY Delete EMEY Modify EMCy Figure 9 Set Translate EMCY window ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 ir User Manual CANopen to Modbus RTU Slave Document code MN67002M12_ ENG Revision 3 102 Page 14 of Industrial Electronic Devices DEFINE EMCY WORD By pressing the Define EMCY word button from the Main Window for word EMEY SW67002 Fig 4 the window Word EMCY appears Fig 10 List of EMCY List of Modbus Register ID EMCY Error Code Error Register Number of Modbus Register gt In the field List of EMCY there are the EMCY that you insert oe Ce 2 f in the list of
10. EVISION LIST INFO www adfweb com Revision Date Author Chapter Description 1 100 26 06 2007 Av All Software changed 2 000 05 06 2007 Av All New document format 3 000 09 11 2007 Av All New software version 3 001 19 06 2008 Av All Change figure 2 3 002 13 10 2008 Fl All New software version 3 100 19 11 2008 FI All Type M12 3 101 19 01 2009 FI All Revision 3 102 18 06 2009 MI All Revision WARNING ADFweb com reserves the right to change information in this manual about our product without warning ADFweb com is not responsible for any error this manual may contain TRADEMARKS All trademarks mentioned in this document belong to their respective owners Phone 39 0438 30 91 31 User Manual CANopen to Modbus RTU Slave Document code MN67002M12_ENG Revision 3 102 Page 3 of 21 Industrial Electronic Devices CHARACTERISTICS The Configurable CANopen Modbus RTU Slave Gateway allows the following characteristics two directional information between networks CANopen and ModBUS electrical isolation between two BUSes to write SDO from ModBUS Word to read SDO from ModBUS Word to read EMCY from ModBUS Word to read PDO from ModBUS Word Communication Serial RS232 485 Temperature range 30 C to 70 C VV VV VV V WV The Gateway can be configured up to a maximum 1600 SDO While the maximum number of the following EMCY EMCY Word PDO Store PDO VV V Y depe
11. Project gt gt When a new project is created or an existent project is open it will be possible to access the various configuration sections of the software gt Set Communication Set SDO Access gt Set Translate EMCY Otherwise the Define EMCY Word gt Set Translate PDO Otherwise the Define Store PDO v INFO www adfweb com Phone 39 0438 30 91 31 ADFweb com Srl IT31010 Mareno Treviso AL Industrial Electronic Devices SET COMMUNICATION This section defines the fundamental communication parameters of two Buses CANopen and Modbus By pressing the Set Communication button from the main window for SW67002 Fig 4 the window Set communication appears Fig 5 gt In the fields DevID the Gateway address is defined in the respective CANopen and Modbus gt In the fields Baud Rate the velocity of the two Buses is defined gt The check box Set Operational State at Start Up is used to set the operational state of the device at start up gt The check box Network Start at Start Up is used to send the command of the operational to the CANopen Network i e when the device start up sen at Modbus Network a command and all device is in operational gt Inthe field Delay the delay before send the network command for the CANopen is defined gt The check box Can Start on Modbus Command is used to send the Modbus command sender
12. SDO o O No byte gt In the field Lo word insert the correspondence between the low byte of the ModBUS word and a SDO byte note its number can be O 1 2 3 4 o 1 First byte of the SDO o 2 Second byte of the SDO o 3 Third byte of the SDO o 4 Fourth byte of the SDO o O No byte In the field R W insert number 0 if the SDO is only in reading or insert number 1 if the SDO is also in writing In the field ID insert the address of the CANopen device In the fields index SubIndex there are the coordinates of the SDO in the CANopen In the field nbyte indicates the length of the SDO In the field Mnemonic it is possible to insert a brief description VV VV WV ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 ir User Manual CANopen to Modbus RTU Slave Document code MN67002M12_ ENG Revision 3 102 Page 11 of Industrial Electronic Devices Example 1 If you want to write data in the form of SDO in the CANopen from the ModBUS network on the device at the address gt Address 16 gt Index 0x2003 gt Subindex 0 gt By dimensions 2 bytes By the following word ModBUS gt Addr Word 3000 SDO Bytel SDO Bytel i SDO Byte2 S SDO Byte3 SDO Byte4 SDO Byte2 Hi word Lo Word High Byte Low Byte Word Modbus Word Modbus SDO Byte3 SDO Byte4 Figure 7 Scheme of the word configuration In the above
