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Anybus® X-gateway CANopen EtherNet/IP

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1. Value ms Description 0 Default No time limit for mandatory slaves to boot 20 Time limit for mandatory slave to boot 7 3 Vendor Specific Objects Vendor specific objects are used to configure the PDOs to the shared memory area One or several ge neric data object are connected to each PDO This is configured during the configuration phase Application data bytes O and 1 i e the first two bytes in the input and output buffers are used for control and status words Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 Doc ld HMSI 168 85 7 3 1 Transmit Buffer CANopen Supported Objects 40 This buffer contains data that is transmitted to the secondary CANopen network Index Subindex Type Access Name Position in transmit data area bytes 2000h STRUCT Transmit Byte 1 128 2 129 The first two bytes in the transmit data area are reserved for the Control Word 0 U8 RO Number of entries value 128 1 U8 RW Transmit Byte 1 2 2 U8 RW Transmit Byte 2 3 128 U8 RW Transmit Byte 128 129 2001h STRUCT Transmit Byte 129 256 130 257 0 U8 RO Number of entries 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 Transmit Byte 257 258 2 U8 RW Transmit Byte 258 2
2. Download NMT startup config and Download slave assign ments in this view The module will be in master mode once the configuration is finished El CANopen Configuration Manager 1 4 3 C Program Files port ccm newProject net not connected DER File Edit Data Linking View Connection Actions Options Help igs gt CANopen Network Mask rene List Objects B group 0 myGroup node 1 Anybus X gates Node Settings Device Properties evice is master Device does not use SYNC C Device is SYNC consumer C Device is SYNC producer Heartbeat interval ms 5 3 5 2 wo 5 a 5 TA 2 Sls pte tee pte Lee Lalo Guard Time ms Life Time Factor Heartbeat Consumer Settings Master Settings NMT Startup Configuration 1F80 Download concise DCF 1F22 evice is NMT master v Download NMT startup config 1F80 Start remote node with node ID 0 Iv Pownload slave assignment 1F81 1F83 Shall not switch into Operational F Download slave ident 1F84 1F88 Master shall not start the slaves Boot Time 1F89 in ms 0 Reset all nodes with node ID 0 Node is flying master Stop all nodes with node ID 0 Linking Mode unlimited object linking Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 Doc ld HMSI 168 85 CANopen Configuration Example 50 Step 3 Input and Output Data Size To change the input output si
3. The Static Data Types are implemented according to the DS321 specification from CiA CAN in Auto mation 7 2 Communication Profile Area 7 2 1 DS301 Communication Profile Objects The table below shows the objects according to CANopen specification DS301 rev 4 2 Index Object Name Subindex Description Type Access Notes 1000h Device Type 00h Type of device U32 RO 0000 0000h No profile 1001h Error register 00h Error register connected to 8 RO the EMCY object Bit 0 indi cates a generic error 1003h Predefined 00h Number of errors Writing a 0 U8 RW See CANopen Emergency error field to this subindex clears the Codes on page 47 for emer error list gency error codes Oth 10h List of errors Most recent U32 RO error at top of list 1005h COB ID Sync 00h ID of the sync message 032 RW 1006h Communica 00h Communication cycle period U32 RW Only available if SYNC support tion Cycle is enabled Period 1007h Synchronous 00h Synchronous Window Length 32 RW Only available if SYNC support Window Length is enabled 1008h Manufacturer 00h The name of the CANopen Visible RO Anybus X gateway CANopen device name module string 1009h Manufacturer 00h Manufacturer hardware ver Visible RO Current hardware revision hardware ver sion string sion 100Ah Manufacturer 00h Manufacturer software ver Visible RO Set by HMS software ver sion string sion 100Ch Guar
4. U32 Sub 0 RO slaves Sub 1 127 RW 1F89h Boot Time VAR The maximum time between the U32 RW start of the boot process and the signalling of successful boot of all mandatory NMT slaves After this time LSS services are initiated Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 Doc ld HMSI 168 85 NMT Start up 1F80h CANopen Supported Objects 35 If a device is to be set up as NMT Master the master functionality must be enabled in this object It configures the start up behavior of the device and how it will manage the slaves Note The Anybus X gateway CANopen starts up as a slave bit 0 0 For the module to perform as a mastet change the value of this bit during configuration and save it to non volatile flash memory by issuing save command to subindex 01h in object 1010 Store Parameters The setting will take imme diate effect but if not saved it will be lost at reset or repower Bit No Value Description Notes 0 0 NMT Master functionality is disabled Ignore the rest of the Default object except for bits 1 and 3 Ignore object 1F81h 1 NMT Master functionality is enabled 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 state Default 1 Do not enter Operational state automatical
5. o Status word 0x01 0x00 at New command Co Set node with trol word 0x81 0x03 Node ID 3 to OPERATIONAL Command 0 Status word 0x81 0x0 l Response Response at The communication is performed in an ongoing ping pong fashion The repeatedly but as long as the toggle bit is not changed the module will ign command is signalled by the toggle bit changing value Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 same command is sent ore the message A new Doc ld HMSI 168 85 CANopen Module Specification 28 6 2 4 PDO Functionality Real time data transfer is performed by means of PDOs Process Data Objects The PDOs are linked to entries in the Device Object Dictionary and provide the interface to the application objects The number and length of PDOs in a device are node specific and have to be configured by the CANopen configuration tool PDOs are used both for data transmission and reception using so called Transmit PDOs TPDOs and Receive PDOs RPDOs Each PDO corresponds to two entries in the Device Object Dictionary The PDO parameter object holds information on the COB ID the transmission type etc On recognition of the COB ID the corresponding PDO mapping object can be identified to make it possible to transmit receive data to from the correct object in the device The default settings for the mapping can be changed during configuration Default PDO Mapping Scheme The module features a simple def
6. 3 Connect the gateway to the CANopen secondary subnetwork using the connector at the bot tom of the module 4 Connect the power cable and apply powet 5 Download the appropriate EDS file from HMS to the external CANopen configuration tool See CANopen Electronic Data Sheet EDS on page 14 6 Decide how much data will be transferred This amount is always configured for the module s interface to the secondary network A description of how the data is mapped to the Anybus X gate way CANopen is found in I O Buffer Addresses and Object Dictionary Indices Relation on page 42 7 Consult the CANopen Configuration Example on page 48 to configure the module and the secondary CANopen network 8 Connect the gateway to the primary EtherNet IP network 9 Restart the gateway 10 Download the appropriate EDS file from HMS See EtherNet IP Electronic Datasheet EDS file on page 14 11 The actual configuration of the module is performed while configuring the EtherNet IP master scanner and the EtherNet IP network see Configuration of the EtherNet IP interface on page 20 The I O buffers of the module contains 512 bytes but the amount of I O data is decided by the CANopen configuration Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 Doc Id HMSI 168 85 1 2 Chapter 4 4 CANopen Fieldbus Functionality The functionality of the Anybus X gateway CANopen master slave on the secondary network is de fined by
7. A 3 1 Temperature Operating 25 to 55 Celsius Test performed according to IEC 60068 2 1 and IEC 60068 2 2 Non Operating 40 to 85 Celsius Test performed according to IEC 60068 2 1 and IEC 60068 2 2 A 3 2 Relative Humidity The product is designed for a relative humidity of 5 to 95 non condensing Test performed according to IEC 60068 2 30 Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 Doc Id HMSI 168 85 Technical Specification 45 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 document see product sup port pages for Anybus X gateway CANopen EtherNet IP at www anybus com A 5 UL and ATEX Certification The Anybus X gateway CANopen EtherNet IP is HazLoc UL and cUL certified according to file no E203255 For mote information please consult www ul com ATEX testing has been conducted according to Demko 11 ATEX 1062548 For more information please see product support pages for Anybus X gateway CANopen EtherNet IP at www any bus com Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 Doc Id HMSI 168 85 Appendix B B Status LED Timing Diagrams The LEDs on the front of the module change their behavior according to the status of the module This appendix gives the timing diagrams for the different indications described in Status LEDs on
8. IMPORTANT This product acts as a gateway between two industrial networks One network is a CANopen sub network on which the module either acts as a master or as a slave depending on configuration Using the module this CAN open subnetwork is connected to and can exchange data with another kind of industrial network e g PROFIBUS or EtherNet IP connected to the module To make it easier to distinguish the two networks from each other the CAN open subnetwork will be called the secondary network throughout the manual The other network will be called the pri mary network In the product that this manual describes the primary network is EtherNet IP and the secondary network is CANopen 1 CANopen Configuration Manager from PORT is available for download at www anybus com This version of the tool from PORT can only be used with products form HMS Industrial Networks Please contact HMS support for further information see Sales and Support on page 3 Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 Doc Id HMSI 168 85 Anybus X gateway CANopen EtherNet lP 5 1 2 Features The Anybus CANopen X gateway acts as an intelligent link between two industrial networks On the secondary CANopen subnetwork it can perform either as a master manager or as a slave server de pending on configuration while it always will act as a slave on the primary fieldbus Ethernet side The implementation is based on HMS NP30 network microprocess
9. Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 Doc Id HMSI 168 85 CANopen Module Specification 24 6 2 1 Control Word The control word is used to control the CANopen network of the Anybus X gateway CANopen It is triggered on a CoS Change of State event Control Word Byte 0 Toggle bit Effective I O Data Byte 2 510 Data Byte 1 NodelD a The most significant bit in byte 0 is a toggle bit that is toggled by the controlling network each time a new com mand is issued b If NodelD 0 the command is valid only for the node that the module constitutes If NodelD 128 80h the com mand is valid for the complete secondary CANopen network Any other NodelD value will specify the single node that the command is valid for If the Anybus X gateway CANopen interface is configured as a slave on the second ary network the only allowed value of NodelD is 0 Cmd 3 bits CmdExt 4 bits Supported commands The table below shows available commands and their representation in byte O of the control word ue en rives Name Master functionality Slave functionality Oh Set NMT State This command sets the The NMT state is set by the Oh PRE OPERATIONAL NMT state ofa CANopen controlling PLC If the PLC is 1h OPERATIONAL node or the CANopen net running the NMT state is set work according to the value to OPERATIONAL If the 2 RESET NODE of NodelD PLC is not ru
