User Manual - ADFWeb.com
Contents
1. Revision Date Author Chapter Description 1 015 19 06 2006 Ddt All documentation code changed 1 016 22 06 2007 Av All Revision 1 017 26 06 2007 Av All Revision 2 000 10 07 2007 Av All New document format 2 001 20 07 2009 MI All Revision 2 002 05 07 2010 FT All Revision 2 003 13 02 203 Nt All Added new chapters WARNING ADFweb com reserves the right to change information in this manual about our product without warning ADFweb com is not responsible for any error this manual may contain TRADEMARKS All trademarks mentioned in this document belong to their respective owners INFO www adfweb com Phone 39 0438 30 91 31 User Manual CANopen CANopen Document code MN67121 ENG Revision 2 003 Page 3 of 26 Industrial Electronic Devices SECURITY ALERT GENERAL INFORMATION To ensure safe operation the device must be operated according to the instructions in the manual When using the device are required for each individual application legal and safety regulation The same applies also when using accessories INTENDED USE Machines and systems must be designed so the faulty conditions do not lead to a dangerous situation for the operator i e independent limit switches mechanical interlocks etc QUALIFIED PERSONNEL The device can be used only by qualified personnel strictly in accordance with the specifications Qualified personnel are persons who are familiar with the installation assembly commissioning and opera2. insert the address of the original device of CAN O note an alias can be inserted in the field instead of the actual address of the PDO generator gt In the field en_translate insert the number 1 Note there are two values 1 the PDO being transmitted 0 the PDO that is only defined ADFweb com Srl IT31010 Mareno Treviso User Manual CANopen CANopen Document code MN67121 ENG Define translate PDO Revision 2 003 Page 20 of 26 obia eeoa Jon translate en_translate n_tPDO 1 0 L x Cancel E Export Import Figure 9 Define Translate PDO window INFO www adfweb com Phone 39 0438 30 91 31 User Manual CANopen CANopen Document code MN67121 ENG Revision 2 003 Page 21 of 26 Industrial Electronic Devices In this way the user creates a corresponding PDO in CAN 1 that will have one of three CobID choices that the Gateway has on the CAN 1 side The new PDO is created by completing the remaining fields gt in the field posid insert the pointer in one of 8 bytes of the CANopen package transmitted in the CAN 1 values 0 1 2 3 4 5 6 7 8 with O signifying that id_dev_ori is lost in the PDO translated in CAN 1 gt In the field n_tPDO insert the number of the output PDO of the 3 that the gateway has on the CAN 1 side The transmitted PDO exits the values 1 2 or 3 RPDO package received by
3. 2105 Figure 6 Chart of SDO request from CANopen sides gt SubIndex 2 The dimension of the data is specified in nByteB ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 Ny User Manual CANopen CANopen Document code MN67121 ENG Revision 2 003 Page 13 of 26 Industrial Electronic Devices SET TRANSLATE EMCY By pressing the Set Translate EMCY button from the Main window for SW67121 Fig 3 oanu acsi the Set Translate EMCY window appears Fig 7 From CAN 0 From CAN 1 Fi Enabled_Translate to CAN1 25 ID_EMCY 1 127 Mask_error_code 0 65535 7 Enabled_mask_error_code 0 65535 MA amp sk_error_Reg 0 255 Enabled_mask_error_Reg 0 255 Mask_Manu1 0 65535 Enabled_Mask_Manu1 0 65535 Mask_Manu2 0 65535 Enabled_Mask_Manu2 0 65535 0 Mask_Manu3 0 255 0 Enabled_Mask_Manu3 0 255 Allias use ID CANA No translate ID CANO Step 2 Translate O Error code byte HIGH The EMCY is processed by the CANB EMCY O Error code byte LOW Gateway filter Step 3 O Error Reg Step 1 The EMCY is possibly regenerated O Manut byte HIGH by the Gateway O Manut byte Low Finish Manu2 byte HIGH O Manu2 byte Low O Manu3 Delete EMCY New EMCY Modify ENCY EMCY generated by ID10 CAN 0 Bus 1 up to 1000 Bus 0 up to 1000 x Cancel Export Import ID 10 ID 24 ID 16 lo Module CANopen Fig
