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User manual Universal Fieldbus

1. Interface designation CANopen RS232 C RS485 RS422 No Physical interface RS485 RS232 C RS485 RS422 1 Standard CiA DS 102 DIN 66020 EIA Standard 2 Transmission mode Symmetrical Asymmetrical Symmetrical asynchronous asynchronous asynchronous serial serial serial half duplex full duplex half duplex full duplex at RS422 gt Difference signal Level gt Difference signal 3 Transmission method Master slave Master slave Master slave 4 Number of users Transmitters 32 1 32 Receivers 32 1 32 5 Cable length Maximum 1300 m 15m 1200 m 50 kBd gt 1300 m Baud rate dependent 100 kBd gt 640 m no lt 93 75 kBd gt 1200 m 200 kBd gt 310 m 312 kBd gt 500 m 500 kBd gt 112 m 625 kBd gt 250 m 1 MBd gt 40 m 6 Bus topology Line Point to point Line 7 Data rate Maximum 1Mbit s 120 kBit s 625 kBaud 2 4 k B 2 4 kBit s Standard values 125kB 4 8 k B 4 8 kBit s 250 kB 9 6 kBit s 9 6 kBit s 500 kB 19 2 kBit s 19 2 kBit s 1MB 38 4 kBit s 57 6 kB 57 6 kBit s 312 5 kB 625 kB 8 Transmitter Load 54 Q 3 7 KQ 54 Q Maximum voltage 7V 12V 25V 7V 12V Signal unloaded 5V 15V 5V Signal loaded 1 5V 5V 1 5V 9 Receiver Input resistance 120 3 70 120 Max input signal 7V 12V 15V 7V 12V Sensitivity 0 2V 3V 0 2V 10 Transmit range SPACE Voltage level 0 5 0 05 V 3 15V 0 2 0 2V Logic level 0 0 0 11 Transmit pause
2. Pin number Color Meaning 1 white Rx data 2 green Tx data 3 brown Gnd D sub gateway RS side 1 RS interface Pin number Color Meaning 2 white Rx data 3 green Tx data 5 brown Gnd Cable 2 PC Com x 9 pole D sub Pin number Color Meaning 2 white Tx diagnosis 3 green Rx diagnosis 5 brown Gnd 9 pole D sub gateway RS side 2 RS interface Pin number Color Meaning 4 white Tx diagnosis 9 green Rx diagnosis 5 brown Gnd View of the connector 3 pole 9 pol D SUB PC Com x screw plug connector t 9 pol customer s device gateway pe el includes 1 2 interface UNIGATE SC 4 3 Test mode Setting of the test mode The test mode is set by bringing the switches S4 and S5 in position E Beyond it the interface switch has to be set on 232 All other switches will not be taken into consideration for the set ting of the test mode Now the gateway has to be restarted with these settings by a short discon nection from the power supply The test mode is contained from software revision V2 1 on The test mode may be helpful to inte grate the gateway in the relevant environment for instance to see permanent changing data of the fieldbus in the SPS or also in order to test the parameters of the RS interface 21 4 11 UNIGATE fieldbus gateway for CANopen V 4 2 15 Operation modes of the gateway Deutschmann Automation GmbH amp Co KG
3. LED Bus Power green CANopen supply voltage LED Bus State red green Interface status CANopen LED Power green RS485 RS232 supply voltage LED State red green Interface status RS485 RS232 LED Error No Select ID yellow Binary display of the connection error number In the configuration mode these displays are not valid and only meant for internal use 21 4 11 UNIGATE fieldbus gateway for CANopen V 4 2 37 Hardware ports switches and LEDs Deutschmann Automation GmbH amp Co KG The gateway UNIGATE SC has also 8 LEDs available with the following significance LED Bus Power green CANopen supply voltage LED Bus State red green Interface state CANopen LED Power green Supply voltage RS485 RS232 LED State red green User defined LED Error No Select ID yellow User defined 11 4 1 LED Bus Power This LED is connected directly to the electrically isolated supply voltage of the CANopen end 11 4 2 LED Bus State Lights green CAN Status OPERATIONAL Blinks green CAN Status PREOPERATIONAL or PREPARED Blinks red Guarding error Lights red General CANopen error 11 4 3 LED Power This LED is connected directly to the optionally also electrically isolated supply voltage of the RS485 RS232 end 11 4 4 LED State Lights green only RS Data exchange active via RS485 RS232 Flashes green only RS RS485 RS232 ok but n
