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1. 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918171615141312111 0 0 11 2 1 3141516 7 1101111101010101010111 0 8 11143150 53 5F 44 43 AF SDO server I 7232D C 0 seqno 1 seg data 43 50 53 5F 44 43 4F Step 5 The I 7232D transmits the rest of the data 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918 17161514 13 121110 0 1 1 213141 1516 7 11 0 1111101010101010 1 0 8 182 4E 100100 00 00 00 00 SDO server I 7232D C 1 seqno 2 seg data 4E00 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 76 Step 6 Afterwards users send a message to confirm the receiving data transmitted from the 1 7232D 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918171615141312111 0 0 11213141 516 7 111101010101010101011 0 8 A2 02 7F 00 00 00 00 00 i SDO server I 7232D CCS gt 5 CS 22 ackseq 2 biksize TF Step 7 When the reception confirmation is ok the I 7232D will send a message to enter the End SDO Block Upload protocol
2. service Step 1 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 19 87 514 131 12111 0 0 1121314 51 6 7 1111111 1 0 0 1 014 1 0 8 cs Vendor id 00 00 00 LSS LSS Master I 7232D COB ID Ox7E5 LSS msg cs LSS command specifier cs 70 0x46 Vender id The manufacturer name part of the LSS Address Step 2 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 1019 817 51413121110 0 11213141516 7 1 1 1 1 1101011 0 1 0 8 cs Product code 00 00 00 LSS LSS P Master ads 1 7232D COB ID Ox7E5 LSS msg cs LSS command specifier cs 71 0x47 Product code The product name part of the LSS Address I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 163 Step 3 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 0 12 3 4 5 6 1 1111111111010111011 0 8 cs Revision number 00 00 LSS LSS gt Master PAVO I 7232D COB ID Ox7E5 LSS msg cs LSS command specifier cs 72 0x48 revision number The Revision name part of the LSS Address Step 4 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918171615141 1312111
3. 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817161514 13121110 0 11 213141516 7 010 111110101010 10 10 1 1 O 00 00 00 00 00 00 00 00 PDO PDO Consumer I 7232D COB D 0x181 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817161514 13121110 0 11 213141516 7 010 111110101010 10 10 1 1 0 78 00 00 00 00 00 00 00 PDO PDO onsumer I 7232D COB D 0x181 Step 37 Set the transmission type of the 1st TxPDO to 255 to finish the test 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 6151413 21110 0 11 213141516 7 11110 01010101010 011 0 8 2F 00 18 02 FF 00 00 00 E SDO server I 7232D ccs 1 n 3 e 1 S 1 m 00 18 02 d EP I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 122 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 161514 13 2111 0 0 1 2 3 4 56 7 11 0111110101010101011 0 8 60 00 18 02 00 00 00 00 1 SDO server I 7232D SCS tos m 001802 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 123 Dynamic PDO Mapping for DI AI DO AO
4. 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101 9 8 7 6 5 4 3 2 1 0 011 12131415 1 6 17 1111 010101010101010 11 0 8 23 05 16 01 08 01 00 62 SDO SDOclient bd I 7232D ccs 1 n 0 e 1 S 1 m 05 16 01 d 08 01 00 62 The value 62 00 01 08 means the mapped object is stored in the index 0x6200 with sub index 01 It is an 8 bit data unit Users can check this object in the Standardize of object mapping table described above It is mapped to the DOO DO7 for M 7055D 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101 9 8 7 6 5 4 3 2 1 0 011 2131415 1 6 17 1101111101010101010 11 0 8 160105 16 01 00 00 00 00 SDO server I 7232D SCS AG m 051601 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 129 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 16151413121110 0 1 2 3 4 5 6 7 1 11010101010101010 11 0 8 23 05 16 03 10 01 11 64 SDO server I 7232D ccs 1 n 0 e 1 S 1 m 05 16 03 d 10 01 01 64 The value 64 11 01 10 means the mapped object is stored in the index 0x6401 with sub in
5. Data 8 byte Data byte Func Code Node ID RTR Length 10 98 7654 3 21 0 1 2 3 4 5 67 1 0 1 1 0 0 0 0 0 0 0 8 60 00 18 05 00 00 00 00 SDO server I 7232D SCS 3 m 00 18 05 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 107 Step 8 After changing the value of the event timer the Al value will be transmitted automatically every 1 second This is the first time the 2nd TxPDO message is received 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817161 15 14 3 21 10 0 11 213141516 7 011 0 11 10101010101011 0 2 EA 3F 00 00 00 00 00 00 PDO PDO Consumer I 7232D COB ID 0x281 L v2 PDO msg EA 3F 0000 00 00 00 00 Step 9 This is the second time the 2nd TxPDO message is received 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101 918 17 161514 1312 111 0 0 11 21314151 16 7 0 1 110111 01010101010 11 0 2 F8 3F 00 00 00 00 00 00 PDO PDO onsumer I 7232D COB D 0x281 L i02 PDO msg F8 3F 00 00 00 00 00 00 The value of Ox3FF8 is equal to 4 998V The Al value is changed because of the noise disturbance or other factors I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008
6. Step 1 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 918 7 514 13 121110 07 1 2 3 4 5 6 7 111 111 110 0 11101 1 0 8 cs Vendor id 00 00 00 LSS LSS Master I 7232D COB ID Ox7E5 LSS msg cs LSS command specifier cs 64 0x40 Vendor id It is one part of the LSS address which is recorded in index 1018h subindex 1 Step 2 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101 9 8 7 514 131 121110 0 11 21314 516 7 111 141 1 0 0 1 0 1 0 8 cs Product code 00 00 00 LSS LSS es Master vive I 7232D COB ID Ox7E5 LSS msg cs LSS command specifier cs 65 0x41 product code It is one part of the LSS address which is recorded in index 1018h subindex 2 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 151 Step 3 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 514 3 2 0 1 2131415161 7 11 1111 11010141 0 8 cs Revision number 00 00 00 LSS LSS Master I 7232D COB ID Ox7E5 LSS msg cs LSS command specifier cs 66 0x42 revision number It is one part of the LSS address which is recorded in index 1018h
7. 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817161514 1312111 0 0 1 21314 1516 7 11 01111101010101010 11 0 8 1D5100100 00 00 00 00 00 SDO server I 7232D scs 6 n a ul ss A Step 8 Users send a message to finish the End SDO Block Upload protocol 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918 17161514 13 121110 0 11 213141516 7 11 11 0 0 0 0 0 0 0 0 1 0 8 A1 00 00 00 00 00 00 00 SDO server I 7232D ccs 2 39 cs 4 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 TT 5 1 3 Download Initiate SDO Download Protocol The download modes are similar to the upload modes but different in some parameters in their SDO messages They are also separated into two steps If the download data length is less than 4 bytes the download action will finish in the download initialization protocol Or the download segment protocol will be needed These two protocols are shown below SDO Client SDO Server I 7232D 11 bit COB ID bit RTR Len 8 byte Data byte 10 7 6 0 0 1 3 4 7 7 5 4 3 2 1 0 1100 Node ID 0 8 m d ve pe i ces l x n els indication gt 11 bit COB ID bit RTR Len 8 byte Data byte confirmation 10 7 6 0 0 1 3 4 7 response q 7 5 4 0 1011 Node ID 0 8 m reserved scs 3 X
8. ueeeee 153 5 5 3 Inquire protocols eee 158 5 5 4 Identification protocol sess 163 5 6 Special Functions for Modbus RTU modules 166 Object Dictionary of I 7232D rrnnnnnnnnnnnnnvvnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnen 167 6 1 Communication Profile Area eseeeeses 167 6 2 Manufacturer Specific Profile Area 177 6 3 Standardized Device Profile Area 178 Appendix A Dimensions and Mounting 182 Appendix B Analog I O Transformation Table 184 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 3 1 Introduction 1 4 Overview CANopen and Modbus RTU are two kinds of famous protocols and are wildly used in various applications The I 7232D is a CANopen to Modbus RTU gateway Using 1 7232D gateway the Modbus RTU I O modules can be connected with the CAN bus In CANopen protocol application the 1 7232D plays the role in a CANopen slave device Hence it can produce or consume the PDO messages receive the SDO message from the SDO client and deal with the NMT messages from NMT master In the Modbus RTU protocol application The I 7232D is a Modbus RTU master device It can collec
9. Data 8 byte Data byte Func Code Node ID RTR Length 10191817 51413 2 1 11213141 51 16 7 1 101111 0 10 0100 0 8 60 00 18 02 00 00 00 00 SDO server I 7232D SCS 3 m 00 18 02 Step 28 Change the DO value of the M 7055D to be 0x34 respectively by using the 1st RxPDO 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 87 5 4 3 2 1 0 1 213141516 7 0 1 0 0 0 0 0 01 0 0 8 34 00 00 00 00 00 00 00 PD PDO 9 Producer I 7232D COB ID 0x201 L 8 PDO msg 34 00 00 00 00 00 00 00 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 118 Step 29 The 1st TxPDO will not be transmitted immediately because of transmission type 252 Send the RTR message of the 1st TxPDO 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101 9 8 7 51413312 0 11 2 131 41 1516 7 0 10 1 1 0101010 1 O 00000000 00 00 00 00 PDO PDO Consumer I 7232D COB ID 0x181 Step 30 The feedback DI values are the old one If users use the M 7055D the LEDs on the M 7055D can indicate the practical DI values
10. Initiate SDO Download Protocol I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 78 CCS SCS x reserved client command specifier 1 initiate download request server command specifier 3 initiate download response Only valid if e 1 and s 1 otherwise 0 If valid it indicates the number of bytes in d that do not contain data Bytes 8 n 7 do not contain segment data transfer type 0 normal transfer 1 expedited transfer If the e 1 it means that the data of the object are equal or less than 4 bytes and only initiate SDO download protocol is needed If e 0 the download SDO protocol is necessary size indicator 0 data set size is not indicated 1 data set size is indicated multiplexer It represents the index sub index of the data to be transfer by the SDO data e 0 s 0 d Is reserved for further use e 0 s 1 d contains the number of bytes to be downloaded and byte 4 contains the least significant bit and byte 7 contains the most significant bit e 1 s 1 d contains the data of length 4 n to be downloaded the encoding depends on the type of the data referenced by index and sub index e 1 s 0 d contains unspecified number of bytes to be downloaded not used always 0 reserved for further use always 0 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 79 Download Se
11. 108 Step 10 This is the third time the 2nd TxPDO message is received 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 19181 7 514 3 2 112 3 1 4151 6 7 0 1 01 1 0101010 0 2 1F81 3F 00 00 00 00 00 00 PD PDO Consumer I 7232D COB ID 0x281 L 2 PDO msg F8 3F 00 00 00 00 00 00 Step 11 Set the event timer to O to finish the event timer test 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 5141312 0 1 21 31 4151 6 7 1111 1010 0101010 0 8 2B 01 18 05 00 00 00 00 SDO server I 7232D ccs 1 n 2 e 1 S 1 m 01 18 05 d 00 00 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 109 8 7 5 4 3 2 0 1 2 31 41 1516 7 110111 0 0 0 0 8 60 01 18 05 00 00 00 00 SDO server I 7232D scs 3 m 01 18 05 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 109 Transmission Type 0 for 1st RxPDO Step 12 Set the transmission type of the 1st RxPDO to 0 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 5 41312 0 11 213141 1516 7
12. ata ID RT 8 byte Data Length The ID field has 11 bit data It is useful in the arbitration mechanism The RTR filed has a one bit value If the RTR is set to 1 this message is used for remote transmit requests In this case the 8 byte data is useless The data length field is 4 bit data It indicates that the valid data number stored in the 8 byte data field The last field 8 byte data is applied to stores the message data CANopen spec uses the 4 bit function code and 7 bit node ID to combine the 11 bit ID of CAN message and call it communication object ID COB ID The COB ID structure is displayed below bit 10 bit 0 Function Code Node ID I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 18 The COB IDs are defined for recognizing where the message comes from or where the message must be sent Also they are used to distinguish the functionality of the transmitted or received messages and decide the priority of the message transmission for each node on the network According to the arbitration mechanism of the CAN bus the CAN message with the lower value COB ID has the higher priority to be transmitted into the CAN bus In the CANopen spec some COB IDs are reversed for specific communication objects and can t be defined arbitrarily by users The following lists are these reversed COB IDs Reversed COB ID Hex Used by object 0 NMT 1 Reserved
13. Node ID unchanged OPERATION MODE Switch Mode Global with parameter operation mode with Node ID changed Switch Mode Selective with matching LSS address parrameter LSS modes and switching procedure POWER ON RESET I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 45 4 CANopen System 4 1 I 7232D Configuration Flowchart Select the necessary Modbus RTU IO modules for your CANopen application Select one or more of the Modbus RTU AI AO DI DO modules for the user s application Turn off the 1 7232D Connect the 7232D COM to the PC COM port via the RS 232 cable Configure 1 7232D communication 3 Wire the INIT pin and GND pin of I 7232D parameters and create an EDS fil then turn it on by using the CANopen Modbus 4 Configure the CAN baud rate CANopen RTU Utility ID and RS 485 communication parameters baud rate data bit parity and stop bit of I 7232D 5 Arrange the Modbus RTU I O modules and store these information in the 7232D Create an EDS file Connect these Modbus RTU modules with the COM 2 of the I 7232D 1 Turn off the 1 7232D 2 Connect these Modbus RTU Modules with the COM 2 on the I 7232D Apply the EDS file for the CANopen master interface Turn on the I 7232D and it will and run the I 7232D on the work automatically CAN network I 7232D CANopen Modbus RTU Gatewa
14. 00 SDO server I 7232D ccs JE m 03 10 01 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817161514 312 111 0 0 1 2 31 41 1516 7 1 0111110101010101011 0 8 43 03 10 01 00 00 00 00 SDO server I 7232D ccs 1 n 2 e 1 S 1 m 0310 01 d 00 00 00 00 Step 9 Check the index 0x1003 with sub index 02 and the user will see that the emergency error code that is received previously has also been recorded in the emergency object data 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 109 876 5 4 3 21 0 01 2 3 4 5 6 7 1111010101010101010 1 0 8 40 03 10 02 00 00 00 00 SDO server I 7232D CCS gt A2 m 031002 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 140 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191 1817 51 1413 2 0 1 2 3 4 5 6 7 110 111 0 0 0 0 8 43 03 10 02 10 82 09 00 A SDO server I 7232D CCS 1 n 0 e 1 S 1 m 03 10 02 d 10 82 09 00 Step 10 Confirm the error register stored in index 0x1001 The value is 0 now 11 bit COB ID bit Data 8 byte Data
15. 01 100 00 00 SDO server I 7232D ccs 1 n 3 e 1 S 1 m 05 1A 00 d 02 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817161514 31 12111 0 0 1 21 3141516 7 11 011111 01 0101010101 1 0 8 60 05 1A 00 00 00 00 00 SDO server I 7232D SCS gt 59 m 051A00 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 127 Step 42 Use the 5th RxPDO to create a new PDO communication with PDO COB ID 0x202 and build the RxPDO mapping object in the index 0x1605 because the COB ID 0x202 is useless for the I 7232D This procedure is similar to the steps 37 to 40 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 109 876 5 4 3 21 0 01 2 3 4 5 6 7 1111 01010101010101011 0 8 23 05 14 01 02 02 00 00 SDO server I 7232D ccs 1 n 0 e 1 S 1 m 05 14 01 d 02 02 00 00 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 109 876 5 4 3 21 0 0 1 2 3 4 5 6 7 1 0 1 1 0 0 0 0 0 0 1 0 8 60 05 14 01 00 00 00 00 SDO server I 7232D SCS S m 051401 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 128
16. Communication Firmware Version PC COM Port COM 1 E E a Status 7188x series Situation CAN Parameters Setting CAN Parameters Viewer Application Layer CANopen ur Step 3 Press the Connect button to connect the CANopen Modbus RTU Gateway General Setting File About Communication Firmware Version PC COM Port Status Connecting Ba 188x series Situation CAN Parameters Setting CAN Parameters Viewer Application Layer ex ni ES UT I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 55 Note When I 7232D is not have module s information in the EEPROM the CANopen Modbus RTU will response the warning dialog for example when the users wire the INIT pin connect to the GND pin that will be happened as following Warnning Some EEPROM Data is Error Step 4 Click the CAN Bus button to configure the CAN parameters for the CANopen Modbus RTU gateway General Setting File About Communication Firmware Version 1 00 200509 13 PC COM Port DOM 1 Connect i Status Waiting for configuration 7188x series Situation jo CAN Channel lt N Parameters Setting CAN Parameters Viewer Application Layer es CANopen C DeviceNet Application Layer CANopen Baud rate 10 KBPS Baud rate 500 KBPS Node ID pamm Node ID 1 Step 5 Click the RS 485 button to configure the RS 485 parameters for
17. SDO Client SDO Server 1 7232D Request the data of the object dictionary Response the data of the object dictionary or the abort SDO message Upload protocol SDO Client SDO Server 1 7232D Write the data of the object dictionary Response access OK or the abort SDO message Download protocol I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 26 3 3 PDO Introduction Communication Modes For The PDO Based on the transmission data format of the CAN bus the PDO can transmit eight bytes of process data once Because of the PDO messages without overheads it is more efficient than other communication objects of CANopen and is used for real time data transfer such as DI DO Al AO etc PDO reception or transmission is implemented via the producer consumer communication model also called the push pull model When starting to communicate in the PDO push mode it needs one CANopen device to play the role of PDO producer and zero or more than one device to play the role of PDO consumer The PDO producer sends out the PDO message after it has won the CAN bus arbitration Afterwards each PDO consumer receives this PDO message respectively and then checks this message if it will be processed or be dropped In the PDO pull mode one of the PDO consumers need to send out a remote transmit request to the PDO producer According to this remote request message the PDO producer responds the co
18. SYNC Error The SYNC message has not been received within the configured communication cycle period time out see Object Dictionary Entry 0x1006 6 On Bus Off The CAN controller is bus off Note If several errors are present at the same duration the error with the highest number is indicated For example if NMT Error No 23 and Sync Error No 4 occur the SYNC error is indicated 2 4 3 Overrun LED This LED is useless when the I 7232D works normally When CAN message loading is heavy and cause software buffer overrun the overrun LED will be turned on At the same time an emergency message will be transmitted to the CANopen master automatically In this case some CAN message may be lost After the buffer overrun condition disappears the LED will be turned off For further information about the emergency message refer to the section 3 4 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 15 2 5 7 segment LED D Show the operation state of the I 7232D If it works normally the LED displays the character n These two LED indicate the CANopen node ID of the I 7232D by using hex format For example if the CANopen node ID of the I 7232D is 31 these two LED will show the characters 1F Q This LED displays the CAN bus baud rate of the 7232D by number 0 7 The meanings of these numbers are described in the table below 7 segment LED
19. 00 00 00 00 NMT slaver I 7232D COB ID 0x701 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 148 Step 5 Afterwards users can receive the message which records the NMT state of the I 7232D For the reason that Life Time is equal to 1000 ms guard time life time factor 250 4 1000 users will need to transmit the node guarding protocol again 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101 91817161514 13 21 111 0 0 11 2 131 4 1516 7 1 1 1101010101010 0 1 0 8 ZF 100100 00 00 00 00 00 NMT slaver I 7232D COB ID 0x701 t p S TF The value 7F means that the I 7232D is in the NMT state Pre Operational Step 6 Since Life Time is equal to 1000 ms guard time life time factor 250 4 1000 users will need to transmit the node guarding protocol again If not an error event will be triggered and an EMCY message will be received All values from the output channels will be changed according to index 0x6206 index 0x6207 index 0x6443 and index 0x6444 Step 7 Afterwards if reading the input value of this Modbus RTU module fails more than three times the I 7232D will then respond with an emergency message 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID Length 10 91
20. 32Tx Dynamic PDO Bl CANopen version DS 301 v4 01 Device Profile DSP 402 v2 1 B 10 Modbus RTU VO Devices 7 segment LED COMI COM2 Reserved for RS 485 Port further use Connect to I O modules RS 232 Port connect to PC I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 8 2 2 Wire Connection In order to minimize the reflection effects on the CAN bus line the CAN bus line has to be terminated at both ends by two terminal resistances as following figure According to the ISO 11898 2 spec each terminal resistance is 120Q or between 1080 1320 The length related resistance should have 70 MQ m The user should check the resistances of CAN bus before install a new CAN network Device N cl O0 CAN L Moreover to minimize the voltage drop on long distance the terminal resistance should be higher than the value defined in the ISO 11898 2 The following table could be a reference Bus Cable Parameters f Bus Length Terminal u e Length Related i Meter vu Cross Section Resistance Resistance Q Type e MQ m 0 40 70 0 25 23AWG 124 0 1 0 34mm 22AWG 40 300 lt 60 0 34 22AWG 127 0 1 0 6mm 20AWG 300 600 lt 40 0 5 0 6mm 150 300 20AWG 600 1K lt 20 0 75 0 mm 150 300 18AWG I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 9 The CAN bus baud rate h