4. Null Modem Cable Fem Fem DSub 9 Pin 1 5 m Null Modem Cable Fem Fem DSub 9 Pin 5 m Rail DIN Power Supply 220 240V AC 50 60Hz 12 V AC Rail DIN Power Supply 110V AC 50 60Hz 12 V AC INFO www adfweb com Revision 2 003 Page 24 of 26 Phone 39 0438 30 91 31 AL User Manual CANopen CANopen Document code MN67121 ENG Revision 2 003 Page 25 of 26 Industrial Electronic Devices DISCLAIMER All technical content within this document can be modified without notice The content of the document content is a recurring audit For losses due to fire earthquake third party access or other accidents or intentional or accidental abuse misuse or use under abnormal conditions repairs are charged to the user ADFweb com S r l will not be liable for accidental loss of use or inability to use this product such as loss of business income ADFweb com S r l shall not be liable for consequences of improper use OTHER REGULATIONS AND STANDARDS WEEE INFORMATION Disposal of old electrical and electronic equipment as in the European Union and other European countries with separate ps collection systems m This symbol on the product or on its packaging indicates that this product may not be treated as household rubbish Instead it should be taken to an applicable collection point for the recycling of electrical and electronic equipment If the product is disposed correctly you will help prevent potential negative environmental factors and h
5. SW67121 Fig 3 the Set SDO Access window appears Fig 5 x Cancel E gt Export The columns data have the following meanings Figure 5 Set SDO Access window gt The field RW indicates if the data is in read write or read only in CAN 0 o The controls are done from the Gateway If the variable on the opposite BUS is in read write but I want to block the access of the writing I must write O in the cell RW In this way even if the module where the data resides requires an access in write from its side of the network I can still block the writing on the other network gt In the fields Index and SubIndex0O insert the indexes of the new object SDO that must be defined on CAN 0 because a device in CAN 0 can request a SDO from a CAN 1 device o Procedures can be changed by switching CAN 0 and CAN 1 and vice versa gt In the field devID insert the address of the original device of the SDO data in the CAN 1 where the data is actually contained gt In the fields Index and SubIndex insert only the coordinates of the SDO that the Gateway must read on CAN 1 to make the requested data available to the device on CAN 0 gt In the field Nbyte insert the data size this value can be 1 2 or 4 gt In the field Mnemonico you can insert a brief description ADFweb com Srl IT31
6. window gt Fill the field ID_EMCY with the address of the CAN 0 device where the EMCY will be intercepted gt Write 0 in the fields Enable_Mask_Error_Code 0 Enable_Mask_Error_Reg 0 Enable_Mask_Manul 0 Enable_Mask_Manu2 0 Enable_Mask_Manu3 0 gt Check the Enable_Translate_to_CAN1 box gt Finally press the New EMCY button at bottom of the window These operations enables the Gateway to gt Intercept all the EMCY coming from devices with a specific address from ID EMCY in the CAN 0 gt Replicate the EMCY definitions mentioned above in CAN 1 The EMCY replicates are the same as those intercepted with the only difference that the CAN 0 devices will see the address of the CAN 1 side of the Gateway and not the CAN 1 device that generated them note they will not see the number in the ID_EMCY If you also want to pass the address of the CAN 0 generating device you must renounce one data component of the 8 byte in the original EMCY To do this refer to the section Alias USE Of course by doing this it is necessary that the CAN 1 devices understand how to interpret the registers in order to know where the EMCY derives from ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 User Manual CANopen CANopen Document code MN67121 ENG Revision 2 003 Pag