4. 4 35 1 21 CAN OD cist gua ened aig cane ede ae ay freee hi ald EE 35 11 2 2 RS232 RS485 RS422 2 20 0 0 me 35 did EEN ota ee E oan Be we Nee Shue Bee wpm 36 11 3 1 Connector to the external device RS interface 36 11 3 2 CANOPenO connector 37 LL Depug plug e sa a A AA Pe ee ene 37 TESA Power Supply ica a a e AA we en E ee ee EE 37 11 3 5 Shield terminal lead 0 e e 2 4 37 11 4 EIS e ae ti a OA e ln a be Fy Be eS 37 11 41 LED Bus Power oo aon SAF ea a A A ME ANE Ee E Ak 38 Lab LED BUS States oie Son ge k Re a Roe a ae oe A ae Pe ae 38 11 43 LED Koerner Re aa Ae ee dd 38 11 44 PED State amp 3 dike bed Hoe op a Dee En ee Ee a e 38 11 4 5 LEDs Error No Select ID at UNIGATERS 38 11 5 SWINGS ig ba a Ee a det Be a nd eS ota 38 11 51 DiF ewmch 3 2 greed deka a lee a ab neg Ce hE ce a Re a 38 11 5 2 Slide switch Termination CANopen 0 o e 39 11 5 3 Rotary coding switches S4 S5 RS485 ID 39 11 5 4 Slide switch RS485 RS232 interface 39 11 5 5 Slide switch RS485 RS422 termination 39 12 Error handling ear BE ce a a EE Re 40 12 1 Error handling at UNIGATERS 40 12 2 Error handling at UNIGATE SC cs eu Gok oa e ee 41 13 Housing variations aaao 2 ee 42 13 1 Main operational fields for housings 04 42 13 2 Mounting instruction 36 ie a
5. 12 2 Error handling at UNIGATE SC Error no LED8 LED4 LED2 LED resp ID Error description 0 0 0 0 0 Reserved 0 0 0 1 1 Hardware fault 0 0 1 0 2 EEROM error 0 0 1 1 3 Internal memory error 0 1 0 0 4 Fieldbus hardware fault or wrong fieldbus ID 0 1 0 1 5 Script error 0 1 1 0 6 Reserved 0 1 1 1 7 RS transmit buffer overflow 1 0 0 0 8 RS receive buffer overflow 1 0 0 1 9 RS time out 1 0 1 0 10 General fieldbus error 1 0 1 1 11 Parity or frame check error 1 1 0 0 12 Reserved 1 1 0 1 13 Fieldbus configuration error 1 1 1 0 14 Fieldbus buffer overflow 1 1 1 1 15 Reserved Table 2 Error handling at UNIGATE SC 21 4 11 UNIGATE fieldbus gateway for CANopen V 4 2 41 Housing variations Deutschmann Automation GmbH amp Co KG 13 Housing variations Optional Deutschmann Automation GmbH amp Co KG supplies gateways with housing variations that fulfill the protection type IP 65 66 Housings are designed to protect installations against dangers from the outside These dangers can be of diverse nature and they are very important for the selection criteria of a specific hous ing variation It should be decisive for the decision which dangers are to be considered at the place of action and which conditions the environment stipulate Now Deutschmann Automation offers two different housing variations e Aluminium housings e High grade steel housings e P
6. e What were you last doing or what last happened on the device programming error on power up The more precise information a fault error description you provide the more exactly we will be able to pinpoint the possible causes 17 2 Downloading PC software and GSD files etc You can download the current version of WINGATE free of charge from our Internet server http www deutschmann de 54 UNIGATE fieldbus gateway for CANopen V 4 2 21 4 11 Deutschmann Automation GmbH amp Co KG Annex 18 Annex 18 1 Explanations of the abbreviations General CL Product group CL Compact Line CX Product group CX GT Galvanic separation RS side GY Housing color gray RS Product group RS SC Product group SC Script 232 485 Interface RS232 and RS485 switchable 232 422 Interface RS232 and RS422 switchable DB Additional RS232 DEBUG interface D9 Connection of the RS through 9 pin D SUB instead of 5 pin screw plug connector PL Board only without DIN rail module and without housing cover PD Board only without DIN rail module and with housing cover AG Gateway installed in a die cast aluminum housing EG Gateway installed in a stainless steel housing IC Product group IC IC design DIL32 16 Script memory expanded to 16KB 5V Operating voltage 5V 3 3V Operating voltage 3 3V Fieldbus ASI AS Interface AS i CO CANopen C4 CANopen V4 C4X CANopen V4 version X see comparis