13. User Manual CANopen to Modbus RTU Slave Document code MN67002M12_ENG Revision 3 102 Page 1 of 21 Industrial Electronic Devices 00030 User Manual Revision 3 102 English Gateway Bridge CANopen to Modbus RTU Slave Order Code HD67002 HD67002 M12 HD67002 HD67002 M12 for Website information www adfweb com Product HD67002M12 for Price information www adfweb com Price HD67002M12 For others Gateways Bridges Similiar CANopen to Modbus Products See also the following links www adfweb com Product HD67001 Modbus RTU Master www adfweb com Product HD67004 Modbus TCP Master Benefits and Main Features www adfweb com Product HD67505 Modbus TCP Slave For others Gateways Bridges For CAN bus 2 0A and or CAN bus 2 0B to Modbus Very easy to configure a See also the following links Benefit www adfweb com Product HD67011 Modbus RTU Slave Low Cost www adfweb com Product HD67012 Modbus RTU Master www adfweb com Product HD67014 Modbus TCP Slave al Master Slave CANopen www adfweb com Product HD67515 Modbus TCP Master Slave Modbus Do you have an your customer protocol Galvanic isolation iinet E wick 11567003 Industrial temperature range Do you need to choose a device do you want help 30 C 70 C 22 F 158 F Ask it to the following link www adfweb com Cmd helpme ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 AL Industri
14. al Electronic Devices INDEX UPDATED DOCUMENTATION REVISION LIST WARNING TRADEMARKS INDEX CHARACTERISTICS CONNECTION SCHEME CONFIGURATION USE OF COMPOSITOR SW67002 NEW PROJECT OPEN PROJECT SET COMMUNICATION SET SDO ACCESS SET TRANSLATE EMCY DEFINE EMCY WORD SET TRANSLATE PDO DEFINE STORE PDO SET TRANSMIT PDO SET NODE GUARDING UPDATE DEVICE CHARACTERISTICS OF THE CABLES MECHANICAL DIMENSIONS ORDER CODE ACCESSORIES WARRANTIES AND TECHNICAL SUPPORT RETURN POLICY PRODUCTS AND RELATED DOCUMENTS ADFweb com Srl IT31010 Mareno Treviso OMNNAWNNNNNG o User Manual CANopen to Modbus RTU Slave Document code MN67002M12_ENG Revision 3 102 Page 2 of 21 UPDATED DOCUMENTATION Dear customer we thank you for your attention and we remind you that you need to check that the following document is gt Updated gt Related to the product you own To obtain the most recently updated document note the document code that appears at the top right hand corner of each page of this document With this Document Code go to web page www adfweb com download and search for the corresponding code on the page Click on the proper Document Code and download the updates To obtain the updated documentation for the product that you own note the Document Code Abbreviated written Doc Code on the label on the product and download the updated from our web site www adfweb com download R
15. ch and how the PDO of CANopen are accessible from Modbus gt Update the new configurations of the device gt Save duplicate modify export the configurations USE OF COMPOSITOR SW67002 To configure the Gateway use the available software that runs with Windows called SW67002 The SW67002 iS downloadable on the site http www adfweb com home download download asp When launching the SW67002 the right window appears ADFweb com Srl IT31010 Mareno Treviso www adfweb com User Manual CANopen to Modbus RTU Slave Document code MN67002M12 ENG Revision 3 102 Page 7 of 21 4DFweb com Compositor SW67002 Traslate CAN TO MODBUS Example 1 Figure 4 Main window for SW67002 www A DF web com Phone 39 0438 30 91 31 ir User Manual CANopen to Modbus RTU Slave Document code MN67002M12_ENG Revision 3 102 Page 8 of 21 Industrial Electronic Devices NEW PROJECT OPEN PROJECT The New Project button creates the folder which contains the entire device configuration A device configuration can also be imported and exported To clone the configurations of a Programmable CANopen to Modbus Gateway in order to configure another device in the same manner it is necessary to maintain the folder and all its contents To clone a project in order to obtain a different version of the project it is sufficient to duplicate the project folder with another name and open the new folder with the button Open