7. 010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 User Manual CANopen CANopen Document code MN67121 ENG Revision 2 003 Page 12 of 26 Industrial Electronic Devices Example 1 If I want to read the data present in the CAN 1 network while I am in the CAN 0 The address data in CAN 1 are the following gt Address 16 Scheme of SDO request fro another side CANopen gt Index 0x2094 gt SubIndex 0 Trasmitted SDO Step 4 from Trasmitted SDO Step 3 from I O Gateway ID44 to device ID 10 ID16 to Gateway ID 27 Index gt Dimension 2 Bytes index 3000 subindex 2003 Subindex 0 Step 2 Request SDO from Gateway D27 to device I O ID16 Index 2003 subindex 0 Through the gateway using the following gt Index 0x2105 gt SubIndex 2 Request SDO Step 1 From Device ID 10 to Gateway ID44 Index 3000 Subindex 2 In the above example Bus 0 up to 1000 Bus 1 up to 1000 The generic CANopen Module at the address 10 in the CAN 0 network reads a ID 10 ID 24 parameter of the CANopen module at the E BES ae ID 16 ID1 address 16 in the CAN 1 at the index 1 0 PLC 2094 and SubIndex 0 genei Genet Mod ie fed ae Module Module whi ae HD67121 CANopen CANopen _ The data is readable in the CAN 0 network by accessing the following gt Address 44 in the CAN 0 gt Index
8. 8 16 16 8 BIT note they are the data received by the EMCY CAN Package gt 5 masks used to compare the 5 registers of course of the same dimension in BITS as the registers respectively mask_eq_ec MO mask_eq_er mask_eq_m1 mask_eq_m2 mask_eq_m3 gt 5 activations BIT to BIT of the masks Enable_Mask_Error_Code Enable_Mask_Error_Reg Enable_Mask_Manui Enable_Mask_Manu2 Enable_Mask_Manu3 respectively 16 8 16 16 8 BIT CONSIDERATIONS When all the BITS of all activation registers are at zero all the EMCY are transmitted by the filter because there is not a single BIT that actives the comparison BIT to 1 This is true for any value of entering data 5 EMCY registers generated and for any mask value ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 Industrial Electronic Devices SET TRANSLATE PDO The Configurable CANopen Gateway has three PDO in output for each BUS according to the standard CANopen A user who must pass a PDO from CAN 0 to CAN 1 needs to insert the coordinates of the PDO to be transmitted in the field SET Translate PDO of the window By pressing the Set Translate PDO button from the main window for SW67121 Fig 3 the window Define Translate PDO appears Fig 9 gt In the field cobid insert the Cob_ID of the original PDO gt In the field id_dev_orig
9. CAN 0 ID origi TPDO package transmitted to CAN 1 Passing scheme of the PDO with an Alias use ADFweb com Srl IT31010 Mareno Treviso BYTE 1 BYTE 2 pz ALIAS equal to ID_dev_ori if filled in as posind 4 BYTE 5 BYTE 6 BYTE 7 BYTE 8 me gt BYTE 5 gt BYTE 6 BYTE 7 BYTE 8 INFO www adfweb com Phone 39 0438 30 91 31 Ny User Manual CANopen CANopen Document code MN67121 ENG Revision 2 003 Page 22 of 26 Industrial Electronic Devices U P DAT E D EVI c E ADFweb com Compositor SW67121 CANOpen2CANopen Example1 4 New project E Open project Section Update Device Insert the boot jumper see figure 2 In order to load the parameters after they are set set the COM port F Set Communication you used for update then you must click the button Execute update firmware on the principal window Set SDO Access A Set Translate EMCY gE Set Translate PDO ET Update Device Generate Firmware Execute update firmware COML E Programmi 4DFweb CompositorSW67121 PROJECTS E xamplel Ne STEP Wait for device Po Figure 10 Update device procedure ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 User Manual CANopen CANopen iy wi Document code MN67121 ENG Revision 2 003 Page 23 of 26 In