10. Data Generate PDOs and Set the PDO Behavior When all slaves have been entered set the CANopen behavior under the tab Mask for each node Then map the data between all nodes under the tab Table When this is done press F5 for the con figurator to generate the PDOs The PDOs can also be generated by selecting Generate PDO map ping from the Data linking menu Finally set the behavior of the PDOs under the tab List parameters transmission type event tim er and inhibit timer Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 Doc Id HMSI 168 85 CANopen Configuration Example 2 Step 6 Download the Configuration When all nodes have been configured save the project again and download the configuration to the net work All modules have to be connected to the CANopen dongle and in PRE OPERATIONAL state The configuration is saved in non volatile flash memory by writing save to the CANopen object 1010h performed by the CANopen Configurator at end of download For more information about the CANopen Configurator from PORT please consult the manual for this product Note When the configuration of the secondary CANopen network interface is finished restart the An ybus X gateway CANopen module to ensure that the correct I O data input and output sizes are set for the primary EtherNet IP network slave interface D 2 Enabling Data Exchange To enable the X gateway to exchange data with
11. I O data is accessed in input and output assembly instances on the EtherNet IP network as shown be low These values are set in the EDS file for the EtherNet IP interface Usually the configuration tool reads and uses these values but there are tools where you have to define them manually Assembly instance Input 100 Output 150 5 4 2 IP Settings Three different options for assigning an IP address to the EtherNet IP slave interface of the module is desctibed below DHCP BootP Default The module retrieves the TCP IP settings from a DHCP or BootP server If it fails and no current settings are available the module will indicate an error on the on board status LEDs The settings may however be configured using HICP see Anybus IPconfig HICP on page 21 Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 Doc Id HMSI 168 85 5 5 Configuration 21 Anybus IPconfig HICP The module supports the HICP protocol used by the Anybus IPconfig utility from HMS which can be downloaded free of charge from the HMS web site This utility may be used to configure the network settings of any Anybus product connected to the network Note that if successful this will replace the settings currently stored Upon starting the program the network is scanned for Anybus products The net work can be rescanned at any time by clicking Scan In the list of detected de pang o eo vices the module will appear as Anybu
12. Objects use asynchronous data transmission and are used to access objects without mapping them to an I O PDO connection Access is provided to all CANopen objects in the module and in the network nodes master mode The SDO messages are used to configure the module and they can transfer more than 8 bytes which is the upper limit for a PDO Expe dited Upload Download Protocol and Segmented Upload Download Protocol are supported A SYNC Synchronization Object is used for synchronizing PDO communication A master can be either a producer or a consumer of the synchronization A slave can only be a consumer The Heartbeat Mechanism helps a device to monitor the status of another node The module can appear both as heartbeat producer and consumer The Node Guarding Protocol provides active surveillance of a slave by the master Slaves can be configured to expect a node guarding request from the master An EMCY Emergency Object is used for error reporting when a fatal fault has occurred in the module itself or in other monitored supervised modules LSS Layer Setting Services An LSS master can configure baud rate and node ID of all slaves that support LSS i e the preconfigured baud rate and node ID of a slave can be changed by a master Only available when the module is configured as master The data exchange with the EtherNet IP network is limited to 512 bytes affecting the total number of PDOs that can be used in an application An
13. Online www anybus fr HMS UK amp Eire E mail uk sales hms networks com E mail support hms networks com Phone 44 0 1926 405599 Phone 46 0 35 17 29 20 Fax 44 0 1926 405522 Fax 46 0 35 17 29 09 Online www anybus co uk Online www anybus com HMS Denmark E mail dk sales hms networks com E mail support hms networks com Phone 45 0 35 38 29 00 Phone 46 0 35 17 29 20 Fax 46 0 35 17 29 09 Fax 46 0 35 17 29 09 Online www anybus com Online www anybus com HMS India E mail in sales hms networks com E mail in support hms networks com Phone 91 0 20 40111201 Phone 91 0 20 40111201 Fax 91 0 20 40111105 Fax 91 0 20 40111105 Online www anybus com Online www anybus com Anybus X gateway CANopen to EtherNet IP Doc Rev 2 01 Doc ld HMSI 168 85 Chapter 1 1 Anybus X gateway CANopen EtherNet IP 1 1 Introduction The Anybus X gateway CANopen is a series of network gateways used to provide a seamless connec tion between a primary fieldbus Ethernet network and a secondary CANopen subnetwork The gate way enables the master of the fieldbus Ethernet network to exchange data to and from the secondary CANopen subnetwotk This makes it possible to integrate CANopen devices into almost any other PLC system and their supported networks The gateway is based on patented Anybus technology a proven industrial communica EtherNet IP Network primary network tion sol
14. This response reflects the 0h PRE OPERATIONAL state set in object 1F82h state set in object 1F82h 1h OPERATIONAL see 37 of a CANopen see 37 of the module s 2h RESET NODE 7 CANopen interface 3h RESET COMMUNICATION NodelD 4h STOP 5h UNKNOWN 6h MISSING 7h Eh Fh ERROR 2h Bit Get COPM general status This response requests the CANopen status of the mod ule 0 CAN BUS OFF Bus off 1 CAN ERR PASV Error passive 2 ERR NG HB Node guarding or Heartbeat error 3 ERR SYNC Sync error 3h 6h reserved Th No operation Reflects the command 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 Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 Doc ld HMSI 168 85 6 2 3 Example CANopen Module Specification 27 The example shows two control words from the primary network master to the module Each control word includes a command that affects the secondary CANopen network Each control word is acknowl edged by a status word that contains a response to the command Note that the first bit in the control word is toggled when a new command is sent to make sure mand itis distinguished from the previous com Primary network master Anybus X gateway CANopen module Command Control word 0x01 0x02 Set node with Node ID 2 to Command OPERATIONAL Status word 0x01 0x00 Response Response m Control word 0x01 0x02
15. X gateway CANopen External VIEW dei rii ER RP ORI PIE PERO IER EU RIA REOR EE IER COR CH eed 8 Status LED Sia Aa 9 Primary NEWOEIE eer cedet eerte e Leto oceano 10 Eberneb Dort COHBITOEE dao I UI 7 10 Secondary Network aid 11 NUNG o m aia 11 Gon TNT MT q 5 jad 11 WSB Comme ctor is eisai ees Ae e d errans 12 POP CU a aaa 12 Hardware Installation eene dinner Hep tr IRIARTE AE ARO 13 CANopen Electronic Data Sheet EDS eene nennen 14 EtherNet IP Electronic Datasheet EDS file eese tentent ntn tentes 14 Chapter3 Getting Started Chapter 4 CANopen Fieldbus Functionality Supported Fieldbus Service nta sss essai ea eeu 16 Chapter5 Configuration Module Identification 5 17 CAN open Master Slave Configuration ii tia 18 Secondary CANopen Network Configuration 19 MESS a tort s etse te betta tee eto i comi doen 19 Configuration of the EtherNet IP interface tenente tnnt nter enntennts 20 Connection Parameters E 20 EDS D ER 20 Enabling Data tenti ente riada 21 Chapter6 CANopen Module Specification NMT State Machine de eer reiecit pede edente erre eed consi 22 Data Exchanpe etes eei en eade diiit tie t e t ERES 23 GON OL Word utt E EE pedea cate tace Nes DER Sent 24 A 25 LLLA 27 P RD T 28 ES Seti ees csi eR Pet d B tttm 29 Ettot GOnttoli std e Ree a e a ee 30 Feart beat 077 30 NIAE 70 ENANA NTRA 30 Fiero Object LMG Vy
16. as a slave at startup To enable it to perform as a CANopen master please set this during configuration see CANopen Configuration Example on page 48 and NMT Start up 1F80h on page 35 The following parameters have to be defined Parameter Description Values Comment Node Number Node ID on the secondary CANopen Net 1 127 Node ID 1 99 is set using rotary work switches see Configuration Allowed values are 1 127 Switches on page 11 Node IDs 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 20 kbit s Set using rotary switches see Con secondary CANopen network If Auto is 50 kbit s figuration Switches on page 11 selected the baud rate will be automatically 125 kbit s Automatic baud rate should only be detected 250 kbit s used if the module is used as a slave 500 kbit s on the secondary network 800 kbit s 1000 kbit s Auto Set master Set the module to be CANopen master At See NMT Start up 1F80h on startup the module is a slave by default This page 35 can be changed during configuration CANopen input This parameter defines the size of the reada gt 5428 The first 2 bytes in the array are data size ble data array on the primary network inter used for the status word so the face Data to the primary network from the maximum data size from the sec secondary CANopen network ondary CANopen networ
17. module will control the secondary network using the instructions sent in the control world from the PLC If the module is set as slave it will wait for a request form the master of the secondary network before starting to exchange data If it has not been enabled by the PLC to exchange data it will return an error message to the secondary network Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 Doc Id HMSI 168 85 Chapter 6 6 CANopen Module Specification 6 1 NMT State Machine The function of the Anybus X gateway CANopen can be described as a state machine with four states Power on Initialization Operational State Description Initialization When the power is switched on the module starts initializing The parameters are set to the so called power on values which are the default values or the latest stored values If parameter 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 profile specifications Pre operational Once initialized the module automatically enters the pre operational state The Anybus X gateway CANopen can be configured but no I O data can be exchanged Operational In the operational state all communication objects are active I O data is communicated according to the configuration made Stopped All communication is stopped exc
18. oe 30 Chapter 7 CANopen Supported Objects Static Data Lp laa 31 Communication Profile Ati aia 31 DS301 Communication Profile Object cocinar 31 Gonfiguralon Manara eee epe dte ptas 33 Network Manaren OPCS sd iie pet did 34 Vendor Specific Objects ics o eie rictu ater Eee here ee peste e PROP HA 39 Transl BUNT a 40 Receive Buet EM A vet 41 I O Buffer Addresses and Object Dictionary Indices Relation eet 42 General Fieldbus Li ls 43 EAN IP hecofie POTUIT aro e e RR ERE 43 Appendix A Technical Specification Protective Earth PE nennenn 44 Power Supply icis ated enm qe tarda ie idee iet nid nh ie nies 44 Environmental Specification Temperature 20711 HI P7777 erc EMG CE Gomrpliance deter cate nete ptr a pite abies eH Hee eT T eeu id UL and ATEX Certification Appendix B Status LED Timing Diagrams Appendix C CANopen Emergency Codes Appendix D CANopen Configuration Example Configuration 6 48 Enabling Data Exchange tpe 52 Anybus X gateway CANopen Doc Rev 2 01 Doc Id HMSI 168 85 Preface P About This Document For more information documentation etc please visit the HMS web site www anybus com P 1 Related Documents Document Author CiA Draft Standard 301 v4 2 CAN in Automation CiA Draft Standard Proposal 302 Part 1 5 CAN in Automation EtherNet IP Specifications Vol 1 2 ODVA P 2 Document History Summary