16. dd Word modbus os 15 RPDO and 3 TPDOO 98 RPDO and 8 TPDO Enable NodeGuarding Modbus Address State NodeGuard ee _ Serial Interface Parameter P 232 45 Baudrate 7200 Parity NO PARITY DevID SDO Timeout 1 10 ms 000 x Cancel Figure 5 Set communication window Phone 39 0438 30 91 31 ir User Manual CANopen to Modbus RTU Slave Document code MN67002M12_ENG Revision 3 102 Page 10 of Industrial Electronic Devices SET SDO ACCESS Section Set SDO Access SubIndex nByte The following objects can be defined within the section Set SDO Ox3004 Stato macchina Access Ox 3006 Modamacchina gt the SDO of the CANopen are accessible from a word ModBUS 2 l2 0x3019 SetpointAttuale gt Which word of the ModBUS are accessible from a SDO of the K2 0x3201 comando onoff CANopen Ke Ox2z007 Max SetHeat Iv By pressing the Set SDO Access button from the Main Window for EEE Sen R SW67002 Fig 4 the window SDO appears Fig 6 l Figure 6 SDO window The data of the columns have the following meanings gt Inthe field Addr Word insert the address of the SDO that supports the ModBUS word gt In the field Hi Word insert the correspondence between the high byte of the ModBUS word and a SDO byte note its number can be O 1 2 3 4 o 1 First byte of the SDO o 2 Second byte of the SDO o 3 Third byte of the SDO o 4 Fourth byte of the
17. indow Transmit PDO appears The User who has to write a PDO from Modbus to CANopen needs to insert the coordinates of the PDO to be transmitted in the field SET Transmit PDO of the window gt In the field COB ID insert the COB ID of the PDO gt In the field Dimension insert the number of byte of PDO gt In the field Start Modbus Address insert the number of Modbus register that you would like to start for writing the PDO Figure 13 Transmit PDO window ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 va iT User Manual CANopen to Modbus RTU Slave Document code MN67002M12_ENG Revision 3 102 Page 17 of L o J Industrial Electronic Devices SET NODE GUARDING set Node Guarding By pressing the Set Node Guarding button from the Main Window for SW67002 Fig 4 the right window l appears Fig 14 Node ID Guard Time Life Time Factor Mnemonic 7 1000 10 e Inthe field Node ID insert the address of 8 the device that you want to control It is possible to insert up to 32 address e Inthe field Guard Time insert a time This value indicates the delay between two interrogation e In the field Life Time Factor insert the number of attempts before considering the device absent Figure 14 Set Node Guarding window e Inthe field Mnemonic a description is defined ADFweb com Srl IT3101
18. nded that the RS232 Cable not exceed 15 meters The connection at RS485 socket must be done with twisted and shielded cable The terminal resistor must be inserted when the HD67102 is at the end of the line using the Terminator jumper Can bus cable characteristics DC parameter Impedance AC parameters Impedance delay Length Baud Rate bps 10 K 20 K 50 K 100 K 125 K 250 K 500 K 800 K 1000 K ADFweb com Srl IT31010 Mareno Treviso 70 Ohm m 120 Ohm m 5 ns m Length MAX m 5000 2500 1000 650 500 250 100 50 25 INFO www adfweb com Phone 39 0438 30 91 31 ir User Manual CANopen to Modbus RTU Slave Document code MN67002M12_ ENG Revision 3 102 Page 20 of Industrial Electronic Devices MECHANICAL DIMENSIONS 120 mm 4 72 inch 120 mm 4 72 inch ES Eg Eg E a gt S 55 Housing PVC Housing PVC 36 mm Weight 200g Approx 0 9 inch Weight 200g Approx 1 42 inch Figure 16 Mechanical dimensions scheme for HD67002 Figure 17 Mechanical dimensions scheme for HD67002 M12 ORDER CODES Order Code HD67002 Gateway CANopen to Modbus RTU Slave CAN connector Terminal block Order Code HD67002 M12 Gateway CANopen to Modbus RTU Slave CAN connector M12 ACCESSORIES Order Code AC34107 Null Modem Cable Fem Fem DSub 9 Pin 1 5 m Order Code AC34114 Null Modem Cable Fem Fem DSub 9 Pin 5 m Order Code AC34001 Rail DIN Power Supply 220 240V AC 50 60Hz 12
19. nds on the available memory of the Gateway and the number defined SDO ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 ir User Manual CANopen to Modbus RTU Slave Document code MN67002M12 ENG Revision 3 102 Page 4 of 21 Industrial Electronic Devices CONNECTION SCHEME CANopen up to 1000 Modbus up to 115200 ID 10 ID 24 Module Master Modbus RTU Generne CANopen Module Generic CANopen Figure 1 Connection scheme of HD67002 between a CANopen and Modbus TCP ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 C User Manual CANopen to Modbus RTU Slave Document code MN67002M12_ENG Revision 3 102 Page 5 of 21 Industrial Electronic Devices V Positive wire 12 18 VAC 4 VA Connector3 __ Modbus on RS485 Port RS232 D SUB9 S Shield B Negative wire A Positive wire PINS GND Used for A Programmation Port B Modbus on RS232 To connect the device to the COM port of a PC in order to set it You have to use the programming cable AC34107 Hi Grd Lo S Or a cable made as showed here EAI Hie ves sumper E E Boot Mode No Jumper Normal Mode Figure 2 Connection Scheme for HD67002 ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 va User Manual CANopen to Modbus
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