10. Industrial Electronic Devices User Manual Revision 2 003 English CANopen CANopen Order Code HD67121 for Website information www adfweb com Product HD67121 for Price information www adfweb com Price HD67121 Benefits and Main Features Very easy to configure Low cost Rail mountable Wide supply input range Galvanic isolation Converter Similiar Products Benefit n Industrial temperature range 40 C 85 C 40 F 185 F ADFweb com Srl IT31010 Mareno Treviso Document code MN67121_ENG User Manual CANopen CANopen Revision 2 003 Page 1 of 26 HD67121 For other Gateways Bridges Canopen to Modbus DeviceNET See also the following links www adfweb com product HD67001 www adfweb com product HD67502 www adfweb com Product HD67004 www adfweb com Product HD67505 www adfweb com product HD67134 Modbus RTU Master Modbus RTU Slave Modbus TCP Master Modbus TCP Slave DeviceNET Do you have an your customer protocol See the following links www adfweb com Product HD67003 Do you need to choose a device do you want help Ask it to the following link www adfweb com Cmd helpme INFO www adfweb com Phone 39 0438 30 91 31 Industrial Electronic Devices INDEX INDEX UPDATED DOCUMENTATION REVISION LIST WARNING TRADEMARKS SECURITY ALERT CHARACTERISTICS POWERSUPPLY CONFIGURATION CONNECTION SCHEME IN
11. Phone 39 0438 30 91 31 AT User Manual CANopen CANopen Document code MN67121 ENG Revision 2 003 Page 7 of 26 Industrial Electronic Devices INTRODUCTION The Gateway allows a CANopen line to communicate with a different CANopen line We simply call these CAN 0 and CAN 1 in this manual The two networks are symmetrical at a logical level What CAN 0 can do to CAN 1 CAN 1 can do to CAN 0 too CAN 0 and CAN 1 are different only on the level of hardware One of the two CANopen has the power supply in common with the logic of the device The other CANopen is isolated based on the logic of the device You need Compositor SW67121 software on your PC in order to perform the following Define that the SDO of the CAN 0 are accessible from CAN 0 Define that the SDO of the CAN 1 are accessible from CAN 0 Define which and how the EMCY of the CAN 0 are accessible from CAN 1 Define which and how the EMCY of the CAN 1 are accessible from CAN 0 Define which PDO of CAN 0 are accessible from CAN 1 Define which PDO of CAN 1 are accessible from CAN 0 Update the new configurations of the device Save duplicate modify export the configurations VV VV VV V V ADFweb com Compositor SW67121 CANOpen2CANopen Example1 USE OF COMPOSITOR SW67121 ke New project 2 Open project When launching the SW67121
12. TRODUCTION USE OF COMPOSITOR SW67121 NEW PROJECT OPEN PROJECT SET COMMUNICATION SET SDO ACCESS SET TRANSLATE EMCY CREATION OF AN EMCY TRANSLATION OF AN EMCY FROM CAN 0 TO CAN 1 EXAMPLE OF SETTING A FILTER FOR THE EMCY SET TRANSLATE PDO UPDATE DEVICE CHARACTERISTICS OF THE CABLES MECHANICAL DIMENSIONS ORDER CODE ACCESSORIES DISCLAIMER OTHER REGULATIONS AND STANDARDS WARRANTIES AND TECHNICAL SUPPORT RETURN POLICY PRODUCTS AND RELATED DOCUMENTS ADFweb com Srl IT31010 Mareno Treviso oO ODNNUUARRWNNNNNG User Manual CANopen CANopen Document code MN67121_ ENG Revision 2 003 Page 2 of 26 UPDATED DOCUMENTATION Dear customer we thank you for your attention and we remind you that you need to check that the following document is gt Updated gt Related to the product you own To obtain the most recently updated document note the document code that appears at the top right hand corner of each page of this document With this Document Code go to web page www adfweb com download and search for the corresponding code on the page Click on the proper Document Code and download the updates To obtain the updated documentation for the product that you own note the Document Code Abbreviated written Doc Code on the label on the product and download the updated from our web site www adfweb com download REVISION LIST