19. of Recent Changes 2 00 2 01 Change Page s Clarified description of status word 25 Revision List Revision Date Author s Chapter s Description 1 00 2010 01 17 First official release 1 01 2011 02 04 KeL Minor corrections and updates 1 02 2011 03 29 KeL 6 7 Minor corrections 2 00 2011 12 01 All General rewrite 2 01 2013 01 11 KeL 6 Minor correction Anybus X gateway CANopen to EtherNet IP Doc Rev 2 01 Doc Id HMSI 168 85 About This Document 2 P 3 Conventions Terminology The following 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 gateway module Hexadecimal values are written in the format NNNNh where NNNN is the hexadecimal value A byte always consists of 8 bits Anybus X gateway CANopen to EtherNet IP Doc Rev 2 01 Doc Id HMSI 168 85 P 4 Sales and Support About This Document 3 Sales Support HMS Sweden Head Office E mail sales hms networks com E mail support hms networks com Phone 46 0 35 17 29 56 Phone 46 0 35 17 29 20 Fax 46 0 35 17 29 09 Fax 46 0 35 17 29 09 Online w
20. only The terminal tightening torque must be between 5 7 Ibs in 0 5 0 8 Nm See also Power Supply on page 44 Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 Doc Id HMSI 168 85 About the Anybus X gateway CANopen 13 2 6 Hardware Installation Perform the following steps when mounting the gateway 1 Setthe Node Address and the baud rate for the secondary CANopen network see Configura tion Switches on page 11 2 Snap the gateway on to the DIN rail See External View on page 8 The DIN rail mechanism works as follows To snap the gateway on first press 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 it downwards 1 and pull it out from the DIN rail 2 as to make it snap off from the DIN rail 3 Connect the gateway to the secondary CANopen network 4 Connect the gateway to the EtherNet IP network 5 Connect the power cable and apply power Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 Doc Id HMSI 168 85 About the Anybus X gateway CANopen 14 2 7 CANopen Electronic Data Sheet EDS Each device on CANopen is associated with a CANopen Electronic Data Sheet a k a EDS file which holds a description of the device and its functions Most importantly the file describes the object dic tionary implementation in the device This file should be uploaded to the CANopen c
21. page 9 On Flickering LED off Blinking LED On HT AA Single flash LED Of MM M8 88 88 8o On Double flash LED Off o cep pA e 2 Triple flash LED 1000 ms OM E GC SS PS a S e A e mm cum mus Quadruple flash LED 1000 ms Off M S Meo M S gt gt When LSS services are in progress both the ERR LED red and the RUN LED green are flickering Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 Doc Id HMSI 168 85 Appendix C C CANopen Emergency Codes Below is a list of the CANopen emergency codes that can be produced by the Anybus X gateway CAN open The error codes that have been produced can be read from the list in the Communication Profile Object at index 1003h see 31 Error Code Description 0000h Error reset or no error 6161h Software error only valid in master mode For additional information see table below 6600h Hardware error 8110h 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 exceeded FF10h Only valid in slave mode The control word has been set to no longer allow the module to enter OPERA TIONAL state but the subnetwork is in OPERATIONAL state or a CANopen master attempts to set the module in OPERATIONAL
22. state while the control word is set not to allow OPERATIONAL state These codes conform to the CANopen standard Software error codes 6161h When an emergency code 6161h is produced additional information is stored in the Communication Profile Object index 1003h 31 16 15 0 Additional Information Emergency error code Error Code Node ld if available 61h 61h Error code Description 00h No software error detected 01h Tag for CMT record not available 02h Cache management inconsistent 03h SDO could not be transmitted 04h Configuration entry inconsistent 05h Check sum error 06h Data could not be written to non volatile memory 07h SDO timeout 08h SDO error Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 Doc ld HMSI 168 85 Appendix D D CANopen Configuration Example This appendix includes an example of how to configure the secondary CANopen network interface of the Anybus X gateway CANopen using the CANopen Configuration Manager from PORT Other configuration tools are available and can of course be used instead An instruction film with a configuration example is available for download at the support pages at www anybus com D 1 Configuration Example The module is configured as a CANopen slave on the secondary network when the module is started the first time Default configuration is 16 byte input and 16 byte output data that can b
23. the CANopen DS301 Rev 4 2 specification and DSP302 part 1 5 Note The first time the module starts up it starts as a slave on the secondary CANopen network It can be set as master during configuration see CANopen Configuration Example on page 55 This setting can be saved in the module so that it will start as a master the next time 4 1 Supported Fieldbus Services Communication and parameters in the CANopen protocol are built around objects There are different services available to communicate with the objects and to perform other CANopen tasks like supervis ing the network The following message types and objects are implemented in the Anybus X gateway CANopen NMT Network Management messages configure and initialize the network as well as monitor the network and handle errors If the module is configured as a slave startup is performed by a master on the network CMT Configuration Manager messages are used for configuration of CANopen devices This primarily involves PDO parameters and mapping of information If the module is configured as a slave the configuration is performed by a master on the network PDOs Process Data Objects are used for I O communication There are 128 Receive PDOs and 128 Transmit 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 SDOs Service Data
24. 240 Synchronous A TPDO is transmitted with every n th SYNC object where n is a defined number cyclic from 1 240 241 253 Reserved 254 255 Event driven A TPDO is transmitted without any relation to the SYNC object The transmission is Default 255 triggered by a CoS event or if a specified time has elapsed without an event 6 3 LSS Services LSS master functionality according to the CANopen DS305 specification is supported by the module The module can configure baud rate and node ID of all slaves that support LSS i e the preconfigured baud rate and node ID of a slave can be changed by a master The module can not act as an LSS slave An LSS Slave is identified by 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 netwotk after the boot timeout the master will initiate the LSS routine see Network Management Object Boot Time 1F89h on page 39 It will send an identify slave request using the LSS address of the slave If one and only one slave responds to this request the master will set the NodeID on that node to the first missing NodeID It will then send a bootup message to the node Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 Doc Id HMSI 168 85 CANopen Module Specification 30 6 4 Error Control It is strongly recommended to monitor the network The Anybus X gateway CANopen can use either Hear
25. 29 2101h STRUCT Receive Byte 129 256 130 257 0 U8 RO Number of entries value 128 1 U8 RW Receive Byte 129 130 2 U8 RW Receive Byte 130 131 128 U8 RW Receive Byte 256 257 2102h STRUCT Receive Byte 257 384 258 385 0 U8 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 U8 RW Receive Byte 386 386 2 U8 RW Receive Byte 387 387 126 U8 RW Receive Byte 511 511 2110h STRUCT Receive Word 1 128 2 257 0 U8 RO Number of entries value 128 1 U16 RW Receive Word 1 2 3 2 U16 RW Receive Word 2 4 5 128 U16 RW Receive Word 128 256 257 2111h STRUCT Receive Word 129 255 area 258 511 0 U8 RO Number of entries value 127 1 U16 RW Receive Word 129 258 259 2 U16 RW Receive Word 130 260 261 127 U16 RW Receive Word 255 510 511 2120h STRUCT Receive Long 1 128 area 2 511 0 U8 RO Number of entries value 128 1 U32 RW Receive Long 1 2 5 2 U32 RW Receive Long 2 6 9 128 U32 RW Receive Long 128 510 511 the last two bytes are padded Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 with zeroes Doc ld HMSI 168 85 CANopen Supported Objects 42 7 3 3 I O Buffer Addresses and Object Dictionary Indices Relation Data in the transmit buffer bytes 2 511 from the primary to the secondary CANopen network are mapped to three different areas in the Local Object Dictionary The same data is m
26. 59 128 U8 RW Transmit Byte 384 385 2003h STRUCT Transmit Byte 385 510 386 511 0 U8 RO Number of entries value 126 1 U8 RW Transmit Byte 385 386 2 U8 RW Transmit Byte 386 387 126 U8 RW Transmit Byte 510 511 2010h STRUCT Transmit Word 1 128 2 257 0 U8 RO Number of entries value 128 1 U16 RW Transmit Word 1 2 3 2 U16 RW Transmit Word 2 4 5 128 U16 RW Transmit Word 128 256 257 2011h STRUCT Transmit Word 129 255 area 1 0 U8 RO Number of entries value 127 1 U16 RW Transmit Word 129 258 259 2 U16 RW Transmit Word 130 260 261 127 U16 RW Transmit Word 255 510 511 2020h STRUCT Transmit Long 1 128 area 2 511 0 U8 RO Number of entries value 128 1 U32 RW Transmit Long 1 2 5 2 U32 RW Transmit Long 2 6 9 128 U32 RW Transmit Long 128 510 511 the last two bytes are padded Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 with zeroes Doc ld HMSI 168 85 7 3 2 Receive Buffer CANopen Supported Objects 41 This buffer contains data that is received from the secondary CANopen network Index Subindex Type Access Name Position in receive data area bytes 2100h STRUCT Receive Byte 1 128 area 2 129 The first two bytes in the receive data area are reserved for the Status Word 0 U8 RO Number of entries value 128 1 U8 RW Receive Byte 1 2 2 U8 RW Receive Byte2 3 128 U8 RW Receive Byte 128 1
27. 96 503 2003h 121 6 o E NE Y amar 2011h 125 see 2011h 126 Byte 509 2003h 124 f Byte 510 2003h 125 2011h 7 Byte 511 2003h 126 J 2020h 128 The last two bytes are filled up with zeroes Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 Doc Id HMSI 168 85 CANopen Supported Objects 43 Note 1 The picture shows the Transmit data area The Receive data area has the same structure but with indices for byte objects starting at 2100h Note 2 The first two bytes are occupied by the control status word and are used internally by the X gateway These bytes should not be used for data exchange See also Control Word on page 24 and Status Word on page 25 7 3 4 General Fieldbus Parameters Index range 3000h 300Fh is al ocated for general fieldbus parameters Index Subindex Type Access Name and Description Comment 3000h 0 U16 RW Input Data Size size to EtherNet IP Valid values 2 5122 default 16 3001h 0 U16 RW Output Data Size size from Ether Net IP Valid values 22 default 16 a The first two bytes of the I O input area are occupied by the Status Word The rest is available for data exchange on the secondary CANopen sub network side see I O Buffer Addresses and Object Dictionary Indices Relation on page 42 for further information Also note that the valid data range may differ depending on th
28. Anybus X gateway CANopen 2 1 External View A Status LEDs See also Status LEDs on page 9 Primary Network Connectors This connector connectors are used to connect the Anybus X gateway CANopen module to the primary EtherNet IP network They are described in Prima ry Network on page 10 USB connector This connector simulates a COM port used for soft ware upgrade of the module Please note that this connector can not be used for configuration of the module See also Secondary Network on page 11 CANopen Connector This connector is used to connect the gateway to the secondary CANopen network See also CANopen Connector on page 11 Power Connector This connector is used to apply power to the gateway See also Power Connector on page 12 DIN rail Connector The DIN rail mechanism connects the gateway to PE Protective Earth See also Hardware Installation on page 13 Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 Chapter 2 Doc ld HMSI 168 85 2 2 Status LEDs About the Anybus X gateway CANopen 9 The status LEDs on the front indicate the status of the module as shown in the table below Their be havior is described in Status LED Timing Diagrams on page 46 Status LEDs 1 4 indicate the status of the primary EtherNet IP network and status LEDs 5 6 indicate the status of the secondary CANopen sub n