21. 80 SYNC 81 FF EMERGENCY 100 TIME STAMP 101 180 Reversed 581 5FF Default Transmit SDO 601 67F Default Receive SDO 6E0 Reversed 701 77F NMT Error Control 780 7FF Reversed I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 19 Beside the COB IDs described above the other COB IDs can be applied by users if need All of the default COB IDs used in the CANopen protocol is shown in the following table Bit10 Bit7 KEN Bit6 BitO Communication object Name Function Code 0000 0000000 NMT 0001 0000000 SYNC 0010 0000000 TIME STAMP 0001 Node ID EMERGENCY 0011 0101 0111 1001 Node ID TxPDO1 2 3 4 0100 01 10 1000 1010 Node ID RxPDO1 2 3 4 1011 Node ID SDO for transmission TxSDO 1100 Node ID SDO for reception RxSDO 1110 Node ID NMT Error Control I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 20 Object Dictionary The object dictionary collects a lot of important information This information has an influence on the device s behavior such as the data in the I O channels the communication parameters and the network states The object dictionary is essentially a group of objects It consists of a lot of object entries and these entries can be accessible via the network in a pre defined method Each object entry within the object dictionary has their own functionality ex communication parameters dev
22. After finish the Initiate SDO Block protocol the SDO server starts to respond to the data by using the Upload SDO Block Segment protocol Each block contains 1 segment for minimum and 127 segments for maximum One segment consists of 1 7 bytes Only one block can be transmitted during an Upload SDO Block Segment protocol The SDO server can send a maximum of 127 blocks by using 127 Upload SDO Block Segment protocols Here is the structure of the Upload SDO Block Segment protocol SDO Client SDO Server I 7232D 11 bit COB ID bit RTR Len 8 byte Data byte 10 7 6 0 0 1 7 1011 NodeID 0 8 670 d ET ode seg data indication c seqno 8 request 11 bit COB ID bit RTR Len 8 byte Data byte response 10 7 6 0 0 1 2 3 7 confirmation 7 5 4 2 1 0 1100 Node ID 0 8 askseq blksize reserved ces 5 x cs 2 Upload SDO Block Segment Protocol I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 71 ccs CS seqno seg data ackseq blksize X reserved client command specifier 5 block upload Client subcommand 2 block upload response It indicates whether there are stil more segments to be uploaded 0 more segments to be uploaded 1 no more segments to be uploaded enter End block upload phase sequence number of segment 0 seqno 128
23. Attr which represent index sub index and attribute respectively The sign in the default field means that the default is not defined or may be defined conditionally by the firmware built in 1 7232D In the table the number accompanying letter h indicates that this value is in the hex format General Communication Entries Idx Sidx Description Type Attr Default 1000h Oh Device type UNSIGNED 32 RO 1001h Oh Error register UNSIGNED 8 RO 1003h Oh Largest sub index supported for UNSIGNED 8 RO FEh predefine error field 1h Actual error the newest one UNSIGNED 32 RO 5h Actual error the oldest one UNSIGNED 32 RO 1005h Oh COB ID of Sync message UNSIGNED 32 RW 80h 1008h Oh Manufacturer device name VISIBLE STRING RO 8x21 1009h Oh Manufacturer hardware version VISIBLE STRING RO 100Ah Oh Manufacturer software version VISIBLE_STRING RO 100Ch Oh Guard time UNSIGNED 16 RW 0 100Dh Oh Life time factor UNSIGNED 8 RW 0 1014h Oh COB ID of EMCY UNSIGNED 32 RW 80h Node ID 1015h Oh Inhibit time of EMCY UNSIGNED 16 RW 0 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 167 1018h Oh Largest sub index supported for UNSIGNED 8 RO 1 identity object 1h Vender ID UNSIGNED 32 RO Note 1 The object with index 0x1000 h
24. The protocol is store the new Node ID and the new Bit Timing parameters Therefore if users do not use this protocol the new Node ID and baud will not be saved by I 7232D 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918 7 51413121110 0 1121314151 16 7 111111 1 0 0 1 0 1 0 8 cs 00 00 00 00 00 00 00 LSS LSS Master I 7232D COB ID Ox7E5 LSS msg cs LSS command specifier cs 23 0x17 Step 2 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 51413121 111 0 Oo 1 21314151 6 7 1 1 1 1 110101110 10 0 8 cs Err1 Err2 00 00 00 00 00 LSS LSS Master e I 7232D COB ID Ox7EA LSS msg cs LSS command specifier cs 23 0x17 Err1 error code Err1 0 protocol successfully completed Err1 1 store configuration is not supported Err2 spec error reserved I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 156 5 5 2 5 Restrictions on configuration Node ID or bit Timing When users used the configuration bit timing parameters protocol or configuration Node ID protocol users have to send the store configuration protocol to save the configuration parameters and send the Activate bit timing parameters protocol to s
25. There are RTR only asynchronous transmission type and asynchronous transmission type The RTR only transmission type is only for supporting TxPDO transmissions For this transmission type The TxPDO is only be triggered by receiving the RTR object from the PDO consumer This action is depicted below PDO consumer PDO producer 1 7232D Read DI AI RTR Object channels 4 s Read DI AI channels MS RTR only asynchronous TxPDO I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 32 The other part of the asynchronous mode is the asynchronous transmission type Under this transmission type the TxPDO message can be triggered not only by receiving the RTR object but also by the occurrence of TxPDO events described in the event driver paragraph described above Furthermore the DO AO channels can act directly by receiving the RxPDO object This transmission type is the default value when the I 7232D boots up The concept of the asynchronous type is illustrated as follows PDO consumer PDO producer 1 7232D RTR Object RTR Object asynchronous TxPDO PDO producer PDO consumer 1 7232D Actuate DO AO hannels RxPDO TLZ gt Actuate DO AO channels RxPDO f en asynchronous RxPDO I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 33 Inhibit Time Because of the arbitration mechanism of the CAN bus the smaller CANopen communication object ID has a
26. Version 1 02 December 24 2008 35 output values of these channels will be stored into several specific entries for each other If the user defined PDO mapping objects have been used then general concept for these PDO mapping objects which have been depicted may be very useful DI Standardized Device Dictionary Object 0x6000 Subindex1 DI Channel 0 7 Subindex2 DI Channel 8 15 DO Standardized Device Dictionary Object 0x6200 Subindex1 DO Channel 0 7 AI Standardized Device Dictionary Object 0x6401 AO Standardized Device Dictionary Object 0x6411 Subindex1 AO Channel 0 RxPDO Mapping Object TxPDO Mapping Object According to the PDO mapping objects in the figure above if this CANopen device gets the RxPDO message including three bytes the first byte is interpreted as the output value of the DO channels 0 7 and the following two bytes are the analog output value After interpreting the data of the RxPDO message the device will actuate the DO and AO channels with the received RxPDO message This situation is the same for TxPDO When the TxPDO trigger events occur the CANopen device will send the TxPDO message to the PDO consumers The values of the bytes assigned in the TxPDO message follow the TxPDO mapping object as in the above figure The first two bytes of the TxPDO message are the values for the DI channels 0 7 and channel 8 15 The third and forth bytes of the TxPDO message refer t
27. below figure may be applied SDO Client SDO Server SDO Client SDO Server 1 7232D 1 7282D Initial SDO Download Protocol bit e 1 Initial SDO Download Protocol bit e 0 Download SDO Protocol bit t0 bit c 0 SDO Download with expedited transfer Download SDO Protocol bit t 1 bit c 0 Download SDO Protocol bit t 0 bit c 0 Download SDO Protocol bit t bit c 1 SDO Download with normal transfer Since all of those object entries which can be written in the I 7232D are equal or less than 4 bytes we can only provide the demo for expedited transfer I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 81 Example for expedited transfer Step 1 Send the Rx SDO message to the I 7232D to access the object entry with index 0x1400 and sub index 02 stored in the communication profile area Here change the value of this object entry to 5 Assume that the node ID for the I 7232D is set to 1 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817161514 31 21 1 0 11 213141 1516 7 111101010101010 1010 0 8 2F 00 14102 05 00 00 00 SDO server I 7232D ccs 1 n 3 e 1 S 1 m 00 14 02 d 05 Step 2 The 1 7232D will response the message to finish the data download Afterwards users can use upload methods mentioned before to read back the value for confirmation 1
28. 00 00 00 00 00 Only the one byte are useful even the L is set to 8 because the data in the1st RxPDO contains only one byte According to the PDO mapping table shown above the one byte is the DO0 DO7 channel values of the M 7055D Step 2 Owing to the change of the Dl channel status the TxPDO is transmitted automatically when the transmission type is 255 It is based on the CANopen spec 401 Hence users will receive the 1st TXPDO message 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 87 514 13 21 110 0 1 1 213141 151 61 7 010 1 1 01 010101011 1 0 1 13400100 0000 00 00 00 PDO PDO Consumer q Producer I 7232D COB ID 0x181 L 1 PDO msg 34 00 00 00 00 00 00 00 The DI value is 1 if the DI is OFF because of the character of the M 7055D DI channels Therefore the one byte indicates that the DI2 DI4 and DI5 of the M 7052D are ON I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 104 Step 3 In order to output 5V to the AOO of the M 7024 users must send the PDO message by using the 2nd RxPDO 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 918 7 51413121 111 0 0 111 21 31 415 16 7 0 11 110 01 01010 1011 0 8 FF 1F 00 00 00 00 00 00 PDO PDO I 7232D COB ID 0
29. 00 00100 00 00 PDO Producer Consumer I 7232D COB ID 0x201 L 0 m 00 00 00 Step 2 Afterwards the I 7232D will respond to an emergency message because the PDO data length of TxPDO1 doesn t match the practical value defined in the PDO mapping object 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101 9181716 15 141 13121110 0 1 1 21 3141 1516 7 010 1011101010101010111 0 8 1101 82 11 09 00 00 00 00 EMCY EMCY Consumer I 7232D COB ID 0x81 EMCY msg 108211 09 00 00 00 00 The first two bytes 10 82 are emergency error codes The 3rd byte 11 is the error register It means that the I 7232D has either a manufacturer specific or generic error The last five bytes 09 00 00 00 00 are the manufacturer specific error fields This emergency message means that the data length of TxPDO doesn t match the practical value defined in the PDO mapping object I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 137 Step 3 Read the 0x1003 object with sub index 01 users will then be able to see the emergency error code of the emergency object data recording in this object 11 bit COB ID bit Data 8 byte Data byt
30. 1 02 December 24 2008 144 Module Control Protocol Example Assume that the I 7232D node ID is 1 Step1 Turn off the I 7232D Step2 Turn on the I 7232D After finishing the initialization the 1 7232D will enter the Pre Operational state automatically Then the user will see the CAN LED flashing about twice per second Step3 Send the NMT module control protocol to command the I 7232D to enter its operational state 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 161514 13 2111 0 0 1 213141 1 516 7 0101010101010101010101 0 8 101 01 00 00 00 00 00 00 NMT slave I 7232D cs gt 1 Node ID 1 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 145 5 4 2 Error Control Protocol Error Control Protocol is one of the ways to check if the CANopen device still lives Related objects are indexes 0x100C and 0x100D The 0x100C is the guard time and the 0x100D is the Life Time factor The node Life Time is the guard time multiplied by the Life Time factor The Node Guarding timer of the I 7232D starts to count after receiving the first remote transmit request for the guarding identifier The communication set of the Error Control protocol is displayed below NMT Master NMT Slaver I 7232D 11 bit COB ID bit RTR Len 8 byte Data byte 10
31. 21 1110 0 1 1 2131415161 7 110 11 01 010101011 0 8 14F1011101 001 11 82 09 00 SDO server I 7232D Scs 2 n 3 e 1 S 1 m 01 10 00 d 11 82 09 00 Step 7 Send the data to RxPDO1 with data length 1 Afterwards the EMCY message containing the error reset information will be received 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 87 514131 121 111 0 0 1 2 3 4 5 6 7 0 1 0 0 0 0 0 0 0 1 0 1 10010000 00 00 00 00 00 PDO Consumer ee I 7232D COB ID 0x201 L 1 m 00 00 00 00 00 00 00 00 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 6 514 3 2 0 1 2 3 4 5 6 7 0 1010 0 00 00 0 8 00 00 00 00 00 00 00 00 NMT Slaver Master I 7232D EMCY msg 00 00 00 00 00 00 00 00 Note The data 00 00 00 00 00 00 00 00 are the error reset EMCY message It means that 7232D has no error now I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 139 Step 8 Check the index 0x1003 with sub index 01 again The user will then see that the error reset emergency code has been recorded 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817161514 1312 111 0 0 1 2 31 41 1516 7 1111 01010101010101011 0 8 40 03 10 01 00 00 00
32. 415 6 7 1111111 110 0 1 0 8 cs 0000 00 00 00 00 00 LSS LSS Master I 7232D COB ID Ox7E5 LSS msg cs LSS command specifier cs 92 0x 5C Step 2 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 109 87 bod 2 XR NS IE a EE ACER LE E E 1 111111 1 0 0 1 0 8 cs Revision number 00 00 00 LSS LSS Master Poe 1 7232D COB ID Ox7EA LSS msg cs LSS command specifier cs 92 0x5C revision number It is one part of the LSS address which is recorded in index 1018h subindex 3 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 160 5 5 3 4 Inquire identity serial number protocol Step 1 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 91817 5 1413 12 0 1 213 415 l6 7 1111111 110 0 1 0 8 cs 00 00 00 00 00 00 00 LSS a na Slave Master I 7232D COB ID Ox7E5 LSS msg cs LSS command specifier cs 93 0x5D Step 2 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 5141312 MEME NE BNG 1111111 1101011 0 8 cs Serial number 00 00 00 LSS LSS Master I 7232D COB ID Ox7E4 LSS msg cs LSS command specifier cs 93 0x5D serial number It is one part of the LSS address which is recorded i
33. 7 1 1 1 1 110101110 10 0 8 cs Err Err2 00 00 00 00 00 LSS LSS I 7232D COB ID Ox7 EA LSS msg cs LSS command specifier cs 17 0x11 Err1 error code Err1 0 protocol successfully completed Err1 1 configuration Node ID fail Err2 spec error reserved I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 153 5 5 2 2 Configuration bit timing parameters protocol This protocol is used to implement the Configuration Bit Timing Parameters service The following table will be applied when users want to use this protocol Table Index Baud rate K BPS 10 20 50 125 250 500 800 1000 Figure 5 1 Table Index s o alslo m oll Step 1 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101 9181716151413121 11 0 0 1 2 13141516 7 111111111111010 110111 0 8 cs Tab1 Tab2 00 00 00 00 00 LSS LSS Master I 7232D COB ID Ox7E5 LSS msg cs LSS command specifier cs 19 0x13 Tab1 Table_selector Tab1 0 Standard CiA bit timing table Tab2 1 255 reserved Tab2 Table Index See Figure 5 1 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 154 Step 2 11 bit COB ID bit Data 8 b
34. 8 byte Data byte Func Code Node ID RTR Length 101918 17 161514 1312111 0 01 1 21 31 41516 7 1111 0101010101010101 111 0 8 1231 051 1A 03 10 01 01 64 SDO server I 7232D ccs 1 n 0 e 1 S 1 m 05 1A 03 d 10 01 01 64 The value 64 01 01 10 means that the mapped object is stored in the index 0x6401 with sub index 01 It is a 16 bit data unit User can check this object in the Standardize of object mapping table described above It is mapped according to AIO of the M 7017R In I 7232D all analog channels are presented by 16 bit value 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 413 2 1 0 0 1 2 3 A41 5 060 7 110 11111010101010101 11 0 8 160 05 1A 03 00 00 00 00 SDO server I 7232D SCS cg m 051A03 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 126 Step 41 In order to use this PDO mapping object normally the value of the index 0x1A05 with sub index 00 must be changed to 1 The value 1 means there are 1 objects mapped to the 5th TxPDO They are the index 0x6000 with sub index 01 and index 0x6401 with sub index 01 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918171615141312111 0 0 1 11 21 31 41516 7 1 1 0 0 0 0 0 00 0 1 0 8 12F1051 1A 00
35. FSR 100 00 100 00 Ox7FFF 0x8000 Default 2 s Compl t HEX didi iiu 32767 32768 Input Range 5 0000V 5 0000V of FSR 100 00 100 00 Ox7FFF 0x8000 2 s Complement HEX 32767 32768 M 32767 32768 32767 32768 oC Bar a I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 184 De DEDE 32767 32768 Input Range 20 000mA 20 000mA with 125 ohms resistor of FSR 100 00 100 00 2 s Complement HEX Er me 32767 32768 M 7015 M 7033 M 7033 D Range RTD Type Data Format Max Value Min Value Code Hex YP Input Range 100 00 C 100 00 C 20 of FSR 100 00 100 00 Platinum 100 Default a 0 00385 138 50 060 25 Ox7FFF 0x8000 2 s Complement HEX 32767 32768 Input Range 100 00 C I 00 C Platinum 100 o of FS E w a 0 00385 413850 Ox7FFF 32767 Input Range 200 00 C c Platinum 100 o of FS L sm 17584 a 0 00385 2s Complementhex Oo Ld 32767 2 s Complement HEX Input Range 600 00 C m 9o of FSR 100 00 000 00 Platinum 100 313 59 100 00 Ox7FFF 2 s Complement HEX 32767 Platinum 100 Input Range 100 00 C S m a 0 003916 9o of FSR 100 00 100 00 1 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 185 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 185 a 0 00385 Ohm 10
36. It is at most 7 bytes of segment data to be uploaded sequence number of last segment that was received successfully during the last block upload If ackseq is set to 0 the client indicates the server that the segment with the sequence number 1 was not received correctly and all segments have to be retransmitted by the server number of segments per block that has to be used by server for the following block upload with 0 blksize 128 not used always 0 reserved for further use always 0 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 72 End SDO Block Upload Protocol The End SDO Block Upload protocol is used for finishing the SDO Block upload and is shown in the following figure SDO Client SDO Server I 7232D 11 bit COB ID bit RTR Len 8 byte Data byte 10 7 6 0 0 1 3 4 7 7 5 4 2 1 0 indication 1011 Node ID 0 8 Besse n ss 1 C reserved request 11 bit COB ID bit RTR Len 8 byte Data byte response 10 7 6 0 0 5 7 confirmation 7 5 4 1 0 s 1100 Node ID 0 8 reserved ccs 5 x cs l End SDO Block Upload Protocol ccs client command specifier 5 block upload SCS server command specifier 6 block upload cs client subcommand 1 end block upload request ss server subcommand 1 end block upload response n It indicates the number of bytes in the last segment of
37. Oh Largest sub index supported for UNSIGNED 8 RO 5 receive PDO parameter 1h COB ID used by PDO Rx UNSIGNED 32 RW 300h Node ID 2h Transmission type UNSIGNED 8 RW FFh 1402h Oh Largest sub index supported for UNSIGNED 8 RO 5 receive PDO parameter 1h COB ID used by PDO Rx UNSIGNED 32 RW 400h Node ID 2h Transmission type UNSIGNED 8 RW FFh 1403h Oh Largest sub index supported for UNSIGNED 8 RO 5 receive PDO parameter 1h COB ID used by PDO Rx UNSIGNED 32 RW 500h Node ID 2h Transmission type UNSIGNED 8 RW FFh 1404h Oh Largest sub index supported for UNSIGNED 8 RO 5 receive PDO parameter 1h COB ID used by PDO Rx UNSIGNED 32 RW 80000000h 2h Transmission type UNSIGNED 8 RW FFh 141Fh Oh Largest sub index supported for UNSIGNED 8 RO 5 receive PDO parameter 1h COB ID used by PDO Rx UNSIGNED 32 RW 8000 0000h 2h Transmission type UNSIGNED 8 RW FFh I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 170 RxPDO Mapping Communication Entries Idx Sidx Description Type Attr Default 1600h Oh Largest sub index supported for UNSIGNED 8 RO 8 receive PDO mapping 1h Write digital output 1h to 8h UNSIGNED 8 RW 6200 0108h 2h Write digital output 9h to 10h UNSIGNED 8 RW 6200 0208h 3h Write digital output 11h to 18h UNSIGNED 8 RW 6200 0308h 4h Write digital output 19h
38. RW 6000 0808h 1A01h Oh Largest sub index supported for UNSIGNED 8 RO 4 transmit PDO mapping 1h Read analog input 1h UNSIGNED 16 RW 6401 0110h 2h Read analog input 2h UNSIGNED 16 RW 6401 0210h 3h Read analog input 3h UNSIGNED 16 RW 6401 0310h 4h Read analog input 4h UNSIGNED 16 RW 6401 0410h 1A02h Oh Largest sub index supported for UNSIGNED 8 RO 4 transmit PDO mapping 1h Read analog input 5h UNSIGNED 16 RW 6401 0510h 2h Read analog input 6h UNSIGNED 16 RW 6401 0610h 3h Read analog input 7h UNSIGNED 16 RW 6401 0710h 4h Read analog input 8h UNSIGNED 16 RW 6401 0810h 1A03h Oh Largest sub index supported for UNSIGNED 8 RO 4 transmit PDO mapping 1h Read analog input 9h UNSIGNED 16 RW 6401 0910h 2h Read analog input Ah UNSIGNED 16 RW 6401 0A10h 3h Read analog input Bh UNSIGNED 16 RW 6401 0B10h 4h Read analog input Ch UNSIGNED 16 RW 6401 OC 10h 1A04h Oh Largest sub index supported for UNSIGNED 8 RO transmit PDO mapping 1h RW dett oat poe RW SEM I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 175 1A1Fh Oh Largest sub index supported for UNSIGNED 8 RO transmit PDO mapping 1h RW EE E RW obs I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 176 6 2 Manufacturer Specific Profile Area In the following table there is information