13. b com Phone 39 0438 30 91 31 ADFweb com Srl IT31010 Mareno Treviso User Manual CANopen CANopen Document code MN67121 ENG Revision 2 003 Page 9 of 26 Industrial Electronic Devices SET COMMUNICATION This section defines the fundamental communication parameters of two Buses SET COMMUNICATION CAN 0 By pressing the Set Communication button from the main window for SW67121 Fig 3 the Set Communication window appears Fig 4 DevID Baud rate 2909 gt Inthe field DevID the CAN address of CAN 0 is defined gt In the fields Baud rate the velocity of the two Buses are defined CAN 1 gt SDO timeout is the maximum waiting time when the device of CAN 0 asks the Gateway for a SDO that comes from the device of CAN 1 and the device of CAN 1 does not respond vice versa if you have changed CAN 1 with CAN 0 The parameter SDO Timeout 1 10 is expressed in decimal milliseconds so the example in the window is set at 100 ms DevID Select by Dip Switch Baud rate 2900 SDO Timeout 1 10 ms 1900 lt S OK x Cancel Figure 4 Set Communication window ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 User Manual CANopen CANopen Document code MN67121 ENG Revision 2 003 rie Industrial Electronic Devices DevID Select by dip Switch Page 10 of 26 CAN 1 address is defined through
14. dustrial Electronic Devices CHARACTERISTICS OF THE CABLES The connection from RS232 socket to a serial port example one from a personal computer must be made with a Null Modem cable a serial cable where the pins 2 and 3 are crossed It is recommended that the RS232 Cable not exceed 15 meters The connection with the Ethernet socket must be with a Ethernet Cable with a RJ45 Plug The connection with the RS485 socket must be done with a twisted and shielded cable The terminal resistor must be inserted when the HD67102 is at the end of the line using the Terminator jumper Can bus cable characteristics DC parameter Impedance 70 Ohm m AC parameters Impedance 120 Ohm m delay 5 ns m Length Baud Rate bps Length MAX m 10K 5000 20 K 2500 50 K 1000 100 K 650 125 K 500 250 K 250 500 K 100 800 K 50 1000 K 25 ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 MECHANICAL DIMENSIONS ORDER CODE Order Code HD67121 ACCESSORIES Order Code Order Code Order Code Order Code ADFweb com Srl IT31010 Mareno Treviso AC34107 AC34114 AC34001 AC34002 User Manual CANopen CANopen iy wi Document code MN67121 ENG Industrial Electronic Devices 120 mm 4 72 inch NO TITTIES f lt lt ES EO Es E w j 20 SA Housing PVC Weight 200g Approx Figure 11 Mechanical dimensions scheme CANopen CANopen Converter
15. e 39 0438 30 91 31 User Manual CANopen CANopen Document code MN67121 ENG Revision 2 003 Page 17 of 26 Industrial Electronic Devices VARIATION ON THE PREVIOUS FILTER CONDITION In this case the SET Translate EMCY window is set up with the following fields gt ID_EMCY 10 gt Mask_Error_Code 0x0B15 0000 1011 0001 0101 gt Enable_Mask_Error_Code 0x03FF 0000 0011 1111 1111 all the BIT of Error Code will be examined gt Enable must be checked For all the values of the Mask_Error_Code register equal to XXXX XX11 0001 0101 the message will pass from CAN 0 to CAN 1 Therefore the most significant 6 bit of the Error_Code register result as indifferent SPECIFIC LIMITATION OF THE FILTER MASK ACTION We want the EMCY to translate if Its Error Code Register has the value 0x007C or Its Error Code Register has the value 0x0063 or Its Error Code Register has the value Ox0062 Note the OR operations in all above conditions CONSEQUENCE The Gateway can transmit the EMCY only with values raise the same bits but in this case the messages also transmit with other specific conditions ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 rie Industrial Electronic Devices MOTIVE 1 valore di Error_Code per traslare EMCY 2 valore di Error_Code per traslare EMCY 3 valore di Error_Code per traslare EMCY Documen
16. e 16 of 26 Industrial Electronic Devices EXAMPLE OF SETTING A FILTER FOR THE EMCY ACTION The device on the CAN 0 of the ID 10 generates and therefore passes an EMCY to the CAN 0 CONSEQUENCE The Gateway ID 27 on the CAN 1 verifies the set conditions on the window SET Translate EMCY So then it passes the generated EMCY from CAN 0 to CAN 1 EXAMPLE OF THE CONDITION The translation must be done when the ERROR CODE register of the generated EMCY takes the value for example Ox0B15 In this case the message must be translated from CAN 0 to CAN 1 Note the filter functions therefore in all the other cases Therefore see