29. Off Power off Blinking green Bootup On green Running Single flash red Initialization error Double flash red Internal timeout Triple flash red Hardware failure Quadruple flash red Invalid switch settings On red Fatal error a This LED shows the status of the secondary CANopen network Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 Doc ld HMSI 168 85 2 3 Primary Network 2 3 1 Ethernet Port Connectors UH Pin no Description 1 TD 2 TD 3 RD 6 RD 4 5 7 8 reserved Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 About the Anybus X gateway CANopen 10 Doc ld HMSI 168 85 About the Anybus X gateway CANopen 11 2 4 Secondary Network 2 4 1 CANopen Connector At the bottom of the module you find the CANopen connector for the secondary net work Pin no Description 2 CAN_L 5 Housing CAN cable shield 6 9 1 4 8 9 reserved 3 6 CAN GND This connector is also used to download the CANopen configuration to the module 2 4 2 Configuration Switches The on boatd switches on the side of the module are used to set the CANopen node address and operating baud rate for the interface on the secondary network These settings cannot be changed during DOS runtime i e the gateway must be restarted in order for any changes to have effe
30. Subindex Description Access 0 Largest subindex supported 128 RO i with i 1 127 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 guarded Example e Guarding should be started for node 5 500 ms Life Time Factor 3 An SDO write access with the value 01F40301h is executed to object 1F81h subindex 5 in the local object dictionary Guarding is activated by an SDO write access with the value 1 to object 1F83h subindex 5 in the local object dictionary Bits Value Explanation 31 16 01F4h 500 The interval with which node 5 will be guarded 15 8 03h If node 5 does not answer the guarding will be repeated another RetryFactor 1 times in this case twice 7 0 01h This value indicates 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 Description 0 Largest subindex supported 127 with 1 127 Ifthe expected device type is not 0 or if the slave is set as mandatory the module compares expected device type with actual device type object 1000h subindex 0 for the slave with Node ID i If the expected device type is 0 this only gives information about the existence of a node not which device type it is If t
31. User Manual Anybus X gateway CANopen EtherNet IP Doc Id HMSI 168 85 Rev 2 01 11 HITIS FF Connecting Devices HALMSTAD CHICAGO KARLSRUHE TOKYO BEIJING MILANO MULHOUSE COVENTRY PUNE COPENHAGEN HMS Industrial Networks Mailing address Box 4126 300 04 Halmstad Sweden Visiting address Stationsgatan 37 Halmstad Sweden E mail info hms networks com Web www anybus com Important User Information This document is intended to provide a good understanding of the functionality offered by the Anybus X gateway CANopen EtherNet IP The reader of this document is expected to be familiar with high level software design and communication systems in general The use of advanced CANopen specific functionality may require in depth knowledge in CANopen networking internals and or information from the official CANopen specifications In such cases the people responsible for the implementation of this product should either obtain the CANopen specification to gain sufficient knowledge or limit their implementation in such a way that this is not necessary Also knowledge of EtherNet IP is expected Liability Every care has been taken in the preparation of this manual Please inform HMS Industrial Networks AB of any inaccuracies or omissions The data and illustrations found in this document are not binding We HMS Industrial Networks AB reserve the right to modify our products in line with our policy of continuous product
32. able lE E C group 0 myGroup amp node1 Anybl m Object Tree Manufacturer and Device Profile Objects Object Parameters 2000 Transmit Byte 1 128 area 2001 Transmit Byte 129 256 area 2002 Transmit Byte 257 384 area Parameter Name Output Data Size 2003 Transmit Byte 385 512 area Data Type UNSIGNED16 2010 Transmit Word 1 128 area 2011 Transmit Word 129 256 area 2020 Transmit Long 1 256 area 2100 Receive Byte 1 128 area Parameter Value 2101 Receive Byte 129 256 area 2102 Receive Byte 257 384 area 2103 Receive Byte 385 512 area 2110 Receive Word 1 128 area 2111 Receive Word 129 256 area 2120 Receive Long 1 128 area 3000 Input Data Size Output Data Size B Object 3001 Access Mode rw Default Value 0x0010 0 0 0 0 Change Parameter Value in DCF File 0005 peEEEEIEEEEEBEEBEEBEEDEDED B Fatal Event Record CANopen Offline Option Modbus RTU Offline Timeout Modbus TCP Offline Timeout Linking Mode unlimited object linking Step 4 Add Nodes Select other nodes and configure them as CANopen slaves For each node Right click on group and select Add new node Set correct node ID by right clicking on the new node under Group and selecting Change Node ID Right click on the new node and select Load EDS file Select the correct EDS file for the node as for the master Save the project Step 5 Map
33. ading from the local object dictionary Value Write access Read Access 0 NMT state unknown The node is not configured and or no node moni toring is activated 1 CANopen device is missing The node with this Node ID is configured but the monitoring of the node has failed 4 STOP remote node NMT state STOPPED 5 START remote node NMT state OPERATIONAL 6 RESET NODE T RESET COMMUNICATION 127 Enter PRE OPERATIONAL NMT state PRE OPERATIONAL The entire network can be started with one command subindex 128 Examples Node 5 should be transferred to the OPERATIONAL state An SDO write access with the value 5 is executed to object 1F82h subindex 5 in the local object dictionary When an NMT command is sent data is cleared All the nodes in the network should be transferred to the PRE OPERATIONAL state An SDO write access with the value 127 is executed to object 1F82h subindex 128 in the local object dictionary Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 Doc ld HMSI 168 85 CANopen Supported Objects 38 Request Guarding 1F83h Guarding can be initiated from the object dictionary in a similar way Guarding is initiated with the values stored in Slave Assignment 1F81h on page 36 provided that at the same time no parameters are en tered for that node as a Heartbeat Consumer Note This functionality is only supported in master mode
34. apped to each area but in different data types For example application data bytes 2 5 are mapped to byte object index 2000h subindex 1 4 to word object index 2010h subindex 1 2 and to double word long object in dex 2020h subindex 1 Data from the secondary to the primary CANopen network are handled similar ly but with indices starting at 2100h Byte object Word object Long object Transmit data area Index subindex Index subindex Index subindex Byte 2 9 Byte 2 2000h 1 Byte 10 17 Byte 3 2000h 2 ja Byte 18 25 Byte 4 2000h 3 _2020h 1 Byte 26 33 Byte 5 2000h 4 CE Byte 34 41 Byte 6 2000h 5 TE ib mm E m Byte 8 2000h 7 Byte 9 20008 b zoo onc Byte 10 2000h 9 Byte 11 2000h 10 UN 2010h 5 A Byte 12 2000h 11 1 EU KERN 2010h 6 2000h 12 8 2000h 13 nere 2010h 7 200044 Sf 2000h 15 2 2000h 16 5 2000h 17 SESE 2010h 9 2000h 18 S 2000h 19 oons 7 2000h 21 a po RM 2000h 23 EE w J 2010012 2000h 25 E oe 2000h 27 7300 28 J 200014 2000029 07 2010h 15 2000130 S 2000h 31 esee 2010h 16 2000 32 J Byte 464 471 Byte 472 2003h 83 Byte 472 479 Byte 473 2003h 84 BULL ud 646 07 C Breana Tamames 2020 119 Byte 488 495 8 6475 2o08m8s Byte4
35. apter interface Anybus CANopen master slave interface Data Exchange Each of the two network interfaces exchanges data on its network through two buffers The gateway forwards the data between these buffers as shown below Note that this process is separated 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 primary EtherNet IP network and the secondary CANopen network Control Word Status Word Data To Data From the CANopen the CANopen Network Network CANopen Network Interface EtherNet IP Network Interface Status Word Control Word Data From Data to the CANopen the Canopen Network Network EtherNet IP network Each buffer holds up to 512 bytes of data where the first two bytes on the primary network side always are used for control status information The remaining 510 bytes gives the theoretical upper limit for the number of data bytes that can be exchanged in each direction Please note that the actual number of bytes that can be exchanged is highly application and network dependent and can thus be noticably low er than 510 bytes Through the dedicated control word the master on the primary EtherNet IP network starts stops the exchange of data on the secondary CANop
36. ault mapping scheme with 4 TPDOs and 4 RPDOs e RPDO RPDO no Default COB IDs Mapped to Relating to Default State 1 200h Node ID Object index 2100h subindex 1 8 Receive bytes 2 9 Enabled 2 300h Node ID Object index 2100h subindex 9 16 Receive bytes 10 17 3 400h Node ID Object index 2100h subindex 17 24 Receive bytes 18 25 4 500h Node ID Object index 2100h subindex 25 32 Receive bytes 26 33 5 80000000h Object index 2100h subindex 33 40 Receive bytes 34 41 Disabled 128 Object index 2103h subindex 121 126 Receive bytes 506 511 TPDO TPDO no Default COB IDs Mapped to Relating to Default State 1 180h Node ID Object index 2000h subindex 1 8 Transmit bytes 2 9 Enabled 2 280h Node Object index 2000h subindex 9 16 Transmit bytes 10 17 3 380h Node ID Object index 2000h subindex 17 24 Transmit bytes 18 25 4 480h Node ID Object index 2000h subindex 25 32 Transmit bytes 26 33 5 80000000h Object index 2000h subindex 33 40 Transmit bytes 34 41 Disabled 128 Object index 2003h subindex 121 126 Transmit bytes 506 511 For more information on the mapping see Vendor Specific Objects on page 39 Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 Doc ld HMSI 168 85 CANopen Module Specification 29 RPDO Transmission Types The RPDOs can be receiv
37. ave uses the guard time and lifetime factor from its Object Dictionary to determine the node lifetime If the slave does not receive a guarding request within its lifetime a node guard event is registered The ERROR LED on the front of the An ybus X gateway CANopen will indicate the event An EMCY object 8130h is also transmitted on the CANopen fieldbus If the guard time or the lifetime factor are O default the Slave does not guard the Master The guarding can be initiated at boot up or later Note The NMT master can monitor a slave either by heartbeat or by node guarding Only one of these mechanisms at a time can be active Heartbeat is preferred and if heartbeat is enabled in a slave any node guarding for that slave is disabled 6 4 3 Emergency Object EMCY The Emergency Object is used for error reporting on the CANopen network when a fatal fault has oc curred The error codes are saved in a list in the Communication Profile Object 1003h see page 31 and a message is produced on the CANopen network A list of emergency error codes that can be produced by the module is available in CANopen Emergency Codes on page 47 Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 Doc Id HMSI 168 85 7 CANopen Supported Objects Chapter 7 The following sections describe the CANopen objects secondary CANopen network according to DS301 and DS302 implemented within the module and described in the EDS file 7 1 Static Data Types