39. address The information described above can also be viewed by using the CANopen Modbus RTU Gateway Utility For more details about the object dictionary and how to use the CANopen Modbus RTU Gateway Utility refer to chapter 6 and chapter 4 Application The application part handles all of the device functionalities which respect to the interaction with the process environment It is the bridge between the object dictionary and practical process such as the analog I O digital I O I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 24 3 2 SDO Introduction In order to access the entries in a device object dictionary service data objects SDOs are provided By means of the SDO communication method a peer to peer communication bridge between two devices is established The SDO transmission follows the client server relationship The general concept is shown in the figure below Client Server request daa indication confirmation dia response The SDO has two kinds of the COB IDs RxSDOs and TxSDOs For example from the view of the I 7232D if users want to send a SDO message then the I 7232D needs to receive the SDO message transmitted from users Hence the receive SDO RxSDO COB ID of the I 7232D will be used If the 1 7232D wants to transmit a SDO message to users then the TxSDO COB ID of the I 7232D will need to be utilized Before the SDO has been used only the client
40. blksize reserved scs 5 x sc ss 0 Initiate SDO Block Download Protocol I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 83 CCS SCS CS SS CC sc size blksize x reserved client command specifier 6 block download server command specifier 5 block download size indicator 0 Data set size is not indicated 1 Data set size is indicated client subcommand 0 initiate download request server subcommand 0 initiate download response client CRC support cc 0 Client does not support generating CRC on data cc 1 Client supports generating CRC on data server CRC support sc 0 Server does not support generating CRC on data Sc 1 Server supports generating CRC on data multiplexor It represents the index sub index of the data to be transfer by the SDO download size in byes s 0 Size is reserved for further use always 0 s 1 Size contains the number of bytes to be downloaded Byte 4 contains the LSB and byte 7 is the MSB number of segments per block with 0 blksize 128 not used always 0 reserved for further use always 0 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 84 Download SDO Block Segment Protocol SDO Client SDO Server I 7232D 11 bit COB ID bit RTR Len 8 by
41. fixed as the format described above The COB ID of the SYNC object can be changed arbitrarily It follows the producer consumer relationship Step 15 After transmitting the SYNC object the 1st RxPDO is triggered and the DI value is changed Hence users can receive the 1st TxPDO from 7232D 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 1019181 7 5141312111 0 0 11 2131 415161 7 O 101111 01 01 01010 1 0 1 178100 00 00 00 00 00 00 PDO PDO I 7232D COB ID 0x181 L 1 PDO msg 78 00 00 00 00 00 00 00 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 111 Step 16 Set the transmission type of the 1st RxPDO to 255 to finish the test 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 1019181716151413121110 0 1 2 31 41516 7 111101010101010101011 0 8 2F 00 14 02 FF 00 00 00 d SDO server I 7232D ccs 1 n 3 e 1 S 1 m 00 14 02 d FF 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 109 876 5 4 3 21 0 01 2 3 4 5 6 7 11 0111110101010101011 0 8 160 00 14 02 00 00 00 00 SDO server I 7232D SCS 3 m 00 14 02 I 7232D CANopen Modbus RTU Gateway u
42. higher transmission priority than the bigger one For example there are two nodes on the CAN bus the one needs to transmit the CAN message with the COB ID 0x181 and the other has to transmit the message with COB ID 0x182 When these two nodes transmit the CAN message to the CAN bus simultaneously only the message containing COB ID 0x181 can be sent to the CAN bus successfully because of the higher transmission priority The message with COB ID 0x182 needs to hold the transmission until the message with COB ID 0x181 is transmitted successfully This arbitration mechanism can guarantee the successful transmission for one node when a transmission conflict occurs However if the message with COB ID 0x181 is transmitted again and again the message with COB ID 0x182 will never get a chance to be transmitted Therefore the disadvantage of this arbitration mechanism is that the lower priority of a CAN message is never transmitted successfully if the higher priority message is sent continuously In order to avoid the occupation of the transmission privilege by the message with a lower COB ID the inhibit time parameters for each of the PDO objects define a minimum time interval between each PDO message transmission which has a multiple of 100us During this time interval the PDO message will be inhibited from transmission Event Timer This parameter is only used for TxPDO If the value of the event timer is not equal to 0 and the transmission type
43. installing pre operational operational and stopped The NMT slave in different statuses has different privileges to implement the communication protocol The error control protocol gives users the way to detect the remote error in the network It can confirm if the node still lives or not I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 39 3 5 1 Module Control Protocols Before introducing the modules control protocols lets look at the architecture of the NMT state mechanism The following figure displays the relationships among each NMT state and the mechanism for changing the NMT state of a NMT slave Power on or Hardware reset 1 NG State Mechanism Diagram At Power on the initialization state is entered autonomously Initialization finished enter Pre Operational automatically 3 6 Start Remote Node indication 7 Enter Pre Optional State indication 8 Stop Remote Node indication Reset Node or Reset Communication indication I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 40 Devices enter the Pre Operational state directly after finishing the device initialization Then the nodes can be switched into different states by receiving an indication Each different NMT state allows different specific communication methods For example the PDO message can
44. specifier 2 initiate upload request server command specifier 2 initiate upload response Only valid if e 1 and s 1 otherwise 0 If valid it indicates the number of bytes in d that do not contain data Bytes 8 n 7 do not contain segment data transfer type 0 normal transfer 1 expedited transfer If the e 1 it means that the data of the object are equal or less than 4 bytes and only initiate SDO upload protocol is needed If e 0 the upload SDO protocol is necessary size indicator 0 Data set size is not indicated 1 Data set size is indicated multiplexer It represents the index sub index of the data to be transfer by the SDO The first two bytes are the index value and the last byte is the sub index value data e 0 s 0 d is reserved for further use e 0 s 1 d contains the number of bytes to be uploaded and byte 4 contains the least significant bit and byte 7 contains the most significant bit e 1 s 1 d contains the data of length 4 n to be uploaded the encoding depends on the type of the data referenced by index and sub index e 1 s 0 d contains unspecified number of bytes to be uploaded not used always 0 reserved for further use always 0 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 61 Upload SDO Segment Protocol When the upload data length exceeds 4 bytes the upload SDO segment protocol is needed After finishing
45. the CANopen Modbus RTU gateway These parameters need to match with the Modbus RTU modules communication parameters Then click the Next button to next step I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 56 General Setting File About Firmware Version 1 00 2005 09 13 PC COM Port COM 1 v Connect Status Setting CAN Parameter Ok 7188x series Situation Communication CAN Bus CAN Channel Step 6 You have to input the Modbus device NodelD Relay Address Register Relay Address and Data Length for one Modbus device connected with I 7232D These parameters are decided from this Modbus RTU device Then click ADD button to save the parameters settings Repeat the action described above if you have another Modbus device When you finish these steps please click Next button to next step m IOAppObjSetModbus Application Obje Parameter Set ModBus Device NodelD Relay Address 020000 Reqister Relay Address Data Length Bits Application Object z UPDATA Delete s gt rr em ModBus PDO Information Infromation Back Next I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 57 Users can click on the PDO Information or Modbus Information button to view the PDO objects or Modbus RTU devices configuration information These information dialogs are shown bel
46. the last block that do not contain data Bytes 8 n 7 do not contain segment data crc 16 bit Cyclic Redundancy Checksum CRC for the whole data set The algorithm for generating the CRC is as follows x 16 x 12 x 5 1 CRC is only valid if in Initiate Block Upload cc and sc are set to 1 Otherwise crc has to be set to 0 For 7232D it is not support CRC check mechanism X not used always 0 reserved reserved for further use always 0 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 73 SDO Block Upload Example The following figure indicates the general procedure for applying the SDO Block upload SDO Client SDO Server 1 7232D Upload Segment 0 bit c 0 seqno 0 SDO Client SDO Server 1 7232D Upload Segment 1 bit c 0 seqno 1 Initial Block Upload Protocol Upload Segment n bit c0 seqno n Confirm block Upload Block Protocol normal SDO Client SDO Server 1 7232D Upload Segment 0 bit c 0 seqno 0 End Block Upload Protocol Upload Segment 1 bit c 0 seqno 1 SDO Block Upload Upload Segment n bit c 1 seqno n Confirm block Upload Block Protocol last I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 74 By following this procedure we provide a demo for obtaining the value of the index 0x1008 and sub index 00 object entries Step 1 Request the I 7232D to transmit the data by using the SDO Block Up
47. to 20h UNSIGNED 8 RW 6200 0408h 5h Write digital output 11h to 28h UNSIGNED 8 RW 6200 0508h 6h Write digital output 19h to 30h UNSIGNED 8 RW 6200 0608h 7h Write digital output 11h to 40h UNSIGNED 8 RW 6200 0708h 8h Write digital output 19h to 48h UNSIGNED 8 RW 6200 0808h 1601h Oh Largest sub index supported for UNSIGNED 8 RO 4 receive PDO mapping 1h Write analog output 1h UNSIGNED 16 RW 6411 0110h 2h Write analog output 2h UNSIGNED 16 RW 6411 0210h 3h Write analog output 3h UNSIGNED 16 RW 6411 0310h 4h Write analog output 4h UNSIGNED 16 RW 6411 0410h 1602h Oh Largest sub index supported for UNSIGNED 8 RO 4 receive PDO mapping 1h Write analog output 5h UNSIGNED 16 RW 6411 0510h 2h Write analog output 6h UNSIGNED 16 RW 6411 0610h 3h Write analog output 7h UNSIGNED 16 RW 6411 0710h 4h Write analog output 8h UNSIGNED 16 RW 6411 0810h 1603h Oh Largest sub index supported for UNSIGNED 8 RO 4 receive PDO mapping 1h Write analog output 9h UNSIGNED 16 RW 6411 0910h 2h Write analog output Ah UNSIGNED 16 RW 6411 0A10h 3h Write analog output Bh UNSIGNED 16 RW 6411 0B10h 4h Write analog output Ch UNSIGNED 16 RW 6411 0C10h 1604h Oh Largest sub index supported for UNSIGNED 8 RO receive PDO mapping 1h RW dett oat poe RW SEM I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 171 161Fh Oh Largest sub index supported
48. 0 0 11 2 13141516 11111111111101011101 1 0 8 cs Serial number 00 00 LSS LSS aster I 7232D COB ID Ox7E5 LSS msg cs LSS command specifier cs 74 0x4A Serial number The Serial number part of the LSS Address Note ALL LSS Slaves with matching vendor id and product code whose major revision number and serial numbers lie within the given ranges are requested to identify themselves with the LSS Identify Slave service described in section 5 5 4 2 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 164 5 5 4 2 LSS identify slave protocol This protocol is used to implement the LSS Identify Slave service 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817161 5141 3 2 0 1 213141516 7 11111111111101011 0 8 cs 00 00 00 00 00 00 00 LSS LSS Master I 7232D COB ID Ox7E4 LSS msg cs LSS command specifier cs 79 0x4F I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 165 5 6 Special Functions for Modbus RTU modules I O Modules R W Error Control Entry The 1 7232D Manufacturer Specific Profile Area defines some special functions for Modbus RTU modules The object with index 0x2000 is the I O modules read write error control entry Each sub index of this object is mapped to the corresponding Modbus RTU module except
49. 008 95 5 2 2 Transmission Type The transmission type is one of several parameters defined in PDO communication objects with sub index 02 Each PDO has its own transmission type The transmission type indicates the transmission reception character for its corresponding PDO The following table describes the relationship between the value of the transmission type and the PDO character For example if users used transmission type 0 for 1st TXPDO the CANopen device will follow the rule of the acyclic and synchronous PDO transmission Transmission PDO Transmission method Type cyclic acyclic synchronous asynchronous ii 0 O O 1 240 O O 241 251 reversed 252 O O 253 O O 254 O 255 O Note 1 Transmission type 1 240 indicates how many SYNC objects the TxPDO will be triggered by The RxPDO is always triggered by the following SYNC upon reception of data independent of the transmission types 0 240 Transmission type 252 and 253 are only used for TxPDO Transmission type 252 means that the data is updated but not sent immediately after reception of the SYNC object The PDO is only transmitted on remote transmission requests for these two transmission types 3 For the transmission types 254 and 255 the event timer can be used in the TxPDO The PDO which includes the DI value will be sent when the DI value is changed F
50. 008 and sub index 00 stored in the communication profile area The message structure is as follows As mentioned above the node ID for the I 7232D is set to 1 and the information about object entry with index 0x1008 is described in chapter 6 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817161514 1312 111 0 0 11 2131 415161 7 1111010101010101010 1 0 8 40 08 10 00 00 00 00 00 SDO server I 7232D ccs gt 2 m 081000 Step 2 l 7232D responds to the SDO message to indicate how many bytes users will upload from the l 7232D 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 161514 13 211 0 0 1 2 31 41 1516 7 11 0111110101010101011 0 8 141108 10 00 09 00 00 00 SDO server I 7232D SCS 2 n 0 e 0 S 1 m 00 18 00 d 09 Because the first byte from the 8 byte data indicates that only the 4th byte is valid Therefore the feedback value is 09 and it means that there are 9 bytes to be uploaded I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 66 Step 3 Request the I 7232D to start the data transmission 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Le
51. 008 and sub index 01 the I 7232D will response the Abort SDO Transfer message We will also use this point as a demo to follow Step 1 Send the Rx SDO message to the I 7232D to obtain the object entry with index 0x1008 and sub index 01 Assume that the node ID for the I 7232D is set to 1 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817161514 1312 110 0 11 2131 41516 7 1111010101010101010 1 0 8 40 08 10 01 00 00 00 00 SDO server I 7232D CCS s 2 m 081001 Step 2 l 7232D will respond to the Abort SDO message as its indication 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID Length 10191817161514131 21 110 0 1 21 3141 1516 7 1 0 1111101001010 10111 0 8 80 08 10 01 11 00 09 06 SDO server I 7232D cs 4 m 081001 d 110009 06 Because low byte needs to transfer firstly the data are O6 09 00 11 after converting Therefore after searching the Abort Code table described above this Abort Code can be interpreted as Sub index does not exist I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 93 5 2 PDO Communication Set 5 2 1 PDO COB ID Parameters Before using the PDO to transmit the real time data it is necessary to check the COB ID parameter of this PD
52. 1 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918171615141 31 2 1 0 1 2 31 41 1516 7 1 0 111 10 10 1010 01 0 0 8 60 00 14 02 00 00 00 00 SDO server I 7232D SCS to m 00 1400 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 82 5 1 4 SDO Block Download The procedure of SDO Block Download is similar with the SDO Block Upload There are three steps during the SDO Block Download The Initiate SDO Block Download protocol is the beginning protocol for SDO Block Download In this protocol the SDO server and SDO client communicate each other to prepare the necessary information Afterwards the SDO Block Download protocol is used And SDO client start to send data to SDO server After finishing the data transmission the client and server will use the End SDO Block protocol to terminate the SDO Block Download The following figures are the structures for the three protocols Initiate SDO Block Download Protocol SDO Client SDO Server I 7232D 11 bit COB ID bit RTR Len 8 byte Data byte 10 7 6 0 0 1 3 4 7 7 5 4 32 1 0 1100 Node ID 0 8 m size ARAS A request ecs 6 x cc s cs 0 indication 11 bit COB ID bit RTR Len 8 byte Data byte confirmation 10 7 6 0 0 1 3 4 5 7 response 7 5 4 3 2 1 0 1011 Node ID O 8 m
53. 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918 7 51411312 0 1 2 13141 516 7 011 01 0 0 0 0 0 2 34 00 0O 00 00 00 00 00 PDO PDO I 7232D COB ID 0x181 L 2 PDO msg 34 00 00 00 00 00 00 00 Step 31 Transmit a SYNC message 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101 9 8 7 51413312 0 11 2 131 41 1516 7 Oo 10 011 0101010 0 O 00 00 00 00 00 00 00 00 SYNC SYNC Producer I 7232D COB ID 0x80 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 119 Step 32 Send the RTR message of the 1st TxPDO again 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 0 1 2 3 4 5 6 7 01011111010101 101 0 1 O 00 00 00 00 00 00 00 00 PDO PDO Consumer I 7232D COB D 0x181 Step 33 The feedback DI values is the practical DI values 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817161514131 2 0 11 213141 516 7 0111011 101010 1010 0 1 13410000 00 00 00 00 00 PDO PDO onsumer I 7232D COB ID 0x181 L 2 PDO msg 34 00 00 00 00 00 00 00 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 120 Transmission Type
54. 11111010 0 0 0 0 0 8 2F 00 14 02 00 00 00 00 SDO server I 7232D CCS 1 n 3 e 1 S 1 m 00 14 02 d 00 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 5141312 11213141 51 161 7 1 101111 0 0 0 0 0 8 160 00 14 02 00 00 00 00 SDO server I 7232D SCS 3 m 00 14 02 Step 13 Change the DO value of the M 7055D to be 0x78 respectively by using the 1st RxPDO 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918 7 5141 131 2 0 1 2 13141516 7 0 1 0 0 0 0 01 0 0 8 78 00 00 00 00 00 00 00 PD PDO Q Producer I 7232D COB ID 0x201 L 8 PDO msg 78 00 00 00 00 00 00 00 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 110 Step 14 The DO value will not change immediately because of the character of the transmission type 0 The SYNC message is needed to trigger the action of the 1st RxPDO 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 1019 817 514131 2111 0 0 1 2 3 4 5 6 7 0 0 0 1 0 0 0 0 0 0 0 O 100100 00 00 00 00 00 00 SYNC SYNC Consumer Producer I 7232D COB ID 0x80 The message of the SYNC object is always
55. 12 2 4 CANopen Status LED icici seis piinciisiessdiupisaahintiansieealeucbicdhneadiusieast 12 2 4 1 RUN zb HQ 13 2 4 2 ERR LED pusses eden 14 243 Qverrun LEDa ieee aaea eaire anaandaa ia Raa 15 2 5 7 segment LE Diecssicivscavdedwsceuoassnevdeanstendeaustavdaiwenasdeasstatdenvataniansent 16 Dri mE 17 3 1 CCANopDenlhitrodUCcliOliu iie uiospe iid Eo ny edo E Ud pos d eS P cS eU RARIUS SE ocu 17 3 2 SDO Introd oce etes eae verc mice rr ce rex nt oce 25 3 3 PDO Introduction anaan nnnvennnnnnnnnnnnnnnnvennnnnnnnnnnnnnnevevnnnnnnnnnnnnnneneven 27 3 4 EMCY Intr dUGliOTi seco iicin enini a Coo oco nena rax EU ovra nian cv a xara occu uc 38 35 NMT TRIFOGUGUON ioi iiereucvos pde indo eai riaa 39 3 5 1 Module Control Protocols 40 3 5 2 Error Control Protocols cesses 41 36 JESS INMOGUCTION mem 43 3 6 1 Definition ette HE 43 3 6 2 LSS MODES AND SERVICES s 45 CANOPEN Systema b6rdinbndbledus ed bit blribletide ibit tice h roe dose EE 46 4 1 1 7232D Configuration Flowchart sees 46 4 2 CANopen Modbus RTU Gateway Utility Overview 47 4 3 CANopen Modbus RTU gateway Utility Installation 48 4 4 Configuration the CANopen Modbus RTU Gateway Utility 54 Configuration amp Getting Start rrrnnnnnnnnnnnvvvnnnnnnnnnnnn
56. 16 05958 2 s Complement HEX ME 32768 Platinum 100 of FSR 100 00 000 00 139 16 100 00 a 0 003916 Ox7FFF 0 2 s Complement HEX 32767 0 Input Range 200 00 C 000 00 C of FSR Platinum 100 ONES E s T a 0 003916 17743 100 00 t X Input Range c OO C 000 00 C AAT R Platinum 100 ONES wy us a 0 003916 317 28 100 00 2 s Complement HEX wind Maio 0 2 s Complement HEX wee SET 26214 2 s Complement HEX PAR 0 32767 0 Input Range 600 00 C 200 00 C ois Platinum 1000 a 00 00 033 33 3137 1 0185 2 2 s Complement HEX Ox7FFF 0xD556 i 32767 10922 a 0 00385 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 186 M 7024 Range Data Format Max Value Min Value Code Hex 0 Output Range 20 000mA 0 000mA a 2 s Complement HEX oe i 32767 0 Output Range 20 000mA 04 000mA 31 Ox7FFF 0 2 s Complement HEX 32767 0 Output Range 10 000V 00 000V 32 Ox7FFF 0 32767 0 33 Output Range 10 000V 10 000V Default 2 s Complement HEX E MAGNAR 32767 32768 Output Range 05 000V 00 000V 34 Ox7FFF 0 2 s Complement HEX 32767 0 Output Range 05 000V 05 000V 35 7FFF 2 s Complement HEX ox POEM 32767 32768 2 s Complement HEX I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 187