EMCY structure and the correspondent CAN Package Error Code 0xOB15 Means when Bytel 00001011 Byte2 00010101 Packet CAN of the EMCY that are Packet CAN of the EMCY that are generated in CAN A transmitted in CAN B by the Gateway In this case the following fields are inserted in the b10 In27 ssid COB COB window SET Translate EMCY co bo a co bo gt ID_EMCY 10 gt Mask_Error_Code 0x0B15 gt Enable_Mask_Error_Code 7 o___ gt 1111111111111111 All the BITS of Error gt Enable_Translate_to_CANB must be checked Note the window SET Translate EMCY accepts decimal and hexadecimal values in the format with the BYTE 8 Manu 3 prefix Ox or ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phon
17. e used for interfacing two CANopen lines Otherwise in order to extend the length and the electrical isolation of more branches than CANopen line you must use CAN Repeater device note view PRODUCTS AND RELATED DOCUMENTS The Gateway cannot perform as Master in the network management functions for example it cannot begin the start of the network Start means the type of package made for carrying modules from the preoperational to the operational state If the two CANopen networks which connect the gateway do not have a device for a single network that acts as a Master the Gateway cannot transmit a PDO from one network to another This because a CANopen network cannot use a PDO in the preoperational state POWER SUPPLY Recommended Power Supply Caution Not reverse the polarity power VDC VAC 24v 12v VDC VAC Vmin Vmax Vmin Vmax 8v 35v 8v 19v ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 User Manual CANopen CANopen Document code MN67121 ENG Revision 2 003 Page 5 of 26 Industrial Electronic Devices CONFIGURATION To configure the Gateway use the available software that runs with Windows called SW67121 It is downloadable on the site www adfweb com and its operation is described in this document The Configurable CANopen Gateway can be configured up to a maximum 1600 SDO SDO CAN 0 SDO CAN 1 The maximum number of the following
18. gt EMCY gt PDO depends on the available memory of the Gateway and the number defined SDO CONNECTION SCHEME Bus 1 up to 1000 Bus 0 up to 1000 ID 10 ID 24 ID1 PLC ID 16 I O Generic CANopen Module Generic CANopen Module Module CANopen Module CANopen HD67121 Figure 1 Connection scheme of HD67121 between CANopen and CANopen ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 Industrial Electronic Devices Jumper1 Side 1 Termination CAN Bus V Positive wire 12 VAC min 10v max 19v 4 VA 24 VDC min 10v max 35v 4 Watt NO Connector4 Port RS232 D SUB9 Male PT TTT TILE A Programmation Port B Modbus on RS232 To connect the device to the COM port of a PC in order to set it You have to use the programming cable AC34107 Or a cable a as n here mt Led1 Green CAN 1 CABLE CABLE Side A Side B FEM FEM User Manual CANopen CANopen Document code MN67121 ENG H1 High wire Shl1 Shield to Isolated Ground OV V H1 Shl1 L1 HO ShiO LO Revision 2 003 Page 6 of 26 ShlO Shield to Ground LO Rail DIN Clamp aa sez H1 Shl1 L1 HO ShIO LO TT om Figure 2 Connection scheme for HD67121 ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Low wire Yes Jumper Boot Mode No Jumper Normal Mode
19. provided with the PRN having prepaid the shipping costs shipment costs billed to us will not be accepted If the product is within the warranty of twelve months it will be repaired or exchanged and returned within three weeks If the product is no longer under warranty you will receive a repair estimate PRODUCTS AND RELATED DOCUMENTS Part Description URL HD67121 Gateway CANopen Canopen www adfweb com Product HD67121 HD67001 Gateway CANopen Modbus RTU Master www adfweb com Product HD67001 HD67505 Gateway CANopen Modbus Ethernet TCP www adfweb com Product HD67505 HD67134 Gateway CANopen DeviceNet www adfweb com Product HD67134 HD67117 CAN bus Repeater www adfweb com Product HD67117 HD67216 CAN bus Analyzer www adfweb com Product HD67216 ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31