38. ave with Node ID i write conf 63 6F 6E 66h to this object 1F25h subindex i If this fails an emergency code is produced 6161h see CANopen Emergency Codes on page 47 Check Configuration The Configuration Manager CMT compares signature and configuration with the value from the DCF to decide if a reconfiguration is to be performed or not The comparison values are stored by the Con figuration Manager in these objects Index Object Name Subindex Description Type Access 1F26h Expected 0 127 The date that the Configuration Manager expects to find UNIT32 RW Configuration when comparing signature and configuration Date 1F27h Expected 0 127 The time that the Configuration Manager expects to find UINT32 RW Configuration when comparing signature and configuration Time Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 Doc ld HMSI 168 85 7 2 3 Network Management Objects CANopen Supported Objects 34 The NMT master controls the states of the connected network participants the NMT slaves It moni tors the devices and reports to the application for example if an NMT slave fails Please refer to the CANopen specification see Related Documents on page 1 In more complex systems several devices are able to perform as master which means that the configuration must have an entry defining which device will act as master Once configured the objects carry all information needed
39. connection linking C 50 kBits s unlimited object linking 125 kBits s C 280 kBits s Reset Timeout ms 15000 500 kBits s Modified by C 800 kBits s C 1000 kBits s 1 Awailable for download at www anybus com This version can only be used for products from HMS Industrial Networks Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 Doc Id HMSI 168 85 CANopen Configuration Example 49 2 Right click on group and select Add new node EN CANopen Configuration Manager File Edit Data Linking View Connection Brrr Ss CANopen Network Rename group Delete group Add new node 3 Open group Correct node ID can be set for the new node by right clicking on the node and selecting Change Node ID 4 Right click on the new node and select Load EDS file Select the EDS file for Anybus X gate way CANopen EDS_X_GATEWAY_COPM_V_x_yy eds and press OPEN x_yy for correct version El CANopen Configuration Manager 1 4 3 File Edit DataLinking View Connection Action Dae rr Ss gt CANopen Network BA group 0 myGroup asin Change Node ID Rename node Move node to group Delete node Load EDS file Change DCF file name 5 Select tab Mask Then select Device is master which enables you to set Device is NMT master in CANopen object 1F80h For the module to be set properly in master mode select Download concise DCF files
40. ct ABC Note When these switches have been set cover them with the switch covers that accompany the module Baud Rate The baud rate is set via switch A Switch Setting Baud Rate kbit s 20 50 125 250 500 800 1000 Auto 9 Not available Co NI wy Mm O a The automatic baud rate setting should not be used if there is only a small amount of traffic on the bus This occurs e g if the interface is configurated as a CANopen master or if the secondary network is small Node Address The node address is configured using two rotary switches as follows Node Address Switch B x 10 Switch C x 1 Example To set node address 42 set switch B to 4 and switch C to 2 Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 Doc Id HMSI 168 85 About the Anybus X gateway CANopen 12 2 5 USB Connector At the bottom of the module next to the CANopen connector for the secondary net work you find a USB connector that is only used for software upgrade of the module SS Pin no Description 1 5 V input 5 2 USBDM USB communication signals 3 USBDP USB communication signals 4 Signal GND A Housing Cable Shield Q This port can only be used for software upgrade 2 5 1 Power Connector Pin no Description 1 24 V DC 2 GND Notes Use 60 75 or 75 C copper CU wire
41. d shows the last valid command and command extension written to the control word to indicate that the command has been performed Byte 1 gives the lowest NodeID with error Please note that there can be one or more nodes with higher NodeIDs that also have errors If NodeID is 0 all nodes are fine If NodeID is for example 5 it means that there is an error with node 5 Only errors from nodes monitored by the heartbeat mechanism or by node guarding will be reported Errors from other slaves can not be recognized Status Word Effective I O Data Byte 0 Byte 1 Byte 2 510 Toggle bit Cmd Rsp 3 bits CmdExt 4 bits Error Node Data 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 Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 Doc Id HMSI 168 85 Supported commands CANopen Module Specification 26 The table below shows available command responses and their representation in byte 0 of the status wotd Toggle CmdRsp CmdExtRs e 3 bits P 4 bits P Name Master Slave 0h Set NMT State Response to Set NMT Response to Set NMT State 0h PRE OPERATIONAL State command Reflects command Reflects the 1h OPERATIONAL the command command 2h RESET NODE 3h RESET COMMUNICATION 4h STOP 5h Fh reserved 1h Get Node state This response reflects the
42. d time 00h Used together with Life time U16 RW 0000h default factor to decide the node life time in ms 100Dh Life time factor 00h If the node has not been U8 RW 00h default guarded within its lifetime Life time factor Guard time an error event is logged and a remote node error is indicated Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 Doc ld HMSI 168 85 CANopen Supported Objects 32 Index Object Name Subindex Description Type Access Notes 1010h Store Parame 00h Largest subindex supported U8 RO 01h ters Oth Store all parameters U32 RW To save a configuration write save 73 61 76 65h to this object See also General Fieldbus Parameters on page 43 1011h Restore Param 00h Largest sub index supported U8 RO 01h eters 01h Restore all parameters 032 RW To restore the default values of a configuration write load 6C 6F 61 64h to this object 1014h COB ID EMCY 00h Defines the COB ID of the U32 RO Emergency Object 1016h Consumer 00h Largest subindex supported U8 RO 7Fh Heartbeat Time 91h 80h The consumer heartbeat time U32 RW Node ID Heartbeat Time defines the expected heart Bits 31 24 reserved beat cycle time and has to be Bits 23 16 Node ID higher than the correspond Bits 15 0 Heartbeat Time ing producer heartbeat time Monitoring star
43. development The information in this document is subject to change without notice and should not be considered as a commit ment by HMS Industrial Networks AB HMS Industrial Networks AB assumes no responsibility for any errors that may appear in this document There are many applications of this product Those responsible for the use of this device must ensure that all the necessary steps have been taken to verify that the applications meet all performance and safety requirements in cluding any applicable laws regulations codes and standards HMS Industrial Networks AB will under 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 scope of this product The effects caused by any direct or indirect use of such aspects of the product are undefined and may include e g compatibility issues and stability issues The examples and illustrations in this document are included solely for illustrative purposes Because of the many variables and requirements associated with any particular implementation HMS Industrial Networks AB cannot assume responsibility for actual use based on these examples and illustrations Intellectual Property Rights HMS Industrial Networks AB has intellectual property rights relating to technology embodied in the product de scribed in this document These intellectual property righ
44. e slave interface b The first two bytes of the I O output area are occupied by the Control Word The rest is available for data exchange on the secondary CANopen sub network side see I O Buffer Addresses and Object Dictionary Indices Relation on page 42 for further information Also note that the valid data range may differ depending on the slave interface Note Writing to object 1010h Store Parameters see 32 will verify the input output data sizes stored in these objects against the current fieldbus limitations If the data sizes do not comply an error will be generated error code 6600h see CANopen Emergency Codes on page 47 7 3 5 EtherNet IP Specific Parameters Index range 3070h 307Fh is allocated for EtherNet IP specific parameters For this version of the mod ule they are not used and the index range is reserved for future use Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 Doc ld HMSI 168 85 Appendix A A Technical Specification A 1 Protective Earth PE Requirements The product must be connected to protective earth PE via the DIN rail connector in order to achieve proper EMC behavior HMS Industrial Networks does not guarantee proper EMC behavior unless these PE requirements are fulfilled A 2 Power Supply Supply Voltage The gateway requires a regulated 24 V 10 DC power soutce Power Consumption Typical 100 mA at 24 V Maximum 150 mA at 24 V A 3 Environmental Specification
45. e transferred between the primary EtherNet IP network and secondary CANopen network Of these 16 bytes the first two ate reserved for the control status word To configure the module as master and change the input and output data sizes follow the steps below The next time the module is started it will start as a master on the secondary network Step 1 Baud Rate and Node Address Baud rate and node address are set using the rotary switches on the side of the module see Configura tion Switches on page 11 Step 2 Set Module in Master Mode To change to master mode bit 0 in CANopen object 1F80h see NMT Start up 1F80h on page 36 has to be set and saved during CANopen configuration Using the CANopen Configurator from PORT this is done as follows 1 Start the program and select network info Set the baud rate to match the baud rate set by the configuration switches on the module Set Sync Interval if used Set Reset Timeout to the longest reset time for any node in the network El CANopen Configuration Manager 1 4 3 C Program Files port ccm newProject net not connected File Edit DataLinking View Connection Actions Options Help gt amp CANopen Network group 0 myGroup Table List Objects Network Settings Network Network Baud rate Sync Settings Name C 10 kBits s Sync Producer F x Number 0x00000001 C 20 kBits s Sync Interval us pre defined
46. ects 33 Index Object Name Subindex Description Type Access Notes 1800h Transmit PDO 00h Largest subindex supported 8 RO 05h e parameter 01h COB ID used by PDO U32 RW 187Fh 02h Transmission type U8 RW See TPDO Transmission Types on page 29 03h Inhibit time U16 RW In steps of 0 1 ms 05h Event Timer ms 016 IRW 1A00h Transmit PDO 00h No of mapped application U8 RW hi mapping objects in PDO 1A7Fh 01h Mapped object 1 U32 RW 02h Mapped object 2 U32 RW 03h Mapped object 3 U32 RW 04h Mapped object 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 a Depending on the method of writing to this object e g using a CANopen dongle the byte order may have to be changed to adapt to the way data is transported on CANopen 7 2 2 Configuration Manager DS302 part 3 Configuration and program download Network Configuration Objects Index Object Name Subindex Description Type Access 1F22h Concise DCF The concise compressed DCF files informa Domain RW tion is stored in this object 1F25h Configure 0 128 Subindex 0 is ignored 322 Sub 0 RO Slave Subindex i i 1 127 Request reconfigu Sub 1 128 WO ration of slave with Node ID equal to subindex i Subindex 128 Request to reconfigure all slaves a To configure the sl