57. 232D 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 6 514 31 2 0 11 2131 41516 7 11011111 0 0 0 0 0 8 AO 00 14 02 7F 00 00 00 SDO server I 7232D SCS 5 SC 0 S 0 ss 0 m 001402 biksize TF I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 88 Step 3 The SDO client starts to transmit the data of the object entry index 0x1400 and sub index 02 by using the Download SDO Block Segment protocol Seeing as the data length of the value is less than the maximum data length of one block the SDO Block Segment Download protocol is only implemented once 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 1019 1817 61514131211 0 11 21314151 16 7 11 0 0 0 0 0 0 0 0 0 8 81 05 00 00 00 00 00 00 SDO server I 7232D C 24 seqno JA seg data 05 Step 4 I 7232D responds to the message to confirm if the transmission is successful or not If not this block needs to be transmitted again After finishing the data transmission the Download SDO Block Segment protocol is terminated 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 98 7 6 5 4 3 2 0 1 2 3 4 5 67 1 0 1 1 0 0 0 0 0 0 8 A2 01 7F 00 00 00 00 00 a S
58. 232D will respond with a predefined TxPDO message to the CANopen PDO consumers For the RxPDO object the I 7232D needs to receive the SYNC object to actuate the RxPDO object which is received before the SYNC object The following figures indicate how the acyclic synchronous transmission type works on the RxPDO and the TxPDO PDO consumer SYNC consumer amp PDO producer I 7232D Read DI AI SYNC transmitted by SYNC producer channels MG oes Read DI Tx PDO event channels is triggered a I SYNC transmitted by SYNC producer Read DI AI channels N acyclic synchronous TxPDO I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 29 PDO producer SYNC consumer amp PDO consumer I 7232D RxPDO SYNC transmitted by SYNC producer y p ert Actuate DO AO channels SYNC transmitted by SYNC producer i SNE AS By STN produce m Actuate DO AO channels acyclic synchronous RxPDO The cyclic synchronous transmission mode is triggered by the reception of an expected number of SYNC objects and the max number of expected SYNC objects can be 240 For example if the TxPDO is set to react when receiving 3 SYNC objects the I 7232D will feedback the TxPDO object after receiving 3 SYNC objects For the RxPDO actuating the DO AO channels by the RxPDO is independent of the number of SYNC objects These concepts are shown in the figures below I 7232D CANopen Modbus RTU Gateway user manual V
59. 253 for 1st TxPDO Step 34 Set the transmission type of the 1st TxPDO to 253 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 1019 817 51413 2 1 0 11 2 131 41516 7 11110110 0 0 0 0 0 0 8 2F 01 18 02 FD 00 00 00 SDO server I 7232D ccs 1 n 3 e 1 S 1 m 00 18 02 d FD 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 51413 2 1 11213141 51 16 7 1 101111 0 10 0100 0 8 60 00 18 02 00 00 00 00 SDO server I 7232D SCS 3 m 00 18 02 Step 35 Change the DO value of the M 7055D to be 0x78 respectively by using the 1st RxPDO 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 87 5 4 3 2 1 01 1 213141516 7 0 1 0 0 0 0 0 01 0 0 8 78 00 00 00 00 00 00 00 PD PDO 9 Producer I 7232D COB ID 0x201 L 8 PDO msg 78 00 00 00 00 00 00 00 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 121 Step 36 Because of the transmission type 253 the 1st TxPDO can only be transmitted when receiving the RTR message So send RTR message to get the DI values
60. 3 Flickering AutoBaud LSS Auto Baudrate detection in progress or LSS services in progress Alternately flickering with ERR LED 4 On Operational The Device is in the operational state I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 13 2 4 2 ERR LED The ERR LED indicates the status of the CAN physical layer and indicates errors due to missing CAN messages These messages may be SYNC or Guard messages and running LSS protocol Each error event has different twinkling signal period and the signal periods and related meanings are displayed respectively as following figure and table ON Flickering Flash OFF ON Single Flash OFF ON Double Flash OFF ON Triple Flash OFF 400 800 1200 1600 2000 200 600 1000 1400 1800 Time ms I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 14 No Error LED State Description 1 Off No error The Device is in working condition 2 Single Flash Warning limit At least one of the error counters reached of the CAN controller has reached or exceeded the warning level too many error frames 3 Flickering AutoBaud LSS Auto Baudrate detection in progress or LSS services in progress Alternately flickering with RUN LED 4 Double Flash Error Control Event A guard event NMT Slave or NMT master or a heartbeat event Heartbeat consumer has occurred 5 Triple Flash
61. 7 6 0 0 7 1110 Node ID 1 0 reserved n Y indication 11 bit COB ID bit RTR Len 8 byte Data byte 10 7 60 0 17 response 7 6 0 1110 Node ID 0 8 X t S Node Guarding Protocol t Toggle bit The value of this bit must alternate between two consecutive responses from the NMT slave After the node Guarding protocol becomes active the value of the toggle bit of the first response is 0 S The state of the NMT Slave 4 STOPPED 5 OPERATIONAL 127 PRE OPERATIONAL I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 146 Error Control Protocol Example Assume that the default EMCY function code has been applied and the node ID for the I 7232D is 1 Step 1 Turn off the I 7232D Then turn on the I 7232D The 1 7232D will now be in the Pre Operational state Step 2 Set the guard time value to 250 This value is stored in index 0x100C with sub index 00 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 61514 312 11 0 0 1 2 31 41 51 6 7 11110101010101010 10111 0 8 12B 0C 10 00 FA 00 00 00 SDO server I 7232D ccs 1 n 3 e 1 S 1 m OC 10 00 d FA 00 Step 3 I 7232D will respond to the ending message 11 bit COB ID bit Data 8 byte Data byte
62. 817161514 13 121110 0 11 213141516 7 0 0 0 11010 10101110 111 0 8 30 81 11 07 00 00 00 00 EMCY EMCY consumer I 7232D EMCY msg 3081 1107 00 00 00 00 The first two bytes 30 81 are for the emergency error code The 3rd byte 11 is for the error register The last five bytes 07 00 00 00 00 are the manufacturer specific error fields This emergency message indicates a life guard error I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 149 5 5 LSS Communication Set 5 5 1 Switch mode protocols 5 5 1 1 Switch mode global This protocol is used to implement the Switch Mode Global service 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 514 3 121 11 0 Ool 141 2 3 41516 7 1111111 1101011 011 0 8 cs mode 00 00 00 00 00 00 LSS LSS m Master eae 1 7232D COB ID Ox7E5 LSS msg cs LSS command specifier cs 04 0x04 for Switch Mode Global mode The LSS mode to switch to 0 switch to operation mode 1 switch to configuration mode I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 150 5 5 1 2 Switch mode selective This protocol is used to implement the Switch Mode Selective service
63. Buffer Overrun 81 10 11 05 00 00 00 00 Soft Tx Buffer Overrun 81 10 11 06 00 00 00 00 CAN Controller Overrun 81 30 11 07 00 00 00 00 Lift Guarding Fails 81 40 11 08 00 00 00 00 Recover from bus off 82 10 11 09 00 00 00 00 PDO Data length Error FF 00 80 0A 00 00 00 00 Request to reset Node or communication FF 00 81 0B 00 00 00 The module with RS 485 address is timeout or receive data error more than three times After producing the EMCY message the emergency object data will be saved to the object with index 0x1003 and the error register of the emergency object data will be mapped to object 0x1001 Therefore users can use these two objects to view what has happened in the l 7232D and check the error history I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 136 EMCY Communication Example Assume that there is a Modbus RTU module connected with COM2 of the I 7232D This module has the module address 01 and has one digital or analog input channel at least The node ID of the 1 7232D is 5 and the I 7232D works normally with the default COB ID Step 1 In order to produce the emergency event send the data to RXPDO1 with data length O 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101 91817161514 13 2111 0 0 1 2131415 1617 0111 0101010101010 10111 0 O 00 00 00
64. C sc pst size blksize X reserved client command specifier 5 block upload server command specifier 6 block upload client subcommand 0 initiate upload request 3 start upload server subcommand 0 initiate upload response multiplexor It represents the index sub index of the data to be transfer by the SDO client CRC support cc 0 Client does not support generating CRC on data cc 1 Client supports generating CRC on data server CRC support sc 0 Server does not support generating CRC on data sc 1 Server supports generating CRC on data Protocol Switch Threshold in bytes to change the SDO transfer protocol pst 0 change of transfer protocol not allowed pst gt 0 If the size of the data in bytes that has to be uploaded is less or equal pst the server can optionally switch to the SDO Upload Protocol by transmitting the server response of the SDO Upload Protocol size indicator 0 Data set size is not indicated 1 Data set size is indicated upload size in byes S 0 Size is reserved for further use always O s 1 Size contains the number of bytes to be uploaded Byte 4 contains the LSB and byte 7 is the MSB number of segments per block with 0 blksize 128 not used always 0 reserved for further use always 0 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 70 Upload SDO Block Segment Protocol
65. Channels Step 38 Use the 5th TxPDO to create a new PDO communication with PDO COB ID 0x182 you do this because the COB ID 0x182 is useless for the 7232D Before setting the COB ID of a PDO check bit 31 of the COB ID first Only the COB ID which has the value 0 on its bit 31 can be changed if users want to configure the COB ID of a valid PDO Therefore communication bit 31 is 1 set this PDO to an invalid state bit 31 is 0 The COB ID can be configured directly because the 5th TxPDO is invalid 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191 1817 5 413 2 1 2 3 4 5 6 7 1111010 0 01010 0 8 23 05 18 01 82 01 00 00 SDO server I 7232D ccs 1 n 0 e 1 S 1 m 05 18 01 d 82 01 00 00 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191 1817 5 413 2 1 2 3 4 5 6 7 1101 11 0 01010 0 8 60 05 18 01 00 00 00 00 SDO server I 7232D scs 3 m 05 18 01 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 124 Step 39 Build a new PDO mapping object for the 5th TxPDO Before starting to fill in the device objects into the index 0x1A05 check the value of the index 0x1A05 with sub index 00 If the value is not equal to 0 any modification will be rejected In this case
66. DO server I 7232D SCS 5 SS AB ackseq 01 blksize TF I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 89 Step 5 The SDO client sends the ending message to finish the SDO Block Download 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 5 43 2411 0 11 2131415161 7 11111010 0 010101 0 0 8 D5 00 00 00 00 00 00 00 f SDO server I 7232D CCS n CS crc 00 00 Step 6 I 7232D responds to the message to terminate the End SDO Block Download protocol 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 5 4 3 2 1 0 1 2 3 4 5 6 7 1 0 14 1 0 0101 0 0 8 A1 00 00 00 00 00 00 00 SDO server I 7232D SCS SS I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 90 5 1 5 Abort SDO Transfer Protocol In some situations the SDO client or SDO server needs to terminate the SDO transmission For example the value of entries that users want to modify does not exist or is read only or users wouldn t like to continue with the uncompleted SDO protocol under some special conditions When these situations occur both the client and the server can be activated to send the Abort SDO Transfer message The Abort SDO Tran
67. Dictionary Object 0x6000 Subindex1 DI Channel 0 7 Subindex2 DI Channel 8 15 DO Standardized Device Dictionary Object 0x6200 Practical DI Channel 0 15 Subindex1 DO Channel 0 7 Practical DO Channel 0 7 eh AI Standardized Device Dictionary Object 0x6401 Subindex1 AI Channel 0 Practical Al Channel 0 1 Subindex2 AI Channel AO Standardized Device Dictionary Object 0x6411 Subindex1 AO Channel 0 AO Channel 0 Practical AO te tee eld Channel 0 Standardized Device Hardware Profile Area Take the l 7232D as another example There are some Modbus modules connecting to the COM 2 of the l 7232D The related information for each module is shown below Module Name Module Address DO ch AO ch DI ch Al ch M 7052D Note Ox 01 0 0 8 0 M 7055D Note Ox 03 8 0 0 0 M 7024 Note Ox 04 0 1 0 0 M 7017R Note Ox 05 0 0 0 1 Note The M 7000 series devices are the kinds of the Modbus RTU devices produced by ICPDAS I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 esu 22 After user have set the entire module s channels by using the utility tool and boot up the I 7232D the information of all the module s I O channels will be collected by the I 7232D Also the I O values of these channels are arranged into proper object entries one by one The minimum data of unit is one byte the DI and DO chann
68. Func Code Node ID RTR Length 101918171615141312111 0 0 1 21 31415161 7 1 0 1 1 0 0 0 00 0 1 0 8 1601 OC 10 00 00 00 00 00 SDO server I 7232D SCS fr 3 m 0C 1000 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 147 Step 4 Set the life time factor value to 4 This value is stored in the index 0x100D with sub index 00 Then receive the ending message from I 7232D 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817161514 3121110 0 1 2 31 4151 6 7 11 11 010101010101010 11 0 8 12F 0D 10 00 04 00 00 00 f SDO server I 7232D CCS 1 n 3 e 1 S 1 m OD 10 00 d 04 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918171615141312111 0 0 1 2 3 1 4151 6 7 11 01111101010101010 11 0 8 160 0D 10 00 00 00 00 00 SDO server I 7232D SCS y 48 m OD 1000 Step 5 Send the node guarding protocol to start the mechanism of the node guard The life time here is equal to 1000 ms guard time life time factor 250 4 1000 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918 1716151413 121110 0 1 21314151 16 7 11111101010101010 0111 1 O 00 00 00 00
69. I 7232D CANopen Modbus RTU Gateway User Manual Warranty All products manufactured by IPC DAS are warranted against defective materials for a period of one year from the date of delivery to the original purchaser Warning ICP DAS assume no liability for damages consequent to the use of this product ICP DAS reserves the right to change this manual at any time without notice The information furnished by ICP DAS is believed to be accurate and reliable However no responsibility is assumed by ICP DAS for its use or for any infringements of patents or other rights of third parties resulting from its use Copyright Copyright 2006 by ICP DAS All rights are reserved Trademark The names used for identification only maybe registered trademarks of their respective companies I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 1 Tables of Content 1 IEF OCGUCUOM Pc 4 Hel SOW EIVICW E T E 4 1 2 Hardware Features sisicicccccciccccsicis cccscnicccentuascccccnsscvaccuceesevenescnextuens 5 1 3 17232D PEARS usiana raa eaa arana ea eaa ini 6 1 4 Utility Feature eerie recen nari asas ten rnt anto aine nucis 7 Hardware Specification essere 8 21 Hardware Struciureaaaamaaetaammmsasnuinmimnsgnnannete 8 2 2 Mire Connecuon sauau v sveqvammegasmsdmvesusssds vn 9 2 3 LU MIL
70. ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817161514 3 21 1110 0 1 2 31 41516 7 11 01111101010101010 11 0 8 1B 4E 00 00 00 00 00 00 f SDO server I 7232D SCS 0 t 1 n 5 c 1 seg data 4E 00 Transfer the value of 0x4E and 0x00 to the corresponding ASCII character After transformation it means N I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 68 5 1 2 SDO Block Upload Initiate SDO Block Upload Protocol The SDO Block Upload is usually used for large data transmission At the beginning of the SDO Block Upload the Initiate SDO Block Upload protocol is needed This protocol is described below SDO Client SDO Server I 7232D 11 bit COB ID bit RTR Len 8 byte Data byte 10 7 6 0 0 1 3 4 516 7 7 5 4 3 2 1 0 s 1100 Node ID 0 8 cess x leo eee blksize pst x indication 11 bit COB ID bit RTR Len 8 byte Data byte 10 7 6 0 0 1 3 4 7 response 7 5 4 32 1 0 1011 Node ID 0 8 m size scs 6 x sc s ss 11 bit COB ID bit RTR Len 8 byte Data byte 10 7 6 0 0 1 7 7 5 4 2 1 0 1100 Node ID 0 8 reserved are X ccs 5 x cs 3 indication Initiate SDO Block Upload Protocol I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 69 CCS SCS CS SS C
71. Number Baud rate K BPS 0 10 20 50 125 250 500 800 1000 NI OO oO AJOIN gt The RS 485 baud rate of the I 7232D is indicated on this LED The mapping table between LED number and RS 485 baud rate is displayed on the following table 7 segment LED Number Baud rate BPS 0 1200 2400 4800 9600 19200 38400 57600 7 115200 OoO c 2c FKN I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 16 3 CANopen System 3 1 CANopen Introduction CANopen is a kind of network protocol based on CAN bus and has been used in various applications such as vehicles industrial machines building automation medical devices maritime applications restaurant appliances laboratory equipment amp research It allows for not only broadcasting but also peer to peer that data exchange between every CANopen node The network management functions be specified in CANopen simplifies the project design Besides users also can implement and diagnose the CANopen network by standard mechanisms for network start up and error management By the device model any CANopen device can effectively access or get the conditions relating to the I O values and node states of other devices in the same network Generally a CANopen device can be modeled into three parts Communication Object Dictionary Application program The functions
72. O in the PDO communication objects This parameter determines the COB ID of the PDO communication It has 32 bits and the meaning of each bit is given in the table follow Bit Number Value Meaning 31 MSB 0 PDO exits PDO is valid 1 PDO does not exist PDO is not valid 30 0 RTR allowed on this PDO 1 No RTR allowed on this PDO 29 0 11 bit ID CAN 2 0A 1 29 bit ID CAN 2 0B 28 11 0 If bit 29 0 X If bit 2971 28 11 bits of 29 bit COB ID 10 0 LSB X 10 0 bits of COB ID Note 1 7232D only supports CAN 2 0A I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 94 In the following table the default PDO COB ID parameters are presented Default COB ID of PDO Number of PDO Bit10 Bit7 Bit6 BitO Function Code TxPDO1 0011 Node ID TxPDO2 0101 Node ID TxPDO3 0111 Node ID TxPDO4 1001 Node ID RxPDO1 0100 Node ID RxPDO2 0110 Node ID RxPDO3 1000 Node ID RxPDO4 1010 Node ID Note 1 Users can also define the PDO COB ID by themselves Actually user can define all of the COB ID except the reserved COB ID described in the table in section 3 1 When users want to define the COB ID it is important to avoid the conflict with the COB ID used in the same node 2 The PDO COB ID parameters cannot be changed if the PDO is valid bit 31 0 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2
73. SYNC message needs to be transmitted 3 times because of the character of transmission type 3 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 16151413 12111 0 0 1 213141 151 16 7 010 1011101010101010 101 0 O 100100 00 00 00 00 00 00 SYNC Producer V 7232D COB ID 0x80 Step 26 After finishing the transmission of the three SYNC objects the 1st TxPDO is triggered and users can receive the 1st TxPDO from I 7232D 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101 91817 6151413121110 0 1 21314151 16 7 010 111110101010101011 0 1 EF 00 0000 00 00 00 00 PDO PDO I 7232D COB ID 0x181 L S PDO msg EF 00 00 00 00 00 00 00 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 117 Transmission Type 252 for 1st TxPDO Step 27 Set the transmission type of 1st TXPDO to 252 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 1019 817 51413 2 1 0 11 2 131 41516 7 11110110 0 0 0 0 0 0 8 2F 00 18 02 FC 00 00 00 SDO server I 7232D ccs 1 n 3 e 1 S 1 m 00 18 02 d FC 11 bit COB ID bit
74. The function of the cyclic and synchronous TxPDO The function of the synchronous and RTR only TxPDO The function of the asynchronous and RTR only RxPDO Dynamic PDO mapping for DI Al DO AO channels I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 102 Before starting this demo the stepO must be checked Assume that the default COB ID for each communication object is being used Step 0 The following message must be sent for changing the NMT state of the 7232D first because the PDO communication can only run under the NMT Operational state 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918 71615 413 2 1 2 3 4 5 6 7 0 10 0 01010101010 0 8 10110100 00001001 00 00 NMT slave I 7232D cs A Node ID 1 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 103 Access Digital I O amp Analog I O Step 1 In order to change the DO value for the M 7055D to be 0x34 respectively users must send the PDO message by using the 1st RxPDO 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 1019 8 7 5141312111 0 0 11 2131 41516 7 01111010 0 0101010 11 0 8 13400 00 00 00 00 00 00 PD PDO 9 Producer I 7232D COB ID 0x201 L 8 PDO msg 34 00 00