20. t code MN67121 ENG 0x007B 0000 0000 0111 1011 0x0063 0000 0000 0110 0011 0x0062 0000 0000 0110 0010 Enable_Mask_Error_Code to activate the comparison 1111 111111100110 Mask_Error_Code to compare The Mask must be calculated by doing the operations NOT XOR BIT to BIT of all values to be intercepted Instead the activation must be calculated by doing the operations AND BIT to BIT of all values to be intercepted And so they will transmit all the EMCY that will have the following ERROR CODE values 0x0062 0000 0000 0110 0010 0x0063 0000 0000 0110 0011 Ox006A 0000 0000 0110 1010 Ox006B 0000 0000 0110 1011 0x0072 0000 0000 0111 0010 0x0073 0000 0000 0111 0011 0x007A 0000 0000 0111 1010 0x007B 0000 0000 0111 1011 0000 0000 0110 0110 Note how the BITS that are undetermined create the extra EMCY values ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com User Manual CANopen CANopen Revision 2 003 Page 18 of 26 Phone 39 0438 30 91 31 User Manual CANopen CANopen Document code MN67121 ENG Revision 2 003 Page 19 of 26 Industrial Electronic Devices SUMMARY OF THE EMCY FILTER We have already established that for each generating ID there is the possibility of an EMCY The EMCY generated by the device and the respective filter for gateway are composed of the following gt 5 Registers Error_Code Error_Reg Manu1 Manu2 Manu3 respectively 16
21. the dip switch present in the device To set it you must convert the address in binary The address must be between 1 and 127 Example 1 12345678 OFF BEEBEEE DevID 1 Binary 00000001 ON m 12345678 OFF B DevID 127 Binary 01111111 Some other examples DevID Dip 1 Dip 2 Dip 3 Dip 4 Dip 5 Dip 6 Dip 7 Dip 8 1 ON OFF OFF OFF OFF OFF OFF OFF 2 OFF ON OFF OFF OFF OFF OFF OFF 3 ON ON OFF OFF OFF OFF OFF OFF 10 OFF ON OFF ON OFF OFF OFF OFF 50 OFF ON OFF OFF ON ON OFF OFF 100 OFF OFF ON OFF OFF ON ON OFF 127 ON ON ON ON ON ON ON OFF ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 User Manual CANopen CANopen Document code MN67121 ENG Revision 2 003 Page 11 of 26 Industrial Electronic Devices SET SDO ACCESS The following objects can be defined within the section Set SDO Set SDO Access Access SDO from CAN 0 request ta CAN 1 SDO from CAN 1 request to CAN 0 Defi irtual index SDO in CAN i i gt The SDO of the CAN 0 are accessible also by CAN 1 Define virtual index in Input index address SDO in CAN 1 gt The SDO of the CAN 1 are accessible also by CAN 0 ae OE ee A note when a SDO in the CAN 0 is defined a SDO corresponds in Jee e 0x2034 0 stato mod T the CAN 1 and vice versa 0x2106 0 0x20B0 0 conter By pressing the Set SDO Access button from the main window for
22. the right window appears The SW67121 is downloadable on the site http www adfweb com home download download as This manual is referenced to the last version of the software present on our web site kag Set Communication Set SDO Access A Set Translate EMCY The following explains the function of the buttons g Set Translate PDO ET Update Device Figure 3 Main window for SW67121 ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 User Manual CANopen CANopen Document code MN67121 ENG Revision 2 003 Page 8 of 26 Industrial Electronic Devices NEW PROJECT OPEN PROJECT The New Project button creates the folder which contains the entire device configuration A device configuration can also be imported or exported gt To clone the configurations of the Gateway in order to configure another Gateway device in the same manner it is necessary to maintain the folder and all its contents gt To clone a project in order to obtain a different version of the project it is sufficient to duplicate the project folder with another name and open it with the button Open Project When a new project is created or an existent project is open it will be possible to access the various configuration sections of the software Set Communication Set SDO Access Set Translate EMCY Set Translate PDO VV VV INFO www adfwe
23. tion of this equipment and who have appropriate qualifications for their job RESIDUAL RISKS The device is state of the art and is safe The instrument can represent a potential hazard if they are inappropriately installed and operated by personnel untrained These instructions refer to residual risks with the following symbol This symbol indicates that non observance of the safety instructions is danger for people to serious injury or death and or the A possibility of damage CE CONFORMITY The declaration is made by us You can send an email to support adfweb com or give us a call if you need it ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 User Manual CANopen CANopen Document code MN67121 ENG Revision 2 003 Page 4 of 26 Industrial Electronic Devices CHARACTERISTICS The CANopen to CANopen Gateway allows the following characteristics Two directional translation of information at high levels between two distinct CANopen Buses Electrical isolation between two Buses The association between objects of device modules located in different buses readable via SDO from the Gateway on the other side The generation of EMCY on one side of the Gateway when there is an EMCY on the other side originator The generation of PDO on one side of the Gateway when there is a PDO on the other side originator Temperature range 40 C to 85 C VV VV VV The CANopen to CANopen Gateway must b
24. uman health which could otherwise be caused by inappropriate disposal The recycling of materials will help to conserve natural resources For more information about recycling this product please contact your local city office your household waste disposal service or the shop where you purchased the product RESTRICTION OF HAZARDOUS SUBSTANCES DIRECTIVE A The device respects the 2002 95 EC Directive on the restriction of the use of certain hazardous substances in electrical and OHS electronic equipment commonly referred to as Restriction of Hazardous Substances Directive or RoHS 2002 95 EC CE MARKING The product conforms with the essential requirements of the applicable EC directives ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 User Manual CANopen CANopen Document code MN67121 ENG Revision 2 003 Page 26 of 26 Industrial Electronic Devices WARRANTIES AND TECHNICAL SUPPORT For fast and easy technical support for your ADFweb com SRL products consult our internet support at www adfweb com Otherwise contact us at the address support adfweb com RETURN POLICY If while using your product you have any problem and you wish to exchange or repair it please do the following 1 Obtain a Product Return Number PRN from our internet support at www adfweb com Together with the request you need to provide detailed information about the problem 2 Send the product to the address
25. ure 7 Set Translate EMCY window Generic CANopen Module Generic CANopen Module Figure 8 Propagation scheme of an EMCY from CAN 0 to CAN 1 ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 User Manual CANopen CANopen Document code MN67121 ENG Revision 2 003 Page 14 of 26 Industrial Electronic Devices CREATION OF AN EMCY In order to intercept the EMCY of the device at first it is necessary to define the EMCY and then fill the window Set Translate EMCY as desired Use the button New EMCY to define a new EMCY DEFINING STRUCTURE OF THE EMCY REGISTERS Mascaras filtro Dimension Packet CAN of the EMCY How it result Reg Description Gateway of the from registers structure see left register i 7 iD ID_EMCY 7 bit Error_code Mask_Error_Code 16 bit Error_reg Mask_Error_Reg 8 bit manue a 160i Manu3 Mask_Manu3 8 bit OI AIIN eR BYTE 6 Manu 2 Low BYTE 7 Manu 2 hight BYTE 8 Manu 3 ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 User Manual CANopen CANopen Document code MN67121 ENG Revision 2 003 Page 15 of 26 Industrial Electronic Devices TRANSLATION OF AN EMCY FROM CAN 0 TO CAN 1 In order to intercept an EMCY from CAN 0 you have to gt Select the folder FROM CAN 0 at the top of the EMCY
Download Pdf Manuals
Related Search