47. ed either in synchronous or asynchronous mode A synchronization SYNC 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 be transferred directly The transmission type parameter of a RPDO specifies the triggering mode Transmission type RPDO Mode RPDO transmission description 0 240 Synchronous A received RPDO is transferred to the application after a SYNC object is received 241 253 Reserved 254 255 Event driven An RPDO is transmitted without any relation to the SYNC object Default 255 TPDO Transmission Types The TPDOs can be transmitted either in synchronous or asynchronous mode A synchronization SYNC object is transmitted periodically by a synchronization master Synchronous TPDOs are trans mitted within a predefined time window immediately after a configured number of SYNC objects or after the SYNC object that follows upon a CoS Change of State event Asynchronous TPDOs can be transmitted at any time triggered by a CoS or a cyclic period set in the Event Timer The transmission type parameter of a TPDO specifies the transmission mode as well as the triggering mode METRO Mode TPDO transmission description 0 Synchronous A TPDO is triggered by an event but not transmitted before the occurrence of a acyclic SYNC object 1
48. en network the subnetwork It can also reset the gateway if 1 When it is started the first time the Anybus X gateway is set as slave on the secondary network This can be changed during configu ration see CANopen Configuration Example on page 48 The module will remember its setting when restarted Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 Doc Id HMSI 168 85 Anybus X gateway CANopen EtherNet IP_ 7 needed The master on the primary EtherNet IP network can see the status of the secondary CANopen network in the corresponding status word The amount of 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 an interface the amount of data that will actually be exchanged on the primary EtherNet IP network is determined by settings of the secondary CANopen network with consideration taken to the limits of the interface The available control and status functionality is described in Data Exchange on page 23 Also note that the terminology and definitions used for different types of data vary greatly between different net working systems All data transported through the Anybus X gateway CANopen is fast cyclic data and is simply referred to as T O Data in this document Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 Doc ld HMSI 168 85 2 About the
49. ept node guarding and heartbeat if active From this state any transition to another state is possible depending on if a restart reconfiguration or reset of the module is wanted The module changes states upon reception of a request from an NMT object a hardware reset or Mod ule Control Services locally initiated by application events Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 Doc Id HMSI 168 85 CANopen Module Specification 23 6 2 Data Exchange The Anybus X gateway CANopen allows for the exchange of 512 bytes of data in each direction be tween the primary network and the X gateway The first two bytes the first word are allocated for a Control Status word decreasing the size of I O data for CANopen to 510 bytes The actual amount of data that can be exchanged is highly network dependent see the section on configuration of the primary EtherNet IP network in chapter 5 The control and status words of the module are used by the master of the primary EtherNet IP network to control the Anybus X gateway CANopen and the secondary CANopen network and to report the status back from this network The rest of the I O data area is available in the CANopen vendor specific object area for real time data transfer using PDOs Process Data Objects Note The functionality of the Control Status word differs depending on if the Anybus X gateway CANopen interface is configured as a slave or as a master on the secondary network
50. etwork and the de vice State Status 9 OO 9 1 Module status Off No power or initializing O ee 0 Green Controlled by a scanner in Run state o 9 Flashing green Not configured or scanner in Idle state Flashing red Minor fault recoverable Red Major fault unrecoverable Flashing green red Self test in progress 2 Network Status Off No IP address Green On line one or more connections CIP class 1 or 3 Flashing green On line no connection established Flashing red One or more connections timed out CIP class 1 Red Duplicate IP address fatal error A Flashing green red Self test in progress 3 Link Activity 1 4 Link Activity 2 Off No link sensed on port 1 2 Flashing green Activity receiving transmitting Ethernet packets at 100 Mbit Flashing yellow Activity receiving transmitting Ethernet packets at 10 Mbit 5 CANopen subnet Off Power off status Flickering green red The LSS services are in progress Blinking green Preoperational state Single flash green Stopped state On green Operational state Blinking red Configuration error Single flash red Warning limit reached in CAN controller e g bad or no signal on CANopen network Double flash red Error control event Triple flash red Sync error Quadruple flash red Data communication timeout Red Bus off 6 Device status
51. f the module is in the state OPERATIONAL To make this possible the PLC controlling the primary network will have to give the command Set NMT State OPERA Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 Doc ld HMSI 168 85 CANopen Module Specification 25 TIONAL in the control word If the module is set as master it will then administer the secondary net wotk If the module is set as slave it will answer to any request from the master of the secondary network to participate in the communication on that network see footnote in the table above The command RESET NODE will restore the module to a previously downloaded configuration RE SET COMMUNICATION will restore the communication settings of the module In both cases the module will return to the INITIALIZATION state Examples Master Slave Control Word Meaning Slave 01 00h 01h Allow the module to go to OPERATIONAL if asked by an NMT master 00h The command is only valid for the module itself Master 01 80h 01h Start remote node in the secondary network 80h The command is valid for all nodes in the secondary network 01 02h 01h Start remote node 02h The command is valid for node 2 04 80h 04h Stop remote node 80h The command is valid for all nodes in the secondary network a The first bit in the control word is toggled for each new command e g changing the first byte from 01h to 81h 6 2 2 Status Word Byte 0 in the status wor
52. for the module to act on the network and the application does not need to be accessed to obtain this information This results in a substantial reduc tion of the overall implementation and maintenance effort when imple menting multiple applications Index Object Name Subindex Description Type Access 1F80h NMT Start up Defining whether the device is the U32 RW NMT Master 1F81h Slave Assign ARRAY Module list Entry of all slaves to U32 Sub 0 RO ment be managed including guarding Sub 1 127 RW values and the entry of actions to be taken in event of guarding errors 1F82h Request NMT ARRAY Remote control initiation of NMT 8 Sub 0 RO services For example tools can Sub 1 127 RW use this to request intentional start Sub 128 WO stop of individual slaves Remote query of the current state 1F83h Request ARRAY Remote control start stop of guard 8 Sub 0 RO Guarding ing Remote query of the current Sub 1 127 RW state Sub 128 WO 1F84h Device Type ARRAY Expected device types for the U32 Sub 0 RO Identification slaves Sub 1 127 RW 1F85h Vendor Identifi ARRAY Vendor identifications for the U32 Sub 0 RO cation slaves Sub 1 127 RW 1F86h Product Code ARRAY Product codes for the slaves U32 Sub 0 RO Sub 1 127 RW 1F87h Revision ARRAY Revision numbers for the slaves U32 Sub 0 RO Number Sub 1 127 RW 1F88h Serial Number ARRAY Expected serial numbers for the
53. he value is not 0 it is compared to the value read from the node and boot up of that slave is continued if they match If they don t match the slave will stay in state PRE OPERATIONAL Vendor Identification 1F85h Each node on the CANopen network is checked against its expected vendor The subindex indicates which node is checked Subindex Description 0 Largest subindex supported 127 i with 1 127 Compares expected vendor with actual vendor object 1018h subindex 1 for the slave with Node ID i Boot up of that slave is continued only if they match If they don t match the slave will stay in state PRE OPERATIONAL Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 Doc Id HMSI 168 85 CANopen Supported Objects 39 Product Code 1F86h Each node on the CANopen network is checked against its expected product code The subindex indi cates which node is checked The node in question is only checked if data is other than zero Subindex Description 0 Largest subindex supported 127 i with i 1 127 Compares expected product code with actual product code object 1018h subindex 2 for the slave with Node ID i Boot up of that slave is continued only if they match If they don t match the slave will stay in state PRE OPERATIONAL Revision Number 1F87h Each node on the CANopen network is checked against its expected revision number The revision number inc
54. k is 2 bytes less than the maximum value allowed for this parameter See object 3000h on page 43 CANopen output This parameter defines the size of the writa 2 5428 The first 2 bytes in the array are data size ble data array on the primary network inter used for the control word so the face Data from the primary network interface to the secondary CANopen network maximum data size to the secondary CANopen network is 2 bytes less than the maximum value allowed for this parameter See object 3001h on page 43 a The data buffers in the Anybus X gateway CANopen module can hold 512 bytes of data but the actual maximum data size is highly dependent on network Please consult the section on configuration of the controlling network further on in this chapter Note The input and output data sizes are configured for the secondary CANopen network interface The master of the primary netwotk will have to take these values into consideration as they will be used by the primary EtherNet IP network adapter slave interface of the module CANopen Configuration Manager from PORT is available for download at www anybus com This version of the tool can only be used for products from HMS Industrial Networks Please contact HMS support for further information see Sales and Support on page 3 Please contact HMS support for further information see Sales and Support on page 3 Anybus X gateway CANopen EtherNet IP D
55. les and Support on page 3 The EDS file for the Anybus X gateway CANopen can be downloaded from www anybus com Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 Doc Id HMSI 168 85 Configuration 20 5 4 Configuration of the EtherNet IP interface After the configuration of the CANopen master interface has been finalized the module has to be re statted before the configuration of the EtherNet IP adapter interface can be started The adapter interface is part of a EtherNet IP network and will have to be configured within this This means that the interface must be assigned an IP address see IP Settings on page 20 The configuration tool used when configuring the EtherNet IP scanner and the EtherNet IP network will have to be used to configure the adapter interface as well Please note that the size of the I O data that can be read from and written to the module is defined when configuring the CANopen subnetwork interface There ate a number of different configuration tools for EtherNet IP available on the market The choice of tool depends on the application and the EtherNet IP scanner of the network An EDS file for the adapter interface is available at www anybus com An application note describing how to configure an Anybus EtherNet IP slave interface with RS Logix and RS Networx is available on the support pages for the Anybus X gateway CANopen to EtherNet IP module at 5www anybus com 5 4 1 Connection parameters