75. about some special functions for the Modbus RTU modules Index 0x2000 records the access error count for the Modbus RTU module Entries with sub index 00 for the object indicate how many entries each object has For more detail about these objects please refer to section 5 5 VO Module Read Write Error Counter Entries Idx Sidx Description Type Attr Default 2000h Oh Largest sub index supported for UNSIGNED 8 RO 8 I O Module R W Error Counter 1h Module 1 R W Error Counter UNSIGNED 16 RW I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 177 6 3 Standardized Device Profile Area When the I 7232D s power is on These device entries will match the channel types and numbers of the Modbus RTU modules connected to the I 7232D s In order to look them up conveniently these entries are divided into four tables Digital Input Devices Entries Digital Output Devices Entries Analog Input Devices Entries and Analog Output Devices Entries They are as follows Digital Input Devices Entries Idx Sidx Description Type Attr Default 6000h Oh Largest sub index supported for UNSIGNED 8 RO 8 read digital input 8 bit 1h Read digital input 1h to 8h UNSIGNED 8 RO Digital Output Devices Entries Idx Sidx Description Type Attr Default 6200h Oh Largest sub i
76. after applying power 2 4 CANopen Status LED I 7232D provides three CANopen LED indicators such as Error LED red RUN LED green and Overrun LED red The Error LED and Run LED are defined in the CANopen spec When the CANopen communication events occur these indicators will be triggered to glitter with different period The Overrun LED is defined by ICPDAS When the software buffer of the I 7232D is overrun the overrun LED will turn on Before the 1 7232D finishes the preparation for the function of the Modbus RTU master or when the I 7232D executes the command to reset itself all CANopen Status LED will be turned off but the Power LED is still turned on The following descriptions interpret the twinkling signal meanings when these indicators are triggered I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 12 2 4 1 RUN LED The RUN LED indicates the condition of the CANopen network state mechanism About the information of CANopen state mechanism please refer to the section 3 5 1 The different signal periods and related meanings are displayed respectively as following figure and table or ON Flickering Flash OFF ON Blanking OFF ON Single Flash OFF 400 800 1200 1600 2000 200 600 1000 1400 1800 Time ms 0 No CAN RUN LED State Description 1 Single Flash Stopped The Device is in Stopped state 2 Blinking Pre operational The Device is in the pre operational state
77. and general concepts for each part are shown as follows Application y Application a objcet Application objcet Application P objcet ii Bus System Process I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 17 Communication The communication part provides several communication objects and appropriate functionalities to transmit CANopen messages via the underlying network structure These objects may be PDO Process Data Object SDO Service Data Object NMT Network Management Objects SYNC Synchronous Objects etc Each communication object has its communication model and functionality Take the PDO SDO and NMT for examples the communication objects for accessing the device object dictionary entries is SDO and SDO uses the Client Server structure for its communication model section 3 2 The real time data or I O value can be transmitted or received quickly without any protocol overhead by means of PDO communication objects The PDOs communication model follows the Producer Consumer structure It is also named the Push Pull model section 3 3 NMT communication objects are used for controlling and supervising the state of the nodes in the CANopen network and it follows a Master Slave structure section 3 5 No matter which kind of communication object is used the transmitted message must obey the data frame defined in the CAN 2 0A spec Generally it looks like the following figure
78. as the following data format Additional information General Information bit 31 bit 24 bit 23 bit16 bit 15 bit 0 Specific functionality I O functionality Device profile number For 7232D the specific functionality is always 0 The I O functionality defines what kind of device the I 7232D is Bit 16 17 18 19 present the DI DO Al AO respectively For example if bit 16 is 1 it means that the 7232D has DI channels If both bit 16 and 17 are 1 the I 7232D has both DI and DO channels Bit 23 bit 19 is always 0 The general information is 0x191 0x191 401 it means that the I 7232D follows the CANopen spec DS401 2 About the object with index 0x1001 and 0x1003 please refer to section 5 3 2 3 The object with index 0x1005 stores the SYNC COB ID In the I 7232D this is used to receive the SYNC COB ID The following table shows the data format of the SYNC Bit Number Value Meaning 31 MSB X do not care 30 0 Device does not generate SYNC message Device generates SYNC message 29 0 11 bit ID CAN 2 0A 1 29 bit ID CAN 2 0B 28 11 0 If bit 29 0 X If bit 2921 28 11 bits of 29 bit COB ID 10 0 LSB X 10 0 bits of COB ID The 1 7232D doesn t support the SYNC generation therefore 29 bit ID bit 30 and bit 31 are always 0 4 The object with index 0x1008 0x1009 and 0x100A record the 1 7232D product information When interpreting these objects the ASCII ta
79. as the high relationship with the bus length The following table indicates the corresponding bus length on every kind of baud rate Baud rate bit s Max Bus length m 1M 25 800 K 50 500 K 100 250 K 250 125 K 500 50 K 1000 20K 2500 10K 5000 Note When the bus length is greater than 1000m the bridge or repeater devices may be needed In order to wiring conveniently the I 7232D supplies two CAN bus connector Each connecter built on the CANopen Modbus RTU Gateway looks like as following figure c c2 c2 c2 c2 c c2 c2 cC c2 c3 ccc SS SS SS SS SSSSSSG CANopen Modbus RTU Gateway Pin No Signal Description 2 CAN L CAN L bus line dominant low 3 CAN_SHLD Optional CAN Shield 4 CAN_H CAN_H bus line dominant high I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 10 Be careful that the bypass CAN bus connector can t not be regard as another CAN channel It is just designed for connecting to another CANopen device conveniently The structure of the internal electronic circuit is presented as follows H T v I v o D A Un u a Un Us 2 Zz 2 z 2 2 Z 2 Z gt o L o L o o X 4 e Zz OQ Z i2 Z zZ O Z zZ I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 2 3 Power LED 7232D needs 10 30 VDC power input and consumes 3 9W The Power LED will be turn on
80. bed in section 5 3 Incidentally during communication via the PDO messages the data length of the PDO message must match with the PDO mapping object If the data length L of the PDO message exceeds the total bytes n of the PDO mapping object entries only the first n bytes of the PDO message are used by the PDO consumer If L is less than n the PDO message will not be processed by the PDO consumer and an Emergency message with error code 8210h will be transmitted to the PDO producer The PDO communication set is shown as follows I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 97 PDO Producer PDO Consumers 11 bit COB ID bit RTR Len 8 byte Data byte 10 0 0 7 Indication request COB ID 0 L PDO msg indication p indication Write PDO Protocol COB ID the default PDO COB ID or the PDO COB ID defined by user L the data length about how many bytes the PDO message has PDO msg the real time data or the data which can be mapped into the PDO mapping objects PDO Consumer PDO Producer Remote Transmit Request 11 bit COB ID bit RTR Len 8 byte Data byte 10 0 0 7 request COB ID 1 0 reserved request 11 bit COB ID bit RTR Len 8 byte Data byte 10 0 0 7 Indication COB ID 0 L PDO msg Read PDO Protocol COB ID the default PDO COB ID or the PDO COB ID defin
81. ble may be needed 5 The range of the 0x100c is 0 32767 in I 7232D For more information of the object with index 0x100C and 0x100D please refer to section 5 3 2 6 For the object with index 0x1014 please refer to section 5 3 1 7 The object with index 0x1015 store the inhibit time period between two EMCY message The function of this object is similar to the PDO communication object with sub index 04 It I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 168 is useful for avoiding the large loading on the CAN bus because of transmitting a lot of EMCY messages This parameter range is 0 32767 for the I 7232D and the unit of EMCY inhibit time is ms SDO Communication Entries Idx Sidx Description Type Attr Default 1200h Oh Largest sub index supported for UNSIGNED 8 RO 2 server SDO parameter 1h COB ID form client to server UNSIGNED 32 RO 600h Node ID RXSDO 2h COB ID form server to client UNSIGNED 32 RO 580h Node ID TxSDO I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 169 RxPDO Communication Entries Idx Sidx Description Type Attr Default 1400h Oh Largest sub index supported for UNSIGNED 8 RO 2 receive PDO parameter 1h COB ID used by PDO Rx UNSIGNED 32 RW 200h Node ID 2h Transmission type UNSIGNED 8 RW FFh 1401h
82. byte Func Code Node ID RTR Length 10191 1817 5 413 2 1 2 3 4 5 6 7 11110010 0 0 0 0 8 40 01 10 00 00 00 00 00 SDO server I 7232D CCS 2 m 01 10 00 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 514132 0 1 2 3 4 5 6 7 110 111 0 0 00 0 8 14F 01 10 00 00 00 00 00 i SDO server I 7232D CCS 1 n 2 e 1 S 1 m 01 10 00 d 00 00 00 00 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 141 5 4 NMT Communication Set 5 4 1 Module Control Protocol The NMT communication set can be applied for changing the NMT status of the NMT slave The following figure shows how to change the different NMT statuses for the I 7232D Start Remote Node Protocol NMT Master NMT Slave 11 bit COB ID bit RTR Len 8 byte Data byte m 107 6 0 0 1 2 7 Indication 7232D request 0000 0000000 0 8 cs 1 Node ID Not use indication p indication p Start Remote Node Protocol cs NMT command specifier 1 start Node ID The node ID of the NMT slave device I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 142 Stop Remote Node Protocol NMT Master NMT Slave 11 bit COB ID bit RTR Len 8 byte Data byte V 10 7 6 0 0 I 27 oe request 0000 0000000 0 8 cs 2 No
83. can take the active requirement for a SDO transmission When the SDO client starts to transmit a SDO it is necessary to choose the proper protocol to transmit the SDO If the SDO client has to get the information of the device object dictionary from the SDO server the segment upload protocol or block upload protocol will be applied The former protocol is used for transmitting fewer data the latter protocol is used for transmitting larger data Similarly both the segment download protocol and block download protocol will be implemented when the SDO client wants to modify the object dictionary to the SDO server The differences between the segment download protocol and the block download protocol are similar to the differences between the segment upload protocol and the block upload protocol Because of the different access types in the object dictionary entries not all of the object dictionary entries can be allowed to access via the SDO transmission If the SDO client trends to modify the read only entries of the object dictionary of the SDO server then the abort SDO transfer protocol will be given and the SDO transmission will also stop I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 25 I 7232D only supports the SDO server Therefore it can only be passive and wait for the SDO client requirements The general concept of the upload and download protocol with the 1 7232D indicated in the following figure
84. de ID Not use 3 indication gt indication gt Stop Remote Node Protocol cs NMT command specifier 2 stop Node ID The node ID of the NMT slave device Enter Pre Operational Protocol NMT Master NMT Slave 11 bit COB ID bit RTR Len 8 byte Data byte op 10 7 60 0 1 K ioe 7 request 0000 0000000 0 8 cs 128 Node ID Not use indication gt indication Enter Pre Operational Protocol cs NMT command specifier 128 enter PRE OPERATIONAL Node ID The node ID of the NMT slave device I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 143 Reset Node Protocol NMT Master NMT Slave 11 bit COB ID bit RTR Len 8 byte Data byte I 107 6 0 0 1 2 7 Indication 7232D request 0000 0000000 0 8 cs 129 Node ID Not use indication p indication p Reset Node Protocol cs NMT command specifier 129 Reset_Node Node ID The node ID of the NMT slave device Reset Communication Protocol NMT Master NMT Slave 11 bit COB ID bit RTR Len 8 byte Data byte JN RN IPS ee uri ME OD 7 request 0000 0000000 0 8 cs 130 Node ID Not use indication gt indication gt Reset Communication Protocol cs NMT command specifier 130 Reset_Communication Node ID The node ID of the NMT slave device I 7232D CANopen Modbus RTU Gateway user manual Version
85. dex 01 It is a 16 bit data unit Users can check this object in the Standardize of object mapping table described above It is mapped to the AOO of the M 7024 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918 71615141 13 2111 0 0 11 2131 4 1516 7 11 011111010101010 10111 0 8 16005 16 03 00 00 00 00 SDO server I 7232D scs NES m 051603 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 6151413 2111 0 0 11 213141 1516 7 1111010101010101010111 0 8 2F 05 16 00 01 00 00 00 SDO server I 7232D ccs ai n ES e 1 S SA m 05 16 00 d 03 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 130 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101 91817 161514 13 2111 0 0 1 2 3 4 56 7 1 0 1 1 0 0 0 0 0 0 1 0 8 60 05 16 00 00 00 00 00 SDO server I 7232D SCS a m 05 16 00 Step 43 Transmit the DO0 DO7 of M 7055D and AOO of M 7024 to be 0x54 and OV respectively 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918 7 61514131 121110 0 11 213141516 7 0111010101010101011101 0 8 54 00 00 00 00 00 00 00 PDO PDO onsumer I 7232D COB ID 0x202 PDO msg 54000000 T
86. e Func Code Node ID RTR Length 10191817161514 1312 1110 0 1 213141 1 516 7 11 11 01010101010101011 0 8 40 03 10 01 00 00 00 00 S SDO server I 7232D CCS Lg m 03 10 01 Step 4 7232D responds to the ending message 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 1019181716151413 21110 0 1 11 21314151 16 7 1 0 1 1 0 0 0 0 0 0 1 0 8 43 03 10 01 10 82 09 00 SDO server I 7232D SCS 2 n 0 e 1 S 1 m 03 10 01 d 10 82 09 00 Step 5 Check the object 0x1001 and make sure that the manufacturer specific and generic errors on the error register are indicated 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918 1716151413 21110 0 11 21314151 6 7 111101010101010101011 0 8 40 01 10 00 00 00 00 00 SDO server I 7232D CCS S m 01 10 00 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 138 Step 6 The manufacturer specific and generic errors on the error register are indicated in the received message 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID Length 10191817 514 131
87. e 1 the TxPDO is always transmitted no matter whether the DI values are changed or not when the I 7232D receives the SYNC object I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 115 Transmission Type 3 for 1st TxPDO Step 23 Set the transmission type of the 1st TxPDO to 3 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 51413 2 1 0 11 213141 1516 7 11111010 0 0 0 0 0 0 8 2F 00 18 02 03 00 00 00 SDO server I 7232D ccs 1 n 3 e 1 S 1 m 00 18 02 d 3 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 51413 2 1 11213141 51 161 7 1 101111 0 10 0100 0 8 60 00 18 02 00 00 00 00 SDO server I 7232D SCS 3 m 00 18 02 Step 24 Change the DO value of the M 7055D to be OxEF respectively by using the 1st RxPDO 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 5 4 131 21 1 0 11 21314151 16 7 01111010 0 0 0 0 0 0 8 EF 100100 00 00 00 00 00 PD PDO s Producer I 7232D COB ID 0x201 L 8 PDO msg EF 00 00 00 00 00 00 00 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 116 Step 25 The
88. e for Al is 5V 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817161514 3 2111 0 0 1 2 3 4 5 6 7 011101110101010101011 0 2 EA 3F 00 00 00 00 00 00 PDO PDO onsumer I 7232D COB ID 0x281 L M PDO msg EA3F 0000 00 00 00 00 The feedback AI value is 3FEA Users also need to transfer this value to float The M 7017R input float range is set to 10V 10V and the input hex range is from 0x8000 32768 to Ox7FFF 32767 The value Ox3FF5 16373 can be transferred By using the following equation 16373 32768 32767 32768 4 997V FloatValue LOV 10V 10V I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 106 Event Timer Functionality Step 6 Use the SDO to change the event timer of the 2nd RxPDO to 1000 which is stored in index 0x1801 with sub index 5 The value 1000 means 1 second because the unit in the event timer is ms 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 61514 3 2 1 0 11 213141516 7 1 11101 010101010 0 0 0 8 2B 01 18 05 E8 03 00 00 SDO server I 7232D ccs 1 n 2 e 1 S 1 m 01 18 05 d E8 03 The value 0x03E8 is equal to 1000 Step 7 7232D will response the message to finish the data download 11 bit COB ID bit
89. e mapped to the PDO Rarer The number and length of the objects to be mapped would exceed PDO length 0604 0043h General parameter incompatibility reason 0604 0047h General internal incompatibility in the device 0606 0000h Access failed due to an hardware error ee Data type does not match length of service parameter does not match 0607 0012h Data type does not match length of service parameter too high 0607 0013h Data type does not match length of service parameter too low 0609 0011h Sub index does not exist 0609 0030h Value range of parameter exceeded only for write access 0609 0031h Value of parameter written too high 0609 0032h Value of parameter written too low 0609 0036h Maximum value is less than minimum value 0800 0000h General error 0800 0020h Data cannot be transferred or stored to the application EIS Data cannot be transferred or stored to the application because of local control 60006 Data cannot be transferred or stored to the application because of the present device state Object dictionary dynamic generation fails or no object 0800 0023h dictionary is present e g object dictionary is generated from file and generation fails because of an file error I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 92 Abort SDO Transfer Example The object index 0x1008 doesn t have the sub index 01 entry Therefore if users read the object entry with index 0x1
90. e sub index 01 in the object with index 0x6443 and 0x6444 are 1 and 0x0000 respectively When the error events occurs this AO will be output to error mode output because the value of the object with index 0x6443 and sub index 01 is 1 The AO output value is 0 because of the value in the object with index 0x6444 and sub index 01 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 181 7 Appendix A Dimensions and Mounting 04 5X4 0 0 35 30 nN AN e C Mil tr 7 30 40 50 Back View 72 00 Side View 33 00 25 00 Top View Unit mm 58 50 72 00 From View I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 182 183 1 02 December 24 2008 I 7232D CANopen Modbus RTU Gateway user manual Version 8 Appendix B Analog I O Transformation Table In order to look up your required information we have separated the transformation table into several parts according to the Modbus module names They are given below e M 7017 M 7017R M 7018 M 7018R M 7019R M 7015 M 7033 M 7033 D Note The M 7018 and M 7018R doesn t have the 5V e M 7024 M 7017 M 7017R M 7018 M 7018R M 7019R Range g Data Format Max value Min value Code Hex Input Range 10 000V 10 000V ve of
91. ed by user L the data length about how many bytes the PDO message has PDO msg the real time data or the data which can be mapped into the PDO mapping objects I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 98 PDO Communication Example In order to take a look at a PDO communication demo some M 7000 modules may be needed They are M 7017RD M 7024 M 7055D and M 7052D and their RS 485 module addresses are configured as 0x05 0x04 0x03 and 0x01 respectively The output range of the M 7024 and input range of the M 7017RD modules are 0 10V and 10V 10V respectively The Baud Rate of these modules is set to 9600bps and the checksum is set to disable When users want to configure the M 7000 modules the following procedure is the best for reference Note We use the ICPDAS M 7000 series Modbus RTU modules for this demo if users want to use any other Modbus RTU device please configure the communication parameters of this device firstly Connect the PC RS 485 COM port with the RS 485 port on one of the Modbus modules If there is no RS 485 COM port on your PC the RS 232 RS 485 converter l 7520 may be needed Turn off the l 7520 and the M 7000 module Then connect the PC s RS232 to l 7520 and connect I 7520 s RS485 port to M 7000 module Afterward please turn on the 1 7520 and the M 7000 module and configure the M 7000 module by using DCON Utility For more information about DCON Uti
92. ed for UNSIGNED 8 RO 8 read analog input 16 bit 1h Read analog input 1h UNSIGNED 16 RO Note 1 Because the 7232D only supports the hex format all of the Al channels need to transfer to the hex format when storing into this object The transformation equation is shown below HexValue H min FloatValue F max F min F min H max H min The FloatValue is the result after transformation The HexValue is the value which wants to be transferred The Hmax and Hmin is the maximum and minimum values of the 2 s complement hex range The Fmax and Fmin is the maximum and minimum value of the float range User can find out the Hmax Hmin Fmax and Fmin in the appendix B For example The input range of the module M 7017R is set to 10V 10V According to the table in the appendix B we can find out the range for hex format is 0x8000 32767 Ox7FFF 32768 Therefore if the value got from the Al channel of the M 7017R is 0x1234 the Al value with float format can be calculated as follows 4660 32768 ADS 10V 10V 10V 1 422V 32767 32768 By the way any Al value which is bigger then the maximum value of the input range will be set to the maximum value of the input range automatically And the Al value which is small then the minimum value of the input range is also set to the minimum value of the input range automatically I 7232D CANopen Modbus RTU Gateway user manual Vers
93. egment size is indicated not used always 0 reserved for further use always 0 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 63 SDO Upload Example The practical application of the SDO upload is illustrated as below SDO Server SDO Client SDO Server 1 7232D 1 7232D Initial SDO Upload Protocol bit e 1 Initial SDO Upload Protocol bit e 0 SDO Upload with expedited transfer Upload SDO Protocol bit t 0 bit c 0 i Upload SDO Protocol bit t 1 bit c 0 FORGE Upload SDO Protocol bit t 0 bit c 0 FORGE Upload SDO Protocol bit t bit c 1 SDO Upload with normal transfer In the following paragraph both expedited transfer and normal transfer are given according to the procedure described above The method on how to get the value stored in the object dictionary is also presented By means of the initiate SDO upload protocol users can obtain how many sub indexes of the object with index 0x1400 can support This information is located in the object with index 0x1400 with sub index 00 Also users can get the string located in the object with index 0x1008 by using the initiate SDO upload protocol and the upload SDO segment protocol I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 64 Example for expedited transfer Step 1 Send the RxSDO message to the I 7232D to obtain the object entry with index 0x1400 and sub index 00 stored
94. els which are not enough to fill up one byte That will be regarded as one byte automatically The 1 7232D uses objects with the index 0x6000 to store the input values of the DI channels The I O values of the DO Al and AO channels are put into the object with the indexes 0x6200 0x6401 and 0x6411 respectively When data come through these I O channels to the corresponding object it will follow the rules below The modules that are addressed from Ox1 to OxF it will be taken into account The modules with any other addresses will be regarded as useless The I O channel values of the Modbus RTU modules with lower addresses are first placed into the object dictionary After the 7232D has filled the all I O channels in one module then the I 7232D will go to the next address to continue Each analog channel is stored by using 2 bytes The number of digital channels for one module which can t be divided by 8 with no remainder is stored with 1 byte I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 23 After using the rules described above the result of the object filling is as follows Index 0x6000 0x6200 0x6401 0x6411 sub index for DI for DO for AI for AO 0x00 1 1 2 2 0x01 DIO DI7 DO0 DO7 AIO AOO MA 0x01 MA 0x03 MA 0x05 MA 0x04 0x02 0x03 0x04 0x05 0x06 0x07 0x08 Note MA refers to the Modbus RTU device
95. en Modbus RTU Gateway Utility to set the node ID of the 7232D CAN bus baud rate RS 485 baud rate 500Kbps 9600bps and disable checksum respectively The parameter information of these M 7000 series modules are shown in the following table No Device ID IO Type Start Addr Comm Len 1 1 Digital Input 1 8 2 3 Digital Output 1 8 3 4 Analog Output 1 1 4 5 Analog Input 1 1 Afterwards users can get the information shown as follows w Rx TxPDO Parameters Setting Result Receive PDO Transmit PDO PDO NO COB ID Hex Transmission Type Inhibit Time Event Timer Mapping 0 Mapping 1 1 201 255 Reversed Reversed O 3 00007 0007 7 2 301 255 Reversed Reversed 0x4 0 3 401 255 Reversed Reversed 4 501 255 Reversed Reversed RxPDO Information I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 101 w Rx TxPDO Parameters Setting Result Receive PDO PDO ND COB ID Hex Transmission Type Inhibit Time Event Timer MappingO Mapping 1 0x1 000070007 M 281 255 381 255 481 255 TxPDO Information After finishing the preparations we will introduce several functions of PDO communication in this demo They are shown as follows Access digital I O amp analog I O with asynchronous PDO Use Event Timer to obtain the input value The function of the acyclic and synchronous RxPDO The function of the acyclic and synchronous TxPDO
96. ersion 1 02 December 24 2008 30 PDO consumer SYNC consumer amp PDO producer 1 7232D SYNC transmitted by SYNC producer SYNC transmitted by SYNC producer Read DI AI SYNC transmitted by SYNC producer channels NN Read DI AI channels NN cyclic synchronous TxPDO PDO producer SYNC consumer amp PDO consumer 1 7232D RxPDO SYNC transmitted by SYNC producer pe gt Actuate DO AO channels SYNC transmitted by SYNC producer VE LE Actuate DO AO channels cyclic synchronous RxPDO The RTR only synchronous mode is activated when receiving a remote transmit request message and SYNC objects This transmission type is only useful for TxPDO In this situation the 1 7232D will update the DI AI value when receiving the SYNC object And if the RTR object is received the I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 31 I 7232D will respond to the TxPDO object The following figure shows the mechanism of this transmission type PDO consumer SYNC consumer amp PDO producer 1 7232D SYNC transmitted by SYNC producer 2 2 t Update DI AI Read DI AI values channels TL gt Update DI AI values EET pr Update DI AI Read DI AI val es channels lt s RTR only synchronous TxPDO The asynchronous mode is independent on the SYNC object This mode can also be divided into two parts for more detail
97. et the reboot time of I 7232D If users do not send the store configuration protocol and just send the Activate bit timing parameters protocol only it will not change the Node ID or bit timing until the 1 7232D reboots but the configuration Node ID or Bit timing is changed temporarily Unless users send the store configuration protocol the configuration Node ID or Bit timing will be ineffective after the l 7232D reboots again I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 157 5 5 3 Inquire protocols These protocols are used to implement the Inquire LSS Address service To implement the service each of the following three protocols has to be executed 5 5 3 1 Inquire Identify Vendor ID protocol Step 1 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 161514 131 121110 0 111 2131415161 7 1111111111110101110 1 0 8 cs 00 00 00 00 00 00 00 LSS LSS Master I 7232D COB ID Ox7E5 LSS msg cs LSS command specifier cs 90 0x5A Step 2 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918171615141 131 121110 011121314 51 61 7 111111111111010111010 0 8 CS Vendor id 00 00 00 LSS LSS Master lt dh I 7232D COB ID Ox7EA LSS
98. f the CANopen slave Bit timing parameters of the physical layer CAN baud e LSS address index 1018H By using LSS a LSS Slave can be configured for a CANopen network without using any devices like DIP switches for setting the parameters 3 6 1 1 LSS objects and attributes LSS functionality is modeled using two objects The LSS Master object exists exactly once in a CANopen network supporting LSS The LSS Master configures layer parameters of connected CAN modules by the usage of LSS Slave objects residing on the individual modules Communication between LSS Master and LSS Slave is accomplished by the LSS protocol 3 6 1 2 LSS master object The module that configures other modules via a CANopen network is called the LSS Master There may be only one LSS Master in a network The LSS Master has no attributes I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 43 3 6 1 3 LSS slave object The module that is configured by the LSS Master via a CANopen network is called the LSS Slave The number of LSS Slaves in a network is not limited The LSS Slave has following attributes LSS address An LSS Slave is identified by an LSS Address An LSS Address consists of a vendor id a product code a revision number and a serial number The vendor id product code and serial number are numerical numbers These parts are all UNSIGNED32 data format A vendor id is assigned to module suppliers by CiA A prod
99. fields in the emergency object data will be described in section 5 3 Take the I 7232D for an example if any errors occur in the 1 7232D the EMCY message will be sent out from the I 7232D Afterwards the EMCY message will not be transmitted again if the same error occurs repeatedly However if any other different error which are detected by the I 7232D occur it will trigger the transmission of the EMCY message again After one but not all error reasons are gone an emergency message containing the emergency error code 00 00 may be responded with the remaining errors in the error register and manufacturer specific error fields Hence by means of checking the EMCY message users can understand what is happening in the I 7232D and can do something for the error event I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 38 3 5 NMT Introduction The Network Management NMT follows a node oriented structure and also follows the master server relationship On the same CAN bus network only one CANopen device can have the power to implement the function of NMT master All the other CANopen nodes are regarded as NMT slaves Each NMT slave is unique and identified by its node ID from 1 to 127 The NMT service supplies two protocols module control protocol and error control protocol for different purposes Through the NMT module control protocol the nodes can be controlled into several kinds of status such as
100. finish the uninstall process Remove Programs From Your Computer uninstallShield will remove the software TAN Gy Utility from your computer Please wait while each of the following components is removed v Shared program files Y Standard program files v Folder items Program folders Program directories Program registry entries ERE NU I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 53 4 4 Configuration the CANopen Modbus RTU Gateway Utility Before using this software utility please make sure that you have connected COM of the I 7232D with the available COM port on your PC Also connect the Modbus RTU modules with COM2 of the 1 7232D The architecture is displayed in the following figure Note We use the ICPDAS M 7000 series Modbus RTU modules for this demo m Available WO COM port I 7232D Modbus RTU M 7000 Series Step 1 First turn off the I 7232D Connect the INIT pin and GND pin on the I 7232D Then turn on the 1 7232D m Device Profile DSP 402 v2 1 gi Modules RTL 1 O series 0 0 0 0 0 IK Vdc isolation on CAN side Connect to Connect to PC COM port Modbus RTU modules Cable CA0910F Ground 10 30VDC I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 54 Step 2 Execute the CAN MRU exe file The following figure will be displayed General Setting File About
101. for UNSIGNED 8 RO receive PDO mapping 1h RW CM ee s RW n I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 172 TxPDO Communication Entries Idx Sidx Description Type Attr Default 1800h 0 Largest sub index supported for UNSIGNED 8 RO 5 receive PDO parameter 1 COB ID used by PDO Tx UNSIGNED 32 RW 180h Node ID 2 Transmission type UNSIGNED 8 RW FFh 3 Inhibit time UNSIGNED 16 RW 0 4 Reversed 5 Event timer UNSIGNED 16 RW 0 1801h 0 Largest sub index supported for UNSIGNED 8 RO 5 receive PDO parameter 1 COB ID used by PDO Tx UNSIGNED 32 RW 280h Node ID 2 Transmission type UNSIGNED 8 RW FFh 3 Inhibit time UNSIGNED 16 RW 0 4 Reversed 5 Event timer UNSIGNED 16 RW 0 1802h 0 Largest sub index supported for UNSIGNED 8 RO 5 receive PDO parameter 1 COB ID used by PDO Tx UNSIGNED 32 RW 380h Node ID 2 Transmission type UNSIGNED 8 RW FFh 3 Inhibit time UNSIGNED 16 RW 0 4 Reversed 5 Event timer UNSIGNED 16 RW 0 1803h 0 Largest sub index supported for UNSIGNED 8 RO 5 receive PDO parameter 1 COB ID used by PDO Tx UNSIGNED 32 RW 480h Node ID 2 Transmission type UNSIGNED 8 RW FFh 3 Inhibit time UNSIGNED 16 RW 0 4 Reversed 5 Event timer UNSIGNED 16 RW 0 1804h 0 Largest sub index su
102. for the 1 7232D the first 8 DO object entries will be mapped to the first RXPDO mapping object because one DO object entry needs one bit space The last 3 DO object entries will be assigned into the 5th RxPDO because of the 2nd and 3rd rule described above One AO object entry needs 2 bytes of space Therefore the second RxPDO mapping object loads the first 4 AO object entries The following 4 AO object entries are packed into the third RxPDO mapping object and so is the 4th RxPDO mapping object Because the 5th RxPDO mapping object has been occupied by the DO object entries the last AO object entry shall be assigned into the 6th RXPDO mapping object Before applying the PDO communications the PDO producer and the PDO consumers need to have their PDO mapping information for each other On the one hand the PDO producers need PDO mapping information to decide how to assign the expected practical I O data into PDO messages On the other hand PDO consumers need the PDO mapping information to know the meaning of each byte of received PDO message That is to say that when a PDO producer transmits a PDO object to PDO consumers the consumers contrast this PDO message with PDO mapping entries which are previously obtained from the PDO producer Then interpret the meanings of these values from the received PDO object For example if a CANopen device has 16 DI 8 DO 2 Al and 1 AO channels The input or I 7232D CANopen Modbus RTU Gateway user manual
103. ft Excel Microsoft FrontPage al Microsoft PowerPoint E Readme start d E GS fl microsoft Word I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 50 Uninstall CAN Gateway Utility You can uninstall the CANopen Modbus RTU Utility software from the control panel by using the following steps Step 1 Click Start in the task bar then clicks the Control Panel as shown in the following figure vz My Network Places 7188xwC2 Set Program Access and Defaults Release Notes ta Printers and Faxes amp Kd Wf Microsoft Office Word 2003 9 er pP Search All Programs gt I Run A Log Off 9 Shut Down start EC Step 2 Click the Add Remove button Programs icon to open the dialog E Control Panel ELE File Edit View Favorites Tools Help r op Back Q 3 yo Search le Folders E Address J Control Panel Go Vg Control Panel ETT aj Accessibility Add Hardware Add or dministrative Adobe Gamma Automatic G Switch to Category View Options Remove Tools Updates i Programs A gt B CSNW Date and Time Display Folder Options Fonts Game R47 Windows Update Controllers Help and Support I s 9 re e Internet IXXAT Keyboard Mouse Network Network Setup Options Interfaces Connections Wizard See Also Sb amp e PC cillin Phone and Power Options Printers and Regional and Scanners and etting Modem axe anauage ame
104. gment Protocol SDO Client SDO Server I 7232D 11 bit COB ID bit RTR Len 8 byte Data byte 10 7 6 0 Uum 4 7 request 1100 Node ID 0 8 seen t seg data indication 11 bit COB ID bit RTR Len 8 byte Data byte confirmation 10 7 6 0 0 4 7 response s 7 5 4 3 0 1011 Node ID 0 8 esit z reserved Download SDO Segment Protocol ccs client command specifier 0 download segment request SCS server command specifier 1 download segment response seg data It is at most 7 bytes of segment data to be downloaded The encoding depends on the type of the data referenced by index and sub index n It indicates the number of bytes in segment data that do not contain segment data Bytes 8 n 7 do not contain segment data n 0 if no segment size is indicated c It indicates whether there are still more segments to be downloaded 0 more segments to be downloaded 1 no more segments to be downloaded t toggle bit This bit must alternate for each subsequent segment that is downloaded The first segment will have the toggle bit set to 0 The toggle bit will be equal for the request and the response message X not used always 0 reserved reserved for further use always 0 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 80 SDO Download Example When the SDO download example has been applied the procedure in the
105. he first two bytes are the value OxAB for the DOO DO7 of the M 7055D The last two bytes are the value 0x0000 for the AOO of the M 7024 Total bytes of this PDO message are 4 Step 44 Users will receive the 1st TxPDO and 5st TxPDO simultaneously because the DI value has changed 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 56 7 01011111010101010101 11 0 3 54 00 01 00 00 00 00 00 PDO PDO Consumer I 7232D COB ID 0x181 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 131 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 1019 81716 5 4 31211 0 014 1821 SANS VEN 0101111 010 01 101011 01 0 4 15400 06 00 00 00 00 00 PDO PDO Consumer 1 7232D COB ID 0x182 PDO 5400 06 00 message The first two bytes are for the value 0x54 for the DIO DI7 of the M 7055D The last two bytes are for the value 0x0006 for the AIO of the M 7024 After transferring the input value of the AIO is 0 002V I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 132 53 EMCY Communication Set 5 3 1 EMCY COB ID Parameter The EMCY COB ID is similar to the PDO COB ID It can be a default value or be defined by
106. ice profile data type ex 8 bit Integer 8 bit unsigned and access type read only write only All of them are addressed by a 16 bit index and an 8 bit sub index The overall profile of the standard object dictionary is shown below Index hex Object 0000 Reserved 0001 001F Static Data Types 0020 003F Complex Data Types 0040 005F Manufacturer Specific Data Types 0060 007F Device Profile Specific Static Data Types 0080 009F Device Profile Specific Complex Data Types OOAO OFFF Reserved for further use 1000 1FFF Communication Profile Area 2000 5FFF Manufacturer Specific Profile Area 6000 9FFF Standardized Device Profile Area A000 BFFF Standardized Interface Profile Area C000 FFFF Reserved for further use Take the standardized device profile area for an example Assume that a CANopen device has 16 DI 8 DO 2Al and 1AO channels The values of these channels will be stored into several entries in the standardized device dictionary such as the entries with indexes 0x6000 0x6200 0x6401 and 0x6411 When the CANopen device obtains the input value these values are stored in the 0x6000 and 0x6401indexes Furthermore the values stored in the 0x6200 and 0x6411 indexes also output to the DO and AO channels The basic concept is depicted as follows I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 21 DI Standardized Device
107. in the communication profile area The message structure is as follows Assume that the node ID of the I 7232D is set to 1 Users can find the information about the object entry with index 0x1400 in chapter 6 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817161514 1312 111 0 0 1 2131 415161 7 1111010101010101010 1 0 8 40 00 14 00 00 00 00 00 SDO server I 7232D ccs 2 m 0014 00 Because low byte needs to transfer firstly the first byte 00 is the low byte of 0x1400 the second byte 0x14 is the high byte of 0x1400 and the last byte 00 means the sub index 00 Step 2 1 7232D will respond to the data stored in the object entry with index 0x1400 and sub index 00 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817161514 31 12111 0 0 11 213141 1516 7 11 011111010101010 0111 0 8 4F 00 14 00 02 00 00 00 SDO server I 7232D SCS 2 n 3 e 1 S 1 m 00 14 00 d 02 Because the first byte of data indicates that only the 4th byte is valid Therefore the feedback value is 02 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 65 Example for normal transfer Step 1 Send the RxSDO message to the I 7232D to obtain the object entry with index 0x1
108. ine the EMCY COB ID This situation is similar to the PDO COB ID The default value is 4 bit function code 0001 with 7 bit node ID EMCY msg Record the type or class of the occurrence error I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 134 The data format of the emergency object data follows the structure shown bellow Byte 0 1 2 3 4 5 6 7 Content Emergency Error Code Error register Manufacturer specific Error Field Each bit on the error register is defined as follows The I 7232D only supports bit 0 bit 4 and bit 7 ey Meaning Generic error Current Voltage Temperature Communication error overrun error state Device profile specific Reserved always 0 NI OIAJAJIOINJ gt O Manufacturer specific I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 135 The emergency error codes and the error register are specified in the following table Emergency Error Manufacturer Specific Error Description Error Code Register Field High Low First Two Last Three Byte Byte Byte Byte 00 00 00 00 00 00 00 00 Error Reset or No Error 10 00 81 01 00 00 00 00 CAN Controller Error Occur 50 00 81 02 00 00 00 00 EEPROM Access Error 50 00 81 03 00 00 00 00 COM Port Access Error 81 10 11 04 00 00 00 00 Soft Rx
109. ion 1 02 December 24 2008 180 Analog Output Devices Entries Idx Sidx Description Type Attr Default 6411h Oh Largest sub index supported for UNSIGNED 8 RO write analog output 16 bit 1h Write analog output 1h UNSIGNED 16 RW 6443 Oh Largest sub index supported for UNSIGNED 8 RW error mode analog output 16 bit 1h Error mode analog output 1h UNSIGNED 16 RW 0 6444 Oh Largest sub index supported for UNSIGNED 8 RW error value analog output 16 bit 1h Error value analog output 1h UNSIGNED 16 RW 0 Note 1 Because the I 7232D doesn t support float format user need to transfer the AO value form float format to hex format It is similar with the Al situation The transformation equation is as follows HexValue Fmin H max H min H min F max F min The HexValue is the result after transformation The FloatValue is the value which wants to be transferred The Fmax and Fmin is the maximum and minimum values of the float range The Hmax and Hmin is the maximum and minimum value of the 2 s complement hex range User can find out the Fmax Fmin Hmax and Hmin in the appendix B 2 When the bus off is detected or the node guarding fails the l 7232D will check the value of the object with index 0x6443 If this value sets to 1 the 1 7232D will output the error mode digital output value to the corresponding AO channel For example if th
110. is in asynchronous mode the expiration of this time value is considered to be an event This event will cause the transmission of the TXPDO message The event timer parameter is defined as a multiple of 1ms PDO Mapping Objects The PDO mapping objects provide the interface between PDO messages and real I O data in the CANopen device They define the meanings for each byte in the PDO message and may be changed by using a SDO message All of the PDO mapping objects are arranged in the Communication Profile Area I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 34 In the CANopen spec CiA DS401 RxPDO and TxPDO default mapping objects may be specified as follows There shall be up to 4 enabled TxPDO mapping objects and up to 4 RxPDO mapping objects with default mappings 1st RxPDO and TxPDO mappings are used for digital outputs and inputs to each other 2nd 3rd and 4th RxPDO and TxPDO mapping objects are assigned to record the value of analog outputs and inputs respectively If a device supports too many digital input or output channels which exceed the 8 channels the related analog default PDO mapping objects shall remain unused and the additional digital l Os may use additional PDO mapping objects This rule shall also be obeyed for the additional analog channels Take the RxPDO for example there are 11 DO object entries and 13 Al object entries in the object dictionary In the default situation
111. it is necessary to write the value to 0 Its value is 0 and can be configured directly because the 0x1A05 has not been used before First fill the DIO DI7 of the M 7055D into the index 0x1A05 with sub index 01 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 1019 18171615141 131 121110 0 11 2131 41516 7 111 0 10101010101010 11 0 8 123105 1A 01 08 01 00 60 SDO server I 7232D ccs 1 n 0 e 1 S 1 m 05 1A 01 d 08 01 00 60 The value 60 00 01 08 means the mapped object is stored in the index 0x6000 with sub index 01 It is an 8 bit data unit Users can check this object in the Standardize of object mapping table described above It is mapped according to the DIO DI7 of the M 7055D 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918171615141 131 121110 0 1 1 213141516 7 11 01111101010101010111 0 8 160 05 1A 01 00 00 00 00 SDO server I 7232D Scs m 051A01 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 125 Step 40 Fill the AIO of the M 7017R into the index 0x1A05 with sub index 03 respectively 11 bit COB ID bit Data
112. lity description please refer to the quick start on the DCON Utility on line Help Users can download the DCON Utility on the following web site http www icpdas com download 7000 7000 htm Repeat the steps mentioned above until all of the M 7000 modules have been configured After finishing the configurations users can connect all the M 7000 modules to their PC simultaneously and scan them by using the DCON Utility The result may look like as follows I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 99 FI DCon Utility Ver 4 3 9 Eile COM Port Search Eun Terminal Help 2 Now Searching Address Baudrate Checksum Description 1 1 9600 Disable 8 DI Modbus Protocol 3 3 3600 Disable 8 DI 8 D00 Modbus Protocol 4 4 9600 Disable 4 AO Modbus Protocol 5 5 9600 Disable 8 Analog Input Module Modbus Protocol Fast moc lt Searching Status COM Port ICOM 2 Address 12 decl CIhexl Baud Rate 115200 Hoa TF 06 12 After completing your configurations connect these four M 7000 modules with COM2 of the I 7232D and each I O channels for these modules should be wired as follows DOO VOUT IN DOI VOUT IN DO2 DO3 DO4 DOS DO6 DO7 M 7055D M 7052D M 7024 M 7017R I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 100 Use the CANop
113. load method 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918 7 514 312 0 11 21314151 16 7 111 0 0 0 0 0 0 0 8 AO 08 10 00 7F 00 00 00 SDO server I 7232D ccs 5 cc 0 cs 0 m 08 10 00 blksize TF Each block contains 127 segments Step 2 The I 7232D confirms the requirement with the Initiate SDO Block Upload protocol 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 109 8 7 514 3 2 0 11 2131 4 1516 7 1101 1 1 0 0 0 0 0 8 C2 08 10 00 09 00 00 00 SDO server I 7232D scs 6 sc 0 S 1 ss 0 m 08 10 00 size 09 The 1 7232D will response 9 bytes data during the SDO Block Upload I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 75 Step 3 Send the message to finish the Initiate SDO Block Upload protocol and inform the I 7232D to start the data transmission 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 161514 31 121110 0 11213141 5161 7 1 1 0 0 0 0 0 0 0 0 1 0 8 A3 100100 00 00 00 00 00 SDO server I 7232D ccs E cs 3 Step 4 7232D responds to the first 7 bytes of data by using the Upload SDO Block Segment protocol
114. mode Node ID CAN baud and RS 485 baud I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 5 1 3 7232D Features NMT Slave Error Control Node Guarding Node ID Setting by Utility or LSS protocol No of PDOs 32 Rx 32Tx PDO Modes Event triggered remotely requested cyclic and acyclic SYNC PDO Mapping variable No of SDOs 1 server 0 client Emergency Message Yes CANopen Version DS 301 v4 01 Device Profile DSP 401 v2 0 CiA DSP 305 v1 1 Produce EDS file dynamically Baud Rate setting by Utility or LSS protocol 10K 20K 50K 125K 250K 500K 800K and 1M bps CAN ERR and Overrun LED indicators Support max 10 Modbus RTU series modules Provide friendly Utility to configure 7 segmemt LED to show operation mode Node ID CAN baud and RS 485 baud I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 6 1 4 Utility Features Support CANopen node ID baud rate setting and com port parameters setting Show Modbus RTU modules configuration Show Application objects configuration Support EDS file creating I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 7 2 Hardware Specification 2 4 Hardware Structure CAN Bus Bypass CAN Connector Bus Connector soposssspessss Power LED CANopen Status LED CANopen Modbus RTU Gateway B NMT Slave B DO 1 server SDO 0 client SDO E PDO 32Rx
115. msg cs LSS command specifier cs 90 0x5A vendor id gt It is one part of the LSS address which is recorded in index 1018h subindex 1 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 158 5 5 3 2 Inquire identify product code protocol Step 1 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 91817 5 1413 12 0 1 213 415 l6 7 1111111 01011 0 8 cs 0000 00 00 00 00 00 LSS Fer EEE GE na Slave Master I 7232D COB ID Ox7E5 LSS msg cs LSS command specifier cs 91 0x5B Step 2 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 5 4 rg EE en 1111111 110 011 0 8 cs Product code 00 00 00 LSS LSS Master I 7232D COB ID Ox7E4 LSS msg cs LSS command specifier cs 91 0x5B product code It is one part of the LSS address which is recorded in index 1018h subindex 2 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 159 5 5 3 3 Inquire Identify revision number protocol Step 1 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 91817 5 1413 12 0 1 213
116. n index 1018h subindex 4 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 161 5 5 3 5 Inquire Node ID protocol The protocol is used to implement the Inquire Node ID service Step 1 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 0111 2131415161 7 1111111111110101110111 0 8 cs 00 00 00 00 00 00 00 LSS LSS Master I 7232D COB ID Ox7E5 LSS msg cs LSS command specifier cs 94 0x5E Step 2 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101 91817161514 13 2 11 0 0 11213141 516 7 1111111111110101110101 0 8 cs NID 00 00 00 00 00 00 LSS LSS Master I 7232D COB ID Ox7EA LSS msg cs LSS command specifier cs 94 0x5E NID The Node ID of the selected module If the Node ID has been changed by means of previous Configure Node ID service the original Node ID is returned until the next power on reset I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 162 5 5 4 Identification protocol 5 5 4 1 LSS identify remote slaves This protocol is used to implement the LSS Identify Remote Slaves
117. ndex supported for UNSIGNED 8 RO write digital output 8 bit 1h Write digital output 1h to 8h UNSIGNED 8 RW 6206 Oh Largest sub index supported for UNSIGNED 8 RW error mode digital output 8 bit 1h Error mode digital output 1h to UNSIGNED 8 RW 0 8h 6207 Oh Largest sub index supported for UNSIGNED 8 RW error value digital output 8 bit 1h Error value digital output 1h to UNSIGNED 8 RW 0 8h I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 178 Note 1 When the bus off is detected or the node guarding fails the I 7232D will check the value of the object with index 0x6206 If the bit of this value sets to 1 the I 7232D will output the error mode digital output value to the corresponding DO channel For example if the sub index 01 in the object with index 0x6206 and 0x6207 are 0x31 and OxF8 respectively When the error events occurs only the DO5 DO4 DOO will be changed to error mode output value because the bit 5 bit 4 and bit 1 of the value 0x31 is 1 And the DO5 DO4 and DOO will be change to 1 1 and 0 respectively because bit 5 4 and 1 of the value OxF8 is 1 1 and 0 Other channels beside DO5 DO4 and DOO will do nothing I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 179 Analog Input Devices Entries Idx Sad Description Type Attr Default 6401h Oh Largest sub index support
118. ng Start 5 1 SDO Communication Set 5 1 1 Upload SDO Protocol Initiate SDO Upload Protocol Before transferring the SDO segments the client and server need to communicate with each other by using the initiate SDO upload protocol During the initiate SDO upload protocol the SDO client can tell the SDO server what object the SDO client wants to get Also the initiate SDO upload protocol is permitted to transfer up to four bytes of data Therefore if the data length of the object which the SDO client wants to read is equal to or less than the permitted data amount the SDO communication can be finished by only using the initial SDO upload protocol That is to say if the data upload is less enough to be transmitted in the initiate SDO upload protocol then the upload SDO segment protocol will not be used The communication method of this protocol is shown as follows SDO Client SDO Server I 7232D 11 bit COB ID bit RTR Len 8 byte Data byte 10 7 6 0 0 1 3 4 7 7 5 4 0 1100 Node D 0 8 m reversed ee request ccs 2 x indication 11 bit COB ID bit RTR Len 8 byte Data byte confirmation 10 7 6 0 0 1 3 4 7 response 7 5 1413 21 110 1011 Node ID 0 8 m d scs 2 x n Jels Initiate SDO Upload Protocol I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 60 CCS SCS X reserved client command
119. ngth 10191817161514 1312 111 0 01 2 3 4 5 6 7 11110101010101010 0 1 0 8 60 00 00 00 00 00 00 00 SDO server I 7232D ccs gt 9 t 0 Step 4 I 7232D will respond to the first 8 bytes in the index 0x1008 and sub index 00 object entries 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8171615141 312 111 0 0 11 2 31 41516 7 110111110101010101011 0 8 00 43 50 53 SF 44 43 4F SDO server I 7232D SCS 0 t 0 n 0 c 0 seg data 435053 5F 44 43 4F Users can check chapter 6 to see that the object entry with index 0x1008 and sub index 00 has the data type VISIBLE STRING Therefore users need to transfer these data values to the corresponding ASCII character After transformation they are CPS DCO I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 67 Step 5 Request the I 7232D to transmit the rest of the data 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817161514 1312 111 0 0 1 2 3 4 56 7 1111 01010101010101011 0 8 70 00 00 00 00 00 00 00 SDO server I 7232D ccs o t4 t 1 Step 6 Receive the rest of the data from the SDO server 11 bit COB
120. nnnnnvnnnnnnnnnnnnnnnnnnen 60 5 1 SDO Communication SGL npe ne sd res Ec ax suas iS E pas v dE se DEus 60 5 1 1 Upload SDO Protocol erre eene 60 5 1 2 SDO Block Uplo480 itudin idees dedita 69 5 1 3 DOWNIOAd Rn 78 5 1 4 SDO Block Download suae roa aenea deae vex onSs 83 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 2 5 1 5 Abort SDO Transfer Protocol 91 5 2 PDO Communication Set rrrnnnnnnnnnnnnvvvvnnnnnnnnnnnnnnnnvvnnnnnnnnnnnnnnnnen 94 5 2 1 PDO COB ID Parameters eese 94 5 2 2 Transmission Type rrnnnnnnnnnnnnvnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnen 96 5 2 3 PDO Communication Rule 97 5 3 EMCY Communication Set rrrnnnnnnvvnnnnnnnnnnnnnnnnnvvnnnnnnnnnnnnnnnnnen 133 5 3 1 EMCY COB ID Parameter sss 133 53 2 EMCY Communication esee 134 5 4 NMT Communication Set rrrnnnnnnnvvvvnnnnnnnnnnnnnnnnvvvnnnnnnnnnnnnnnnnen 142 5 4 1 Module Control Protocol 142 5 4 2 Error Control Protocol eeeeeesss 146 55 LSS Communication Sel istos i ecxibhrl pilis sea tux bandi eias 150 5 5 1 Switch mode protocols 150 5 5 2 Configuration protocols
121. o the Al channel 0 value The fifth and sixth bytes are the values link to Al channel 1 The relationships among the object dictionary the PDO mapping object and the PDO message are given below I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 36 Practical I O my Object Dictionary RxPDO mapping objects RxPDO I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 37 3 4 EMCY Introduction EMCY messages are triggered by the occurrence of a device internal error It follows the producer consumer relationship After a CANopen device detects the internal error an emergency message is transmitted to the EMCY consumers only once per error event No further emergency objects must be transmitted if no new errors occur on a device Zero or more then one emergency consumers may receive the EMCY object The 1 7232D only supports the function of the emergency producer The general concept behind the EMCY communications is shown below EMCY Producer EMCY Consumer I 7232D EMCY message Internal error occurs di indication or dissappears 4 indication A An emergency message contains 8 byte of data called emergency object data and follows the structure provided bellow Byte 0 1 2 3 4 5 6 7 Content Emergency Error Code Error register Manufacturer specific Error Field All the
122. only transmit or receive in the operational state In the following table the relationship among each NMT state and communication objects is given Installing Pre operational Operational Stopped PDO O SDO O O SYNC Object O O Time Stamp Object O O EMCY Object O O Boot Up Object O NMT O O O 3 5 2 Error Control Protocols There are two kinds of protocols defined in the error control protocol According to the CANopen spec one device is not allowed to use both error control mechanisms Guarding Protocol and Heartbeat Protocol at the same time l 7232D provides the salve function of the Node Guarding Protocol Therefore users can only use this protocol for l 7232D in practical application and only node guarding protocols will be introduced here The node guarding protocol of the error protocol is described below I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 41 Node Guarding Protocol The Node Guarding Protocol follows the Master Slave relationship It provides a way to help uses monitor the node in the CAN bus The communication method of node guarding protocol is defined as follows NMT Master NMT Slave indication A A 1 Noe Guard Tine Node Y Life Node Guarding Event indication Life Guarding Evert indication The NMT master polls each NMT slave at regular time intervals This time interval is called the gua
123. or the RxPDO both of these two types mean that receiving the RxPDO will directly trigger an update of the mapped data I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 96 5 2 3 PDO Communication Rule The PDO related objects are indicated from index 0x1400 to Ox1BFF For the 7232D RxPDO communication objects are from index 0x1400 to index 0x141F and RxPDO mapping objects are from index 0x1600 to index 0x161F The ranges of the TxPDO communication objects and the mapping objects are from index 0x1800 to index 0x181F and from index 0x1A00 to index 0x1A1F respectively Moreover each PDO communication object has its own PDO mapping object For example the first RxPDO communication object is stored in the entry with index 0x1400 and the corresponding mapping object is stored in an entry with index 0x1600 The object with index 0x1401 and the object with index 0x1601 are the couple and so on The TxPDO also follows the same rules The first TxPDO communication object is stored in the entry with 0x1800 and the corresponding mapping object is in the 0x1A00 entry and so on Therefore before users access the practical I O channels via PDO communication each parameter for the PDO communications and mapping objects must be handled Besides PDO communications can be only applied in the NMT operational state Users can use the NMT module control protocol to change the NMT state of the I 7232D It is descri
124. ow w IOAppObjSetMod bus Application Obje ing for Modbus Parameter Set ModBus Device NodelD M 3 Relay Address Moco Digtal Input Input m Register Relay Address Data Length Bits Note If you want to remove some device information please select the instance number corresponding to this device and click the Delete button the device information will be Erase UPDATA c removed Instance 1 Instance 1 Instance 2 Instance 3 Instance 4 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 58 Rx TxPDO Parameters Setting Result Receive PDO PDO NO COB ID Hex Transmission Type Inhibit Time Event Timer MappingO0 Mapping 1 1 181 255 00 _0x1 0000 0007 sree 2 281 255 00 0 5 0 0 5 0 3 381 255 00 v M 4 481 255 00 Device Information Device ID 10 Type Start Addr Digital Input 1 8 Digital Output 1 8 1 1 1 Analog Output _ Analog Input Step 7 If everything is ok click the Finish button to create the EDS file and save the related information into the EEPROM of the 1 7232D EDS File Configuration amp Information Viewer E EK EDS File Information Description this is a test Created by i Finish I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 59 5 Configuration amp Getti
125. ownload Segment 0 bit c 0 seqno 0 SDO Client SDO Server 1 7232D Download Segment 1 bit c 0 seqno 1 Initial Block Download Protocol Download Segment n bit c0 seqno n Download Block Protocol normal SDO Client SDO Server Download Block Protocol last 1 7232D Download Segment 0 bit c 0 seqno 0 End Block Download Protocol Download Segment 1 bit c 0 seqno 1 SDO Block Download Download Segment n bit c 1 seqno n Confirm block Download Block Protocol last I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 87 Step 1 In order to inform the I 7232D that the value of the object entry with index 0x1400 and sub index 02 will be modified by using the SDO Block Download method the Initiate SDO Block Download protocol is implemented 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8765 4 32 0 1 1 2131 41516 7 1 1 0 0 0 0 0 40 0 8 CO 00 14 02 00 00 00 00 SDO server I 7232D ccs 6 cc 0 S 0 cs 0 m 001402 size 0 Because the value of s is 0 the size is not used Step 2 l 7232D responds to the message by using the Initiate SDO Block Download protocol Afterwards the SDO client can start to download the object s data with index 0x1400 and sub index 02 to I 7
126. pported for UNSIGNED 8 RO 5 receive PDO parameter 1 COB ID used by PDO Tx UNSIGNED 32 RW 80000000h 2 Transmission type UNSIGNED 8 RW FFh 3 Inhibit time UNSIGNED 16 RW 0 4 Reversed I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 173 5 event timer UNSIGNED 16 RW 0 181Fh 0 Largest sub index supported for UNSIGNED 8 RO 5 receive PDO parameter 1 COB ID used by PDO Tx UNSIGNED 32 RW 80000000h 2 Transmission type UNSIGNED 8 RW FFh 3 Inhibit time UNSIGNED 16 RW 0 4 Reversed 5 Event timer UNSIGNED 16 RW 0 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 174 TxPDO Mapping Communication Entries Idx Sidx Description Type Attr Default 1A00h Oh Largest sub index supported for UNSIGNED 8 RO 8 transmit PDO mapping 1h Read digital input 1h to 8h UNSIGNED 8 RW 6000 0108h 2h Read digital input 9h to 10h UNSIGNED 8 RW 6000 0208h 3h Read digital input 11h to 18h UNSIGNED 8 RW 6000 0308h 4h Read digital input 19h to 20h UNSIGNED 8 RW 6000 0408h 5h Read digital input 11h to 28h UNSIGNED 8 RW 6000 0508h 6h Read digital input 19h to 30h UNSIGNED 8 RW 6000 0608h 7h Read digital input 11h to 40h UNSIGNED 8 RW 6000 0708h 8h Read digital input 19h to 48h UNSIGNED 8
127. ra I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 51 Step 3 Find out the CAN_MRU Utility and click the Change Remove button B Add or Remove Programs 2 inl xi Currently installed programs show updates Sort by Name x ange or chenge o Adobe Acrobat 6 0 Standard ChineseT Size 356 00MB Programs Adobe Photoshop CS Size 183 00MB g amp Alcohol 120 Size 3 57MB Add New ATI Display Driver Ue 2 CAN MRU Utility Clic ere for suppor Formatio Ta Click here for support information Add Remove Windows To change this program or remove it From your computer click Change Remove Components EB CAN SL utility Fy DASYLab VE 8 00 04 Size 70 21MB Set Program Access and 9 DCON Bundled Driver For InduSoft Detsuks W DCON Utility 4 CAN MRU Utility Setup Welcome Modify repair or remove the program Welcome to the CAN MRU Utility Setup Maintenance program This program lets you modify the current installation Click one of the options below Modify Select new program components to add or select currently installed components to remove Repair dp Reinstall all program components installed by the previous setup Remove all installed components InstallShield Cancel I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 52 Step 5 Finally click the button OK button to
128. ransmission type 0 The SYNC message is needed to trigger the action of the 1st TxPDO 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101 9181716151413121 1110 0 1 2 3 4 5 67 010 10 1110 101010101010 0 O 100100 00 00 00 00 00 00 SYNC SYNC Producer I 7232D COB ID 0x80 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 114 Step 20 After transmitting the SYNC object the 1st TxPDO is triggered and users can receive the 1st TxPDO from I 7232D 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918 7 61514131 121110 0 11 213141516 7 0101111101010101010111 0 1 17800 00 00 00 00 00 00 PDO PDO Consumer I 7232D COB ID 0x181 L peer PDO msg 780000 00 00 00 00 00 Step 21 Send the SYNC message again 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817161514 1312111 0 0 11 213141516 7 010 1011101010101010 0 0 O 10000 00100 00 00 00 00 SYNC SYNC Predica Consumer I 7232D SYNC 0x80 COB ID Step 22 Nothing has happened because the DI values don t change This is the main difference between transmission type 0 and 1 At transmission typ
129. rc X reserved I 7232D 11 bit COB ID bit RTR Len 8 byte Data byte 10 7 6 0 0 1 3 4 7 7 5 4 2 1 0 1100 Node ID 0 8 cre reserved E ccs 6 n x cs 1 indication 11 bit COB ID bit RTR Len 8 byte Data byte 10 7 6 0 0 1 7 response 7 5 4 2 1 0 1011 NodeID 0 8 reserved Scs 5 x ss 1 End SDO Block Download Protocol client command specifier 6 block download server command specifier 5 block download client subcommand 1 end block download request server subcommand 1 end block download response It indicates the number of bytes in the last segment of the last block that do not contain data Bytes 8 n 7 do not contain segment data 16 bit Cyclic Redundancy Checksum CRC for the whole data set The algorithm for generating the CRC is as follows x 16 x 12 x 5 1 CRC is only valid if in Initiate Block Download cc and sc are set to 1 Otherwise CRC has to be set to 0 For I 7232D it is not support CRC check mechanism not used always 0 reserved for further use always 0 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 86 SDO Block Download Example In this demo the value of the object entry with index 0x1400 and sub index 0x02 will be changed to 5 by using the SDO Block Download communication method When the SDO Block Download is running the procedure looks as follows SDO Client SDO Server 1 7232D D
130. rd time and may be different for each NMT slave The response of the NMT slave contains the state of that NMT slave which may be in a stopped operational or pre operational state The node life time is given by the guard time life time factor The node life time factor can also be different for each NMT slave If the NMT slave has not been polled during its life time a remote node error is indicated through the Life Guarding Event service In addition the reported NMT slave state which does not match the expected state also produces the Life Guarding Event This event may be occurs in the DO and AO channels to output the error mode value recorded in the object with index 0x6207 and index 0x6444 The object with index 0x6026 and 0x6443 can control the error mode value of the DO or AO channels to enable or disable when the Lift Guarding Event has been indicated For more information about objects with index 0x6206 0x6207 0x6443 and 0x6444 please refer to chapter 6 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 42 3 6 LSS Introduction 3 6 1 Definition LSS protocol offers the possibility to inquire and change the settings of certain parameters of the local layers on a CANopen module with LSS Slave capabilities by a CANopen module with LSS Master Capabilities via the CANopen Network The following parameters can be inquired and or changed by using LSS protocol Node ID o
131. rresponding PDO message for each PDO consumer in the CAN bus The PDO communication structure figure is shown below Rerrote Transit Request I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 27 From the view of the CANopen device the TxPDO is used to transmit data from a CANopen device Therefore it is usually applied on DI AI channels The COB ID of the PDO for receiving data is RxPDO COB ID and it is usually applied on DO AO channels Take the I 7232D for an example if a PDO producer sends a PDO message to the I 7232D it needs to use the RxPDO COB ID of the I 7232D because it is a PDO reception action viewed from the 7232D Inversely when some PDO consumer send remote transmit requests to the I 7232D it must use the TxPDO COB ID of the I 7232D because it is a PDO transmission action viewed from the 1 7232D Trigger Modes Of PDO For PDO producers PDO transmission messages can be trigged by three conditions They are the event driven timer driven and remote request All of them are described below Event Driven PDO transmission can be triggered by the occurrence of an object specific event For PDOs of the cyclic synchronous transmission type this is the expiration of the specified transmission period which is synchronized by the exception of the SYNC message For PDOs of the acyclic synchronous or asynchronous transmission type the triggering of a PDO transmi
132. ser manual Version 1 02 December 24 2008 112 Transmission Type 0 for 1st TxPDO Step 17 Set the transmission type of the 1st TxPDO to 0 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 61514 3 121110 0 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 2F 00 18 02 00 00 00 00 SDO server I 7232D CCS 1 n 3 e 1 S 1 m 00 18 02 d 00 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 109 876 5 4 3 21 0 0 11 213141 1 516 7 1 0 111 10 10101010 0 11 0 8 160 00 18 02 00 00 00 00 SDO server I 7232D SCS i 3 m 001802 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 113 Step 18 Change the DO value of the M 7055D to be 0X78 respectively by using the 1st RxPDO 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 0111010101010101010 111 0 8 EA 00 00 00 00 00 00 00 PDO PDO Consumer Producer I 7232D COB ID 0x201 L 8 PDO msg EA 00 00 00 00 00 00 00 Step 19 The 1st TxPDO will not be transmitted immediately even if the DI value is changed because of the character of the t
133. sfer protocol is shown below SDO Client SDO Server I 7232D 11 bit COB ID bit RTR Len 8 byte Data byte 10 7 6 0 0 1 3 4 7 7 5 4 0 indicati request 1100 NodeID 0 8 5 m d indication Abort SDO Transfer Protocol SDO Client SDO Server I 7232D 11 bit COB ID bit RTR Len 8 byte Data byte 10 7 6 0 0 1 3 4 7 indicati 7 5 4 0 indication 1011 NodeID 0 8 E m i request Abort SDO Transfer Protocol cs command specifier 4 abort transfer request X not used always 0 Multiplexer It represents index and sub index of the SDO d contains a 4 byte Abort Code about the reason for the abort I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 91 Abort Code Description 0503 0000h Toggle bit not alternated 0504 0000h SDO protocol timed out 0504 0001h Client server command specifier not valid or unknown 0504 0002h Invalid block size block mode only 0504 0003h Invalid sequence number block mode only 0504 0004h CRC error block mode only 0504 0005h Out of memory 0601 0000h Unsupported access to an object 0601 0001h Attempt to read a write only object 0601 0002h Attempt to write a read only object 0602 0000h Object does not exist in the object dictionary 0604 0041h Object cannot b
134. ssion is device specified in the CANopen spec DSP 401 v2 1 By following this spec the PDO will be triggered by any change in the Dl channel states when the transmission type of this PDO is set to acyclic synchronous or asynchronous Timer Driven PDO transmissions are also triggered by the occurrence of a specific event for the device or if a specified time has elapsed without the occurrence of an event For example the PDO transmission of the I 7232D can be triggered by the event timer of the PDO communication parameters which is set by the user Remote Request I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 28 If the PDO transmission type is set to asynchronous or RTR only the PDO transmission can only be triggered after receiving a remote transmit request from any other PDO consumer PDO Transmission Types Generally speaking there are two kinds of PDO transmission modes synchronous and asynchronous For the PDO in a synchronous mode it must be triggered by the reception of a SYNC message The synchronous mode can be distinguished with more detail into three kinds of transmission These are the acyclic synchronous cyclic synchronous and RTR only synchronous The acyclic synchronous can be triggered by both the reception of a SYNC message and the occurrence of an event defined by an event driver mentioned above For the TxPDO object after receiving a SYNC object from SYNC producer the 1 7
135. sub index 00 For example there are 4 Modbus RTU modules connected with the I 7232D and the module address for each Modbus RTU module is 1 3 4 and 5 respectively Sub index 1 is mapped to the Modbus RTU module with address 1 Sub index 2 is mapped to the Modbus RTU module with address 3 Sub index 3 and sub index 5 are mapped to the Modbus RTU module with address 4 and 5 respectively and so the sub index 0 will be 4 This means that there are 4 Modbus RTU modules connected with the I 7232D If accessing the I O channels on the Modbus RTU modules fails the value of the corresponding sub index will count times of the errors which occur according to ether a read write timeout or read write failure The counting range is from 0 to 65535 and the counting value may be returned to 0 after 65536 It can be cleared to 0 via the SDO communication method I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 166 6 Object Dictionary of 7232D 6 1 Communication Profile Area The following information lists each entry into the communication profile area defined in 1 7232D In order to look these up conveniently all communication entries are divided into several tables They are General Communication Entries RxPDO Communication Entries RxPDO Mapping Communication Entries TxPDO Communication Entries and TxPDO Mapping Communication Entries In the table header you can see Idx Sidx and
136. subindex 3 Step 4 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 514132 01 112 3141516 7 11 1111 110 01 0 8 cs Serial number 00 00 00 LSS LSS I 7232D COB ID Ox7E5 LSS msg cs LSS command specifiers cs 67 0x43 serial number It is one part of the LSS address which is recorded in index 1018h subindex 4 Step 5 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 514132 0 1 21 31 415161 7 1111 1 1 0 0 1 0 8 cs 00 00 00 00 00 00 00 LSS LSS Master 1 7232D COB ID Ox7 EA LSS msg cs LSS command specifier cs 68 0x44 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 152 5 5 2 Configuration protocols 5 5 2 1 Configuration Node ID protocol This protocol is used to implement the Configuration Node ID service for the Node ID of I 7232D Step 1 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID Length 10 91817 514 3 2111 0 0 11 213141 151 161 7 11111111 1 0 0 1 0 1 0 8 cs ID 100 00 00 00 00 00 LSS LSS Master 1 7232D COB ID Ox7E5 LSS msg cs LSS command specifier cs 17 0x11 ID Node ID Step 2 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 51413121 110 Oo 1 21314151 6
137. t all I O information of the Modbus RTU devices through the RS 485 port of I 7232D When the 1 7232D receives the command from CAN bus it will do the corresponding actions to Modbus RTU I O channels In addition we also provide the utility tool for users to configure the communication parameters and build EDS file for the I 7232D Therefore users can easily apply Modbus RTU IO modules in any CANopen master interface with EDS file via the 7232D PISO CAN200 400 PISO CPM100 v B DOODO s CANopen Modbus RTU Salve Master Gateway a CPS ModbusRTU 5 D eeee2 Modbus RTU M 7000 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 4 1 2 Hardware Features CPU 80186 80MHz Philip SJA1000 CAN controller Philip 82C250 CAN transceiver e SRAM 512K bytes Flash Memory 512K bytes e EEPROM 2k bytes Real Time Clock Built in Watchdog 16 bit Timer 2500 Vrms isolation on CAN side Power Supply 3 0W Unregulated 10VDC to 30VDC Operating Temperature 25 C to 75 C Storage Temperature 30 C to 85 C e Humidity 5 95 RUN ERR and Overrun Led indicators COM1 RS 232 TXD RXD RTS CTS GND Communication speed 115200 Max Configure tool connection COM2 RS 485 D2 D2 Communication speed 115200 Max Connect to Modbus RTU IO modules Display 7 segmemt LED to show operation
138. te Data byte 10 7 6 0 0 1 7 7 6 0 1100 Node ID 0 8 seg data iss c seqno indication 11 bit COB ID bit RTR Len 8 byte Data byte 10 7 6 0 0 I 2 3 7 response 7 5 4 2 1 0 1011 NodeID 0 8 ackseq blksize reserved scs 5 x ss 2 scs ss seqno seg data ackseq blksize X reserved Download SDO Block Segment Protocol server command specifier 5 block download server subcommand 0 initiate download response It indicates whether there are stil more segments to be downloaded 0 more segments to be downloaded 1 no more segments to be downloaded enter End block download phase sequence number of segment 0 seqno 128 It is at most 7 bytes of segment data to be downloaded sequence number of last segment that successfully during the last block download If ackseq is set to 0 the server indicates the client that the segment with the sequence number 1 was not received correctly and all segments have to be retransmitted by the client number of segments per block that has to be used by client for the following block download with 0 blksize 128 not used always 0 reserved for further use always 0 was received End SDO Block Download Protocol I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 85 SDO Client SDO Server ccs scs CS SS c
139. the transmission of the initiate SDO upload protocol the SDO client starts to upload the data and the upload segment protocol will follow the process shown below SDO Client SDO Server I 7232D 11 bit COB ID bit RTR Len 8 byte Data byte 10 7 6 0 0 1 7 7 5 4 3 0 1100 Node ID 0 8 reversed ae request ccs 3 t x indication 11 bit COB ID bit RTR Len 8 byte Data byte confi rmation 10 7 6 0 0 1 7 response 7 5 4 3 1 0 1011 Node ID 0 8 seg data scs 0 t n c Upload SDO Segment Protocol I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 62 ccs scs seg data x reserved client command specifier 3 upload segment request server command specifier 0 upload segment response toggle bit This bit must alternate for each subsequent segment that is uploaded The first segment will have the toggle bit set to 0 The toggle bit will be equal for the request and the response message indicates whether there are still more segments to be uploaded 0 more segments to be uploaded 1 no more segments to be uploaded It is at most 7 bytes of segment data to be uploaded The encoding depends on the type of the data referenced by index and sub index It indicates the number of bytes in seg data that do not contain segment data Bytes 8 n 7 do not contain segment data n 0 if no s
140. uct code revision and a serial number are assigned by the module supplier For LSS Addresses the following conditions must be met The LSS address is identical to the CANopen identity object The LSS address of a LSS Slave can be inquired There exists no other LSS Slave in the world with the same lt LSS Address gt LSS modes The LSS service distinguishes between the LSS configuration phase and the operation phase of the module Any module that is not in Configuration Mode is in Operation Mode In Configuration Mode all LSS service in Operation Mode only the switch mode services are available I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 44 3 6 2 LSS MODES AND SERVICES LSS services can be functionally grouped in three areas The switch mode services provide a way to logically connect the LSS Master and LSS Slave s for configuration purposes They change the LSS mode attribute of the LSS Slave The configuration services perform the actual task of configuring the layer parameters of an LSS Slave The configuration services are only available in configuration mode The inquiry services provide a way for the LSS Maser to determine layer parameters The inquiry services are available only in configuration mode CONFIGURATION MODE Switch Mode Global Switch Mode Global with parameter with parameter operation mode with configuration mode
141. users via SDO communication methods This COB ID is stored in the object 0x1014 and the data format is shown in the following table Before using the EMCY mechanism bit 31 of the EMCY COB ID needs to be confirmed Bit Number Value Meaning 31 MSB 0 EMCY exits EMCY is valid 1 EMCY does not exist EMCY is not valid 30 0 Reserved always 0 29 0 11 bit ID CAN 2 0A 1 29 bit ID CAN 2 0B 28 11 0 If bit 29 0 X If bit 2921 28 11 bits of 29 bit COB ID 10 0 LSB X 10 0 bits of COB ID I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 133 5 3 2 EMCY Communication The EMCY message is triggered when some internal error occurs After the transmission of one EMCY message the object with index 0x1003 will record this EMCY event Therefore users can check this object to understand the history of the error s occurrences The 1 7232D supports a max of 5 records stored in the different sub indexes of the index 0x1003 object Sub index 1 of this object stores the last EMCY event and sub index 5 records the oldest EMCY event The EMCY communication set is given below EMCY Producer EMCY Consumer RTR Len 8 byte Data byte Il 7232D 11 bit COB ID bit 6 0 request COBID 0 7 EMCY msg Indication Emergency Object Protocol COB ID The EMCY COB ID indication p indication p User can def
142. w icpdas com download can index htm or CD ROM disk following the path of Napdos ICAN CAN Gateway l 7232D Step 2 Execute the setup exe file to install the CANopen Modbus RTU Gateway Utility CAN MRU Utility Setup Welcome to the InstallShield Wizard for CAN MRU Utility The InstallShield Wizard will install CAN MRU Utility on your computer To continue click Next E Cancel I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 48 Step 3 Click the Next button to continue Then you will see the default path if you want to change the installation destination click Change button to set the installation path CAN MRU Utility Setup Choose Destination Location Select folder where setup will install files ea Install CAN MRU Utility to C AICANAYCAN Gateway InstallShield Step 4 Click the Finish button to finish the installation program CAN MRU Utility Setup InstallShield Wizard Complete 3 The InstallShield Wizard has successfully installed CAN_MRU Utility Click Finish to exit the wizard I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 49 Step 5 After finishing the installation of the CANopen Modbus RTU Gateway Utility users can find the CAN_MRU Utility as shown in the following screen shot 2 Microsoft Access Scr NN d O Microsoft ActiveSync f c All Programs Microso
143. x301 L 8 PDO msg FF 1F 00 00 00 00 00 00 Only the first two bytes are useful because the data in the 2nd RxPDO has only two bytes Users need to transfer the float value to hex format because the I 7232D only supports the hex format The output range of the M 7024 is OV 10V According to the transformation table stored in the appendix table The mapping hex format range is from 0x000 0 to OxFFF 4095 Therefore the 5V is mapped to the Ox7FF by applying following equation 5V OV HexValue 10V 0V 4095 0 0 2047 5 2047 Ox7FF The first two bytes of the PDO message will be filled with FF and 07 For more details about how to transfer the value between the hex and float please refer to section 6 3 I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 105 Step 4 Even the Al input value will be changed the RxPDO will not respond automatically in the 7232D Therefore users need to use the RTR message from the 2nd TxPDO to read back the Al value 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101 9 8 7 16151413 2 111 0 01 2 3 4 5 6 7 0111011101010101010 1 1 O 00 00 00 00 00 00 00 00 PDO PDO Consumer I 7232D COB D 0x281 Step 5 The feedback valu
144. y user manual Version 1 02 December 24 2008 46 4 2 CANopen Modbus RTU Gateway Utility Overview The CANopen Modbus RTU Gateway Utility is designed for the I 7232D It provides three functions Set the communication parameters of the CANopen CAN bus and RS 485 Such as Node ID CAN bus baud rate RS 485 baud rate Start Address data length and RS 485 timeout value Set the Modbus RTU modules hanging on the COM2 of the I 7232D Then create the EDS file to match the setting result Show the important information which is useful for the CANopen network and the RS 485 network Such as the PDO communication objects Modbus RTU modules information and the standardized device objects and manufacturer specific objects defined in the 7232D Before users start to use the I 7232D they must configure the Modbus RTU I O modules by using the CANopen Modbus RTU Utility During the configuration users need to give a unique ID 0x01 0x10 for each Modbus RTU module in the RS 485 network For more information about how to configure the Modbus RTU modules please refer to the on line help of the CANopen Modbus RTU Utility or the user manual for the Modbus RTU modules I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 47 4 3 CANopen Modbus RTU gateway Utility Installation Install CAN Gateway Utility Step 1 Download the CANopen Modbus RTU Gateway Utility setup file from the web site http ww
145. yte Data byte Func Code Node ID RTR Length 10191817161514 13121 111 0 0 1 2 3 4 54 6 7 11111111111101011101 01 0 8 cs Err4 Err2 00 00 00 00 00 LSS LSS Master I 7232D COB ID Ox7EA4 LSS msg cs LSS command specifier cs 19 0x13 Err1 error code Err1 0 protocol successfully completed Err1 1 configuration bit timing fail Err2 spec error reserved 5 5 2 3 Activate bit timing parameters protocol This protocol is used to implement the Activate Bit Timing Parameters service 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101 918171615141312 11 0 0 1 2 13141516 7 111 11111111010111 011 0 8 cs switch delay 00 00 00 00 00 LSS LSS aster I 7232D COB ID Ox7E5 LSS msg cs LSS command specifier cs 21 0x15 switch_delay The duration of the two periods of time to wait after performing the switch The first period is for waiting the finish of the bit timing parameters switch Afterwards 1 7232D will reboot automatically The second period is the time before transmitting any CAN message with the new bit timing parameters The time unit of switch delay is 1 ms I 7232D CANopen Modbus RTU Gateway user manual Version 1 02 December 24 2008 155 5 5 2 4 Store configuration protocol The protocol is used to implement the Store Configuration Parameters service

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