7. Gee ae ed ARA 9 6 2 UNIGATE as Modbus master 2 0000 eee ene 9 6 2 1 Preparation serta ed odes ae ee EN ye SAA ee SERS Ea ees 9 6 2 2 Data Structures e Ae ae ao ae don a A eae BP SO Ge Bee a 9 6 2 3 Communication sequence 0 00 ee 9 6 3 UNIGATE as Modbus slave 2 2 2 0000 eee es 9 6 3 1 Preparation e 2 eo A A Se Roe eer pO ar Sd 9 6 3 2 Data sttuctlrets lt 0 shee EE 9 6 3 3 Communication sequence 0 00 ee 9 6 3 4 Status report se ea spn ee A ee ee ee ee a ee 10 Generating a script only for UNIGATE SC 10 1 10 2 10 3 10 4 10 5 10 6 10 7 NEIE fp pou eer Sona amines ee AB ko asses ee Memory efficiency of the programs o What can you do with a script device 0 Independence of buses 0 00 eee ee eee Further settings at the gateway 00 The use of the Protocol Developer Accuracies of the baud rates at UNIGATESC UNIGATE fieldbus gateway for CANopen V 4 2 21 4 11 Deutschmann Automation GmbH amp Co KG 10 8 Script processing times 4 4 2 cows ke a Sw LG A ie 33 11 Hardware ports switches and LEDS 34 11 1 Drawing of the unit 00 oi A SOL ee E A Bale o 34 11 1 1 Model UNIGATE RS SC 232 485 CANopen 34 11 1 2 Model UNIGATE RS SC 232 422 CANopen 35 11 2 Configuration ofthe UNIGATE RS
8. Mode of operation of the test mode After the restart in the test mode the gateway will be sending the values 0 15 in hexadecimal rep resentation 0 F in ASCll coding with the current settings for the Baud rate Parity Start Data and Stopbits on the serial side every second Simultaneously the same values are issued binary on the fieldbus interface provided that this is possible on the fieldbus at the moment In case the fieldbus has a data width of more than 1 byte all characters of the fieldbus will be set to the current test character In this mode the State LED on the RS side will be flashing red green the Error No Select ID LEDs will be displaying the value in a binary way that is issued that moment Additionally each character that is received at one of the interfaces will also be output at the same interface as a local echo On the fielbus side only the first byte will be used for the local echo that means on receiving as well as on transmitting only the first byte of the bus data is looked at the other bus data do not change compared to the last data 4 4 Data exchange mode The gateway has to be in the data exchange mode so that a data exchange between the RS side of the gateway and the fieldbus is possible As long as the gateway is not in the configu ration mode or the test mode the data exchange mode is active In the data exchange mode the gateway will carry out the set protocol with those parameters preset through WIN
9. On Cal off 232 EJ 422 Error No Select ID 8421 KEEN 11 2 Configuration of the UNIGATE RS The gateway is delivered by the manufacturer with the following configuration Transparent data transmission i e Layer 7 is transferred unchanged The configuration of the gateway can be changed by the customer That is what the software WINGATE that comes along with the gateway is meant for For the configuration the gateway has to be brought to the configuration mode For that reason the switches S4 and S5 have to be set to the position F each and the interface switch has to be set to 232 Consequently a connection to the PC has to be established and the gateway has to be started once more The program WINGATE automatically selects the interface parameters correctly For the operation of WINGATE please take a look at the WINGATE Online help 11 21 CANopen e Baud rate According to the setting DIP switch e Sync Supported e Node guarding Supported Default value Guardtime 500 ms Lifetime 3 11 2 2 RS232 RS485 RS422 e Start bit 1 e Data bits 8 e Stop bit 1 e Parity None e Baud rate 9600 Baud 21 4 11 UNIGATE fieldbus gateway for CANopen V 4 2 35 Hardware ports switches and LEDs Deutschmann Automation GmbH amp Co KG The supplied WINGATE software can be used to change this configuration
10. from the RS232 interface the gateway checks the checksum and then transfers the useful data without checksum to the fieldbus buffer if no checksum errors have been detected Otherwise a local error message issued 9 2 3 6 End character If this character is defined the gateway receives data from the RS232 interface up to this charac ter The Timeout criterion can be defined as a special case In this case the gateway continues to receive characters until a defined pause occurs In the special case Timeout the Length 232 byte has no significance At the transmit end the gateway inserts the end character if defined as the last character of a transmission Attention The configuration of an end character together with a check sum should be avoided as a check sum that exactly corresponds with the end char acter might be the result In such a case a misinterpretation and follow ing a checksum error is the result 9 2 4 Communication sequence The useful data data area arriving via the fieldbus is copied in accordance with chapter 9 2 1 transparently into the RS232 data field and transferred via the RS interface whereby the protocol is supplemented in accordance with the configuration start character end character NO acknowledgement is issued If the Trigger byte see chapter 6 5 is active data is sent only on a change of this byte If the Length byte see chapter 6 6 is active only as many of the following b
11. interfac ica AA A EE 17 5 1 Framing Check only for UNIGATERS 17 5 2 RS interface atthe UNIGATESC 0 17 Mode of operation of the system lt lt 18 6 1 General explanation 18 6 27 Interas e Ee EE e Be Hae ey a iei aoe i 18 6 3 Data exchange CANopen aoaaa o e 18 63a SDO access EES 18 632 PDO AGCESS saci A a tee ee te a e BOR ee Be e ee 18 6 3 3 Possible data lengths 0 ane a EER ee 18 6 4 Data exchange RS232 RS485 19 6 5 The trigger byte only at UNIGATERS 19 6 6 The length byte only at UNIGATERS 19 Transparent mode only at UNIGATERS 20 Character Delay Time mode only at UNIGATERS 21 8 1 Receive direction eee ee 21 Implemented protocols in UNIGATERS 22 9 1 Protocol ARCNET away oa ne ae A Ge aS 22 9 1 1 Dataexchange gt oss a a bsa nae a a E a E a aY 22 9 1k 17 0 10 AAA 22 9 1 2 gt Data structures Von cas o kD AER RR ES ti 22 92 1 TJER Byle 4 20 Ss Oe e ae AG Sap des Aad er ree wa A 22 GN Length byl secu eke ee Nom ae Bak Be eA ee Gok es Cl eal ie ae a 22 9 1 2 3 ARCNET ID ta Ar Age a Bt avian a rd Se Shae e 22 99 24 Data areas 3 55 Ac tice Stade eth Weg Ale Uy BEE hs ci ae te ee ee BY 22 21 4 11 UNIGATE fieldbus gateway for CANopen V 4 2 3 Deutschmann Automation GmbH amp Co KG 9 1 3 ARCNET configura
12. master PDO2 Rx 6 byte PDO2 Rx byte 1 2 3 4 5 6 Any byte 5 6 at FETCH Cmd Typ DB DW DatH Dat RK512 byte 3 4 5 6 11 12 Dat only at Cmd SEND 26 UNIGATE fieldbus gateway for CANopen V 4 2 21 4 11 Deutschmann Automation GmbH amp Co KG Implemented protocols in UNIGATE RS Response to the above mentioned command from UNIGATE in PDO2 Tx 2 byte PDO2 Tx byte 1 2 Dat Dat At FETCH Receipt Receipt At SEND last two byte of the RK512 receipt Examples PLC will describe DB3 DW7 with 1234H PDO2 Rx 41H 44H 03H 07H 12H 34H gt Receipt from UNIGATE PDO2 Tx 00H 00H RS device gets the data word from DB2 DW9 from PLC there it says 4711H PDO1 Tx 45H 44H 02H 09H 00H OOH gt Response from PLC 47H 11H The 4 PDO s are depicted on the objects as follows Object 2000H PDO2 Rx 6 byte Object 2001H PDO1 Tx 6 byte Object 2002H PDO2 Tx 2 byte Object 2003H PDO1 Rx 2 byte Attention The gateway is always using Even Parity as stipulated in the specifica tion 9 5 The fieldbus monitor protocol This protocol has the function that all process data of the fieldbus are made available via the RS232 interface 9 5 1 Function For other CANopen participants the gateway seems to be a normal CANopen slave with 1 Rx and 1 Tx PDO each 1 byte as well as the objects 2000H to 2002H The PDO s and objects are not used though Inste
13. possible use only lines with braided shield The coverage density of the shield should exceed 80 Avoid lines with foil shield since the foil can be damaged very easily as the result of tensile and compressive stress on attachment The consequence is a reduction in the shielding effect In general you should always connect the shields of cables at both ends The only way of achieving good interference suppression in the higher frequency band is by connecting the shields at both ends The shield may also be connected at one end only in exceptional cases However this then achieves only an attenuation of the lower frequencies Connecting the shield at one end may be more favorable if e itis not possible to lay an equipotential bonding line e analogue signals a few mV resp mA are to be transmitted e foil shields static shields are used In the case of data lines for serial couplings always use metallic or metallized plugs and connec tors Attach the shield of the data line to the plug or connector housing Do not connect the shield to one Pin of the multipole connector If there are potential differences between the earthing points a compensating current may flow via the shield connected at both ends In this case you should lay an additional equipotential bonding line 46 UNIGATE fieldbus gateway for CANopen V 4 2 21 4 11 Deutschmann Automation GmbH amp Co KG Installation guidelines Please note the following points