56. ludes major and minor revision For a match to occur the major revision has to be exactly the same and the minor revision of the module has to be greater than or equal to the expected minor revision number The subindex indicates which node is checked The node in question is only checked if data is other than zero Subindex Description 0 Largest subindex supported 127 i with i 1 127 Compares expected revision number with actual revision number object 1018h subindex 3 for the slave with Node ID i Boot up of that slave is continued only if they match according to the description above Serial Number 1F88h Each node on the CANopen network is checked against its expected serial number The subindex indi cates which node is checked The node in question is only checked if data is other than zero Subindex Description 0 Largest subindex supported 127 i with 1 127 Compares expected serial number with actual serial number object 1018h subindex 4 for the slave with Node ID i Boot up of that slave is continued only if they match If they don t match the slave will stay in state PRE OPERATIONAL Boot Time 1F89h The network master will wait the assigned time in ms for all mandatory slaves to boot If not all man datoty slaves ate ready after this time the LSS routine will be started see LSS Services on page 29 If the assigned time is O the master will wait endlessly
57. ly Application will decide when to enter Operational state 3 0 Start up of slaves allowed i e allowed to send NMT Start Default Remote Node command 1 Not allowed to send NMT Start Remote Node command The application will start the slaves 4 0 If a mandatory slave generates an Error Control Event treat If bit 6 1 ignore bit 4 the slave individually If object 1F81h bit 3 1 the 1 If a mandatory slave generates an Error Control Event per network must not be restarted form NMT Reset All Nodes including self if a mandatory slave could not be contacted Not implemented 0 If a mandatory slave generates an Error Control Event treat the slave according to bit 4 1 If a mandatory slave generates an Error Control Event send NMT Stop All Nodes including self Ignore bit 4 7 31 Reserved 0 Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 Doc ld HMSI 168 85 CANopen Supported Objects 36 Slave Assignment 1F81h This object defines which slaves the Master should monitor control and or configure One entry is made for each assigned slave with the subindex corresponding to the slave s Node ID Bit No Value Description 0 0 Node with this ID is not a slave 1 Node with this ID is a slave After configuration the node will be set to Operational Reserved 0 On an Error Control Event or on detection of a new slave inform the application but do NOT con figure and sta
58. nning the NMT 3h RESET COMMUNICATION state is set to PRE OPERA 4h STOP TIONAL Sh Fh reserved Default PRE OPERA TIONAL 1h Get Node state This command requests the state set in object 1F82h see 37 of the CANopen node or network depending on the value of NodelD 4 2h Get COPM general status This command requests the general status of the CAN open module 3h 6h reserved Th No operation No Operation It is recommended to set Cmd to this value when the mod ule goes offline from the fieldbus This prevents unwanted behavior of the CANopen network when the fieldbus comes back online a The most significant bit in byte 0 is a toggle bit that is toggled by the controlling network each time a new com mand is issued b IMPORTANT The PLC controlling the primary network has to set the X gateway to OPERATIONAL using the Control Word If this has not been done the X gateway will decline an NMT Set Operational Command on the secondary network by returning an emergency message with the error code FF10h The same emergency mes sage will be sent when the X gateway is reset to PRE OPERATIONAL by the primary network c If the module is configured as slave only NodelD 0 is allowed d Only states of nodes monitored by node guarding or heartbeat can be read from object 1F82h When started the module will initialize and then automatically continue to the state PRE OPERA TIONAL I O data will only be exchanged i
59. oc Rev 2 01 Doc ld HMSI 168 85 Configuration 19 5 3 Secondary CANopen Network Configuration An external CANopen configuration tool is used to configure the nodes on the secondary CANopen network Each node can be configured locally or a Concise DCF file can be downloaded to the CAN open network master using a CANopen adapter At the next startup the CANopen master will config ure the netwotk if this function was set in the configuration tool during initial configuration The first time the Anybus X gateway CANopen is started it starts up as a slave It can be configured as a mastet and if it is it will continue to start up as a master 1 Download the EDS file for the Anybus X gateway CANopen from www anybus com to yout PC Prepare EDS files for all other nodes present on the secondary network Open the CANopen configuration tool Upload the EDS files to the configuration tool Add nodes to the CANopen network Configure each node with the necessary parameters Set Input Data Size in object 3000h and Output Data Size in object 3001h to define the I O data size between the secondary CANopen network subnetwork and the primary EtherNet IP net work slave interface Default values are 16 bytes 14 bytes of data exchanged between the networks 2 bytes Control Status Word See General Fieldbus Parameters on page 43 SX ON UN Be Oo 19 8 Download the configuration to the CANopen network as Concise DCF to the master o
60. onfiguration tool when configuring the secondary CANopen network The latest version of the EDS file for the Anybus X gateway CANopen can be downloaded from the HMS web site www anybus com 2 8 EtherNet IP Electronic Datasheet EDS file Each device in a EtherNet IP network is associated with an Electronic Data Sheet an EDS file which describes the implementation of the product This file is used by the network configuration tool during network configuration The latest version of the EDS file for the Anybus X gateway EtherNet TP interface can be downloaded from the HMS web site www anybus com Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 Doc Id HMSI 168 85 Chapter 3 3 Getting Started The purpose of this chapter is to give a short description on how to install the module and get it up and running transferring I O data between the primary EtherNet IP network and the secondary CANopen subnetwotk Note The CANopen secondary subnetwork interface is configured prior to the primary EtherNet IP network interface The Anybus X gateway CANopen EtherNet IP module has to be restarted after this configuration has been finished Perform the following steps when installing the gateway 1 Set the CANopen node ID and operating baud rate for the X gateway on the secondary CAN open network see Configuration Switches on page 11 2 Snap the gateway on to the DIN rail See Hardware Installation on page 13
61. or and is certified by CAN in Automation CIA for full conformance to the CANopen DS 301 v4 0 2 standard CANopen subnetwork secondary network CANopen master manager and slave functionality Connects 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 types 20 kbps 1 Mbps operation Heartbeat and node guarding mechanisms Sync objects 128 receive and 128 transmit PDOs available Up to 510 bytes of cyclic data in each direction PDO EtherNet IP Features primary network 10 100 Mbit operation in full or half duplex DHCP Anybus IPconfig HICP support EtherNet IP Adapter Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 Doc Id HMSI 168 85 Anybus X gateway CANopen EtherNet IP 6 1 3 Functional Overview CANopen netwq 1 4 x _ E D o z gt o Internally the X gateway consists of an intelligent gateway platform an Anybus CANopen interface and an Anybus EtherNet IP interface The CANopen interface and the Anybus EtherNet TP interface are interconnected through the intelligent gateway platform which basically forwards data from one net wotk to the other and vice versa as shown below This design allows almost any industrial network to be connected to a CANopen master or a slave on a separate CANopen network Anybus EtherNet IP ad
62. r store the configuration locally in each module s nonvolatile memory Please consult the user manual for the configuration tool for details and or contact HMS suppott see Sales and Support on page 3 For an example see CANopen Configuration Example on page 48 To configure the primary EtherNet IP adapter slave interface restart the module and then configure the EtherNet IP network using appropriate configuration tools see below Please remember that the amount of data that can be exchanged already is decided by the previous configuration of the secondary CANopen network CANopen objects 3000h and 3001h The first two bytes of the input data and the output data are always used for status and control information 5 3 1 LSS Routine If there is a missing slave on the network after the boot timeout defined in object 1F89h page 39 the master will initiate the LSS routine It will send an identify slave request If one and only one slave re sponds to that message the master sets the NodelD of that node to the first available NodeID The master will then send a bootup request to the slave CANopen Configuration Manager from PORT is available for download at www anybus com This version of the tool can only be used for products from HMS Industrial Networks Please contact HMS support for further information see Sales and Support on page 3 Please visit www anybus com or contact HMS support for further information see Sa
63. rt the slave On an Error Control Event or on detection of a new slave inform the application and start the process Start Boot Slave Optional slave The network may be started even if this node could not be contacted Mandatory slave The network must not be started if this node could not be contacted during the boot slave process Not implemented Not implemented Not implemented XAO amp CANopen device may be used without reset to default CANopen device shall be reset to factory defaults by 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 with an interval of GuardTime Guarding will be performed only if non zero values are entered for Retry Factor and GuardTime Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 Doc ld HMSI 168 85 Request NMT 1F82h CANopen Supported Objects 37 Each node on the CANopen netwotk can be controlled individually from the fieldbus application by sending this object The subindex indicates what nodes the request affects Subindex Description 0 Largest subindex supported 128 i with 1 127 Request NMT Service for the slave with Node ID i 128 Request NMT Service for all nodes The desired state is given as a numeric value when writing to or re
64. s EN X gateway CANopen master To alter its netwotk settings double click on its en try in the list Configure 00 00 BC 20 50 02 x Ethernet configuration IP address 10 10 12 246 DHCP Primary DNS Secondary DNS Hostname Password Change password A window will appear containing the IP Newpassword configuration and password settings Validate the new settings by clicking Set or click Cancel to abort Optionally the configuration may be protected from unauthorized access by a password To enter a password click on the Change password checkbox and enter the password under New password When protected any changes in the configuration requires that the user supplies a valid password When done click Set The adopted configuration will be stored in the ethernet configuration file Note The HICP protocol communicates over UDP port 3250 Enabling Data Exchange Once both the interfaces of the X gateway have been properly configured the PLC the master on the primary network will have to explicitly allow the X gateway to exchange I O data for any I O data ex change to occur between the primary and secondary networks To accomplish this the PLC will write the command OPERATIONAL in the control word see Control Word on page 24 for further in formation If the module is set as master it will automatically be available when the PLC has enabled data exchange The
65. tbeat or Node Guarding At an error event from any of these the active I O data is frozen as no new data will be available 6 4 1 Heartbeat Mechanism The Heartbeat Mechanism is used to monitor the nodes in the network and verifies that the nodes ate available A heartbeat producer periodically sends a message The data part of the frame contains a byte indicating the node status The heartbeat consumer reads these messages If a message fails to arrive within a certain time limit defined in the object directory of the devices objects 1016h and 1017h 32 a heartbeat event is registered by the consumer The ERROR LED on the front of the Anybus X gate way CANopen and the status word will indicate the event An EMCY object 8130h is also transmitted on the CANopen fieldbus If the module is configured as a slave and is in OPERATIONAL state it will go to PRE OPERATIONAL state and wait for the user to take action If it is in master mode it will take action according to the settings in the master objects The Anybus X gateway CANopen can act both as heartbeat consumer and as heartbeat producer simul taneously 6 4 2 Node Guarding The NMT Master 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 according to its configuration If Life guarding the slave guards the master is supported the sl
66. the primary network the PLC controlling the primary network will have to add initialize and set the fieldbus interface of the module in operational mode To start the data exchange with the secondary network the command OPERATIONAL must be sent from the primary network to the secondary network using the Control Word If the module is set as slave this will allow the the module to receive and accept a request from the NMT master of the sec ondary network to participate in the communication on the secondary network The module will return an error message if it is not set to OPERATIONAL by the primary network If the module is set as master it will control the operational states of all nodes on the secondary network via the control word See also Enabling Data Exchange on page 21 Control Word on page 25 Examples on page 26 1 For the configuration tool included with CANopen master products from HMS Industrial Networks to work the module must be the controlling master in the system and data linking has to be set up before download Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 Doc Id HMSI 168 85
67. ts after the Value must be a multiple of reception of the first heart 1 ms beat Not used if 0 Up to 127 nodes can be moni tored 1017h Producer Heart 00h Defines the cycle time ofthe U16 RW The time must be at least 10 beat Time heartbeat Not used if 0 ms and a multiple of 1 ms 1018h Identity object 00h Number of entries U8 RO 04h Oth Vendor ID 032 RO 1Bh HMS Industrial Networks 02h Product Code 032 RO 18h Anybus X gateway CAN open 03h Revision Number U32 RO Current software revision 04h Serial Number U32 RO HMS serial number 1029h Error behavior 00h Number of entries U8 RO object 01h Communication error U8 RO 00h Change to Preoperational if currently in NMT state Oper ational 02h Profile or manufacturer spe U8 RO 00h Change to Preoperational cific error if currently in NMT state Oper ational 1400h Receive PDO 00h Largest subindex supported U8 RO 02h e parameter 01h COB ID used by PDO U32 RW 147Fh 02h Transmission type U8 RW See RPDO Transmission Types on page 29 1600h Receive PDO 00h No of mapped application U8 RW i mapping objects in PDO 167Fh 01h Mapped object 1 U32 RW 02h Mapped object 2 U32 RW 03h Mapped object 3 U32 RW 04h Mapped object 4 U32 RW 05h Mapped object 5 032 RW 06h Mapped object 6 U32 RW 07h Mapped object 7 U32 RW 08h Mapped object 8 U32 RW Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 Doc ld HMSI 168 85 CANopen Supported Obj
68. ts may include patents and pending patent applications in the US and other countries Trademark Acknowledgements Anybus is a registered trademark of HMS Industrial Networks AB All other trademarks are the property of their respective holders A WARNING This is a class A product In a domestic environment this product may cause radio interference in which case the user may be required to take adequate measures ESD Note This product contains ESD Electrostatic Discharge sensitive parts that may be damaged if ESD control procedures are not followed Static control precautions are required when handling the prod uct Failure to observe this may cause damage to the product WARNING DO NOT REMOVE OR REPLACE USB CONNECTOR WHILE CIRCUIT IS LIVE UNLESS THE AREA IS KNOWN TO BE FREE OF IGNITIBLE CONCENTRATIONS OF FLAMMABLE GASES OR VAPORS Anybus X gateway CANopen EtherNet IP User Manual Rev 2 01 Copyright HMS Industrial Networks AB Jan 2013 Doc Id HMSI 168 85 Table of Contents Table of Contents Preface About This Document Related Documents iii dd 1 Document sto ii A EE RU a 1 Conventions Lerminology insat doll 2 Sales and SUDDOEL c5 ace tette tta tum tv dp dtt Ea er etse vn ree 3 Chapter1 Anybus X gateway CANopen EtherNet IP InttOduCOtD ssec aia 4 BHeatutes e e o m UB md n ERE Functional Overview Data Exchanpez itecto mee nu HIN tate rede dl Rude dig sty 6 Chapter 2 About the Anybus
69. twork Mask TE list EC group 0 myGroup amp node 1 Any gatel Object Tree Manufacturer and Device Profile Objects Object Parameters 2000 Transmit Byte 1 128 area 2001 Transmit Byte 129 256 area a 2002 Transmit Byte 257 384 area Parameter Name Input Data Size 2003 Transmit Byte 385 512 area Data Type UNSIGNED16 2010 Transmit Word 1 128 area deceso Mode nw 2011 Transmit Word 129 256 area Default Val 0x0010 2020 Transmit Long 1 255 area Gg vere ah 2100 Receive Byte 1 128 area Parameter Value 1 Receivi 129 F F 210 ecole Byte 129 258 area Change Parameter Value in DCF File 2102 Receive Byte 257 384 area 2103 Receive Byte 385 512 area 2110 Receive Word 1 128 area 2111 Receive Word 129 256 area 2120 Receive Long 1 128 area Input Data Size Output Data Size Fatal Event Record CANopen Offline Option Modbus RTU Offline Timeout Modbus TCP Offline Timeout Object 3000 0 0 0 0 0 0 0 0 D E 8 a NO OO ON ON Linking Mode unlimited object linking Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 Doc Id HMSI 168 85 CANopen Configuration Example 51 2 Repeat for output data but select object 3001h in the list EN CANopen Configuration Manager 1 4 3 C Program Files port ccm newProject net not connected Eile Edit Data Linking View Connection Actions Options Help rrr Ss gt Cg CANopen Network Mask T
70. ution used all over the world by lead ing manufacturers of industrial automation e g PLC products Each module offers CANopen mastetr slave connectivity to one of these in dustrial networks EtherCAT PROFIBUS EtherNet IP DPV1 DeviceNet ControlNet CANopen Anybus X gateway Network Modbus RTU EtherNet IP PROFINET IO both RT and IRT or Modbus TCP caper Master Slave No proprietary configuration software is needed though dedicated configuration tools are required when setting up the actual industrial network communications Any 1 standard CANopen configuration tool can Device Level with CANopen Slaves secondary network be used to configure the CANopen inter face The gateways transmit I O data transparently between the two networks I O data from the primary fieldbus Ethernet network is written inte CANopen objects that can be mapped into CANopen PDOs ot read via CANopen SDOs and vice versa The gateway desctibed in this manual connects a EtherNet IP network with a CANopen network The module acts as a EtherNet IP adapter slave on the primary network and can act either as a slave or as a master on the subnetwork transmitting I O data between the networks The EtherNet IP adapter slave interface connected to the primary network is configured with a stand ard device description file GSD EDS and the standard configuration tool of the master of that net work No programming is required
71. ww anybus com Online www anybus com HMS North America E mail us sales hms networks com E mail us support hms networks com Phone 1 312 829 0601 Phone 1 312 829 0601 Toll Free 1 888 8 Anybus Toll Free 1 888 8 Anybus Fax 1 312 629 2869 Fax 1 312 629 2869 Online www anybus com Online www anybus com HMS Germany E mail ge sales hms networks com E mail ge support hms networks com Phone 49 0 721 989777 000 Phone 49 0 721 989777 000 Fax 49 0 721 989777 010 Fax 49 0 721 989777 010 Online www anybus de Online www anybus de HMS Japan E mail jp sales hms networks com E mail jp support hms networks com Phone 81 0 45 478 5340 Phone 81 0 45 478 5340 Fax 81 0 45 476 0315 Fax 81 0 45 476 0315 Online www anybus jp Online www anybus jp HMS China E 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 HMS Italy E mail it sales hms networks com E mail it support hms networks com Phone 39 039 59662 27 Phone 39 039 59662 27 Fax 39 039 59662 31 Fax 39 039 59662 31 Online www anybus it Online www anybus it HMS France E mail fr sales hms networks com E mail fr support hms networks com Phone 33 0 3 68 368 034 Phone 33 0 3 68 368 033 Fax 33 0 3 68 368 031 Fax 33 0 3 68 368 031 Online www anybus fr
72. ybus X gateway CANopen EtherNet IP Doc Rev 2 01 Doc Id HMSI 168 85 Chapter 5 5 Configuration This chapter describes the configuration of the secondary CANopen network interface as well as the configuration of the primary EtherNet IP network adapter slave interface of the module The second ary CANopen network interface is configured prior to the primary EtherNet IP network adapter slave interface The I O data sizes configured for the secondary CANopen network decides the data sizes on the primary EtherNet IP network adapter slave interface 5 1 Module Identification The Anybus X gateway CANopen to EtherNet IP module identifies itself on the network as follows Description Value Vendor Code 90 Vendor Name HMS Networks Product Code 50 Product Type 12 Product Type String Communications Adapter Product Name Anybus X gateway CANopen Catalog Anybus X gateway CANopen Desc Text Anybus X gateway CANopen Anybus X gateway CANopen EtherNet IP Doc Rev 2 01 Doc Id HMSI 168 85 Configuration 18 5 2 CANopen Master Slave Configuration The nodes on the secondary CANopen network including the interface of the Anybus X gateway on this network have to be configured using an external CANopen configuration tool running on a com putet The configuration is downloaded to the secondary CANopen network master using a CANopen adapter The module is by default configured
73. ze object 3000h and 3001h have to be modified and saved in the module during CANopen configuration The data transferred from the secondary CANopen network to the primary EtherNet IP network in put is defined as 2 bytes less than the configured data size in object 3000h The remaining two bytes are used by the gateway as a status word to indicate status of the gateway to the EtherNet IP network side The data transferred from the primary EtherNet IP network to the secondary CANopen network out put is defined as 2 bytes less than the configured data size in object 3001h The remaining two bytes are used for a control word to control the gateway from the primary EtherNet IP network side The input output size entered is thus the amount of data available on the primary EtherNet IP network side This is done in the example below using the CANopen Configurator from PORT Another con figuration tool can of course be used 1 To set Input Size select tab Objects and click on object 3000 in the list The default value is 10h 16 decimal Enter the desired value in the box Parameter Value If the value is to be stored in the concise DCF file of the module during configuration press the button Change Parameter Value in DCF File El CANopen Configuration Manager 1 4 3 C Program Files port ccm newProject net not connected OR File Edit Data Linking View Connection Actions Options Help sy 3 09 C3 CANopen Ne

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