14. requirements if you 1 comply with the installation guidelines described in the User Manual when installing and oper ating the module 2 also follow the rules below on installation of the equipment and on working on switch cabinets 1 4 Installation of the unit Modules must be installed in electrical equipment rooms areas or in enclosed housings e g switch boxes made of metal or plastic Moreover you must earth the unit and the switch box metal box or at least the top hat rail plastic box onto which the module has been snapped 1 5 Working on switch cabinets In order to protect the modules against static electrical discharge the personnel must discharge themselves electrostatically before opening switch cabinets or switch boxes 8 UNIGATE fieldbus gateway for CANopen V 4 2 21 4 11 Deutschmann Automation GmbH amp Co KG Information for the machine manufacturer 2 Information for the machine manufacturer 2 1 Introduction The UNIGATE CANopen module does not constitute a machine as defined by the EU Machinery Directive Consequently the module does not have a Declaration of Conformity in relation to the EU Machinery Directive 2 2 EU Machinery Directive The EU Machinery Directive stipulates the requirements applicable to a machine The term machine is taken to mean a totality of connected parts or fixtures see also EN 292 1 Para graph 3 1 The module is a part of the electrical equipment of the machi
15. sent once to the bus master e Data blocking is not scheduled e The net data length is restricted to 236 bytes per telegram e Communication always runs between high priority and low priority communication partners Attention The gateway is always using Even Parity as stipulated in the specifica tion 9 3 3 Data communication 9 3 3 1 Initiation of data communication by the low priority user If the low priority user also receives an STX in response to a transmitted STX it interrupts its transmit request reverts to Receive mode and acknowledges the received STX with DLE A DLE in the data string is duplicated and included in the checksum The BCC is computed from XORing all characters 9 3 3 2 Conflicts 9 3 3 3 Timeout times The timeout times are preset by the definition of the 3964R protocol and cannot be overwritten tq acknowledgement timeout time 2 s The acknowledgement timeout time is started after transmission of control character STX If no positive acknowledgement arrives within the acknowledgement timeout time the job is repeated max 2 x If it has not been possible to complete the job positively after two repetitions the high priority device nevertheless attempts to establish contact with the low priority partner by transmitting STX cycle corresponds to tq tz character timeout time 200 ms If the 3964 R driver receives data it monitors arrival of the individual characters within period tz I
16. the process device 00 0200 53 16 9 Connecting the supply voltage 2 520 02000 53 16 10 Shield connection WEE 53 17 SOrvICINO seei a as de NA ha ee e leo Hoe ioe 54 17 1 Returning a device 4 042 244 ee wee ee A es 54 17 2 Downloading PC software and GSD files etc 54 18 ANNEX cnica A a a BS Ge pe es 55 18 1 Explanations of the abbreviations 55 18 2 Hexadecimal table e e e 56 19 Drilling templates ere 00 ara ELE a AA de 2 57 19 1 Aluminium Be LL GEES 57 19 2 High grade steel housing 2 0005525 ee 58 19 3 Polycarbonate housing is acer each Bde gle be Sede aS ek eed 59 20 Declaration of conformity and certificates 60 20 1 EG Certificate of Conformance 02 0 000 60 20 2 Certificate Germanischer Lloyd o o 61 6 UNIGATE fieldbus gateway for CANopen V 4 2 21 4 11 Deutschmann Automation GmbH amp Co KG Disclaimer of liability We have checked the contents of the document for conformity with the hardware and software described Nevertheless we are unable to preclude the possibility of deviations so that we are unable to assume warranty for full compliance The information given in the publication is however reviewed regularly Necessary amendments are incorporated in the following editions We would be pleased to receive any improvement proposals which you may have C
17. the value is enabled then the value 64 is added to the hardware setting 38 UNIGATE fieldbus gateway for CANopen V 4 2 21 4 11 Deutschmann Automation GmbH amp Co KG Hardware ports switches and LEDs 11 5 2 Slide switch Termination CANopen If the gateway is operated as the first or last physical device in the CANopen there must be a bus termination at this gateway In order to do this either a bus terminating resistor must be acti vated in the connector or the resistor 220 Q integrated in the gateway must be activated In order to do this slide the slide switch to position ON In all other cases the slide switch must remain in position OFF Please refer to the general fieldbus literature for further information on the subject of bus termination 11 5 3 Rotary coding switches S4 S5 RS485 ID These two switches are used to set the RS485 ID of the gateway in hexadecimal notation pro vided an ID is required for the bus Please refer to the Annex for a conversion table from decimal to hexadecimal This value is read in only once when the gateway is activated 11 5 4 Slide switch RS485 RS232 interface This slide switch is used to select whether an RS485 interface or an RS232 interface is con nected at the connector to the external device 11 5 5 Slide switch RS485 RS422 termination If the gateway is operated as the first or last physical device in the RS485 bus there must be a bus termination at this gateway I
18. ANopen RS232C and printers etc e shielded analogue lines e unshielded lines for DC voltages gt 60 V e unshielded lines for AC voltage gt 25 V coaxial lines for monitors e unshielded lines for DC voltages gt 60 V and gt 400 V e unshielded lines for AC voltage gt 24 V and gt 400 V e unshielded lines for DC voltages gt 400 V gt Group B gt Group C The table below allows you to read off the conditions for laying the line groups on the basis of the combination of the individual groups Group A Group B Group C Group A 1 2 3 Group B 2 1 3 Group C 3 3 1 Table Line laying instructions as a function of the combination of line groups 1 Lines may be laid in common bunches or cable ducts 2 Lines must be laid in separate bunches or cable ducts without minimum clearance 3 Lines must be laid in separate bunches or cable ducts inside cabinets but on separate cable racks with at least 10 cm clearance outside of cabinets but inside buildings 14 2 4 1 Shielding of lines Shielding is intended to weaken attenuate magnetic electrical or electromagnetic interference fields Interference currents on cable shields are discharged to earth via the shielding bus which is con nected conductively to the chassis or housing A low impedance connection to the PE wire is particularly important in order to prevent these interference currents themselves becoming an interference source Wherever
19. ATE 16 2 Components You will require the following components to commission the UNIGATE e UNIGATE e Connection cable from gateway to the process e Connector for CANopen connection to the gateway e CANopen cable this cable is generally already installed on site e 10 8 30 V DC power supply DIN 19240 16 3 Installation The UNIGATE module features enclosure IP 20 and is thus suitable for switch cabinet use The device is designed for snapping onto a 35 mm top hat rail 16 4 Dimensional drawing DIN rail mounting 126 2 107 3 103 6 AS ra AAA AAA taba f a N roe AE Las Se e EL LA Ox DIV x a otal 72 pida Es Las Eu rp a Gate 16 5 Commissioning It is essential that you perform the following steps during commissioning in order to ensure that the module operates correctly 16 6 Setting the CANopen address and Baud rate Set the CANopen address and the Baud rate at the fieldbus end of the module on the DIP switch 52 UNIGATE fieldbus gateway for CANopen V 4 2 21 4 11 Deutschmann Automation GmbH amp Co KG Commissioning guide Attention The CANopen address set must correspond to the planned address All users in the CANopen have to use the same Baud rate These values are read in only on power up of the gateway 16 7 CANopen connection Connect the device to the CANopen at the interface labelled CANopen 16 8 Connection to the process device Please also read the Us
20. ATE as Modbus slave 9 6 3 1 Preparation Before data exchange is commenced the parameters Trigger byte and Length byte Baud rate Parity Start bits Stop bits and Data bits must be set In addition a Response time which corresponds to the maximum time up to which the field bus master responds after a request must be set and at the rotary switch on the RS side the Modbus ID has to be set under which the gateway is addressed in the Modbus Since the Modbus operates with a variable data format dependent on the required function and data length but since the fieldbus requires a fixed data length this must be preset by UNIGATE This length should be selected by the user such that the longest Modbus request resp response can be processed If a fieldbus telegram is longer than the preset fieldbus length the gateway signals an Rx buffer overflow 9 6 3 2 Data structure Y g 9 6 3 3 Communication sequence The gateway always acts as the slave with respect to the fieldbus and also acts as slave at the Modbus end A data exchange is always initiated by the Modbus master via the RS interface If the Modbus address 1st Byte which is sent out by the Modbus master is identical with the address set on the gateway the gateway sends the received data without Modbus address and CRC check sum to the fieldbus master look picture above With it the gateway optionally com pletes as an introduction a Trigger byte and a Length
21. ATE fieldbus gateway for CANopen V 4 2 21 4 11 Deutschmann Automation GmbH amp Co KG Installation guidelines 14 2 2 CANopen communication interface 14 2 2 1 Bus line with copper cable This interface is located on the module in the form of a 9 pin SUB D plug pin on the upper sur face of the housing e Plug the CANopen connector onto the SUB D socket labelled CANopen e Firmly screw the securing screws of the plug connector tight using a screwdriver e If the module is located at the start or end of the CANopen line you must connect the bus ter minating resistor integrated in the gateway In order to do this slide the slide switch to the posi tion labelled on e If the module is not located at the start or at the end you must set the slide switch to position off 14 2 2 2 Power supply The device must be powered with 10 8 30 V DC e Connect the supply voltage to the 5 pin or optional 2 pin plug in screw terminal in accordance with the labelling on the front panel of the device 14 2 2 3 Shield connection The module features two contact points for equipotential bonding and the shield of the RS end The shield of the CANopen cable is connected to the equipotential bonding system via an RC snubber circuit This means that there are two electrically isolated shields in the device This guarantees higher interference immunity of the module since the cable shield current which may be up to a few Amperes
22. Deutschmann Automation can Controls 1 Fieldbus Gateways Industrial Ethernet Products User manual Universal Fieldbus Gateway UNIGATE 73 Jira hws a Bs b E we UNIGATE RS232 485 CANopen UNIGATE RS232 422 CANopen UNIGATE SC232 485 CANopen UNIGATE SC232 422 CANopen V2700E Deutschmann Automation GmbH 8 Co KG Carl Zeiss Str 8 D 65520 Bad Camberg Tel 49 0 6434 9433 0 Hotline 49 0 6434 9433 33 Fax 49 0 6434 9433 40 Internet http www deutschmann de Deutschmann Automation GmbH amp Co KG J Information on CE marking of the module 8 1 1 EU Directive EMC e 002 ee ee ee 8 1 2 Scope of application o ooo e Be gre ee ad OE a 8 1 3 Note installation guidelines 8 1 4 Installation of eum 8 1 5 Working on switch cabinets 8 Information for the machine manufacturer 9 216 INTFOGUCTION ai e EL a aa EN he Uk Ge ADA ak 9 2 2 EU Machinery Directive 2 02022 9 INTFOQUCIHON i e ea AA 10 3 1 UNIGATE RS software flow chart oaa aa 11 3 2 UNIGATE SC software flow chat 12 3 3 UNIGATE block diagram aoao 5 4 ENEE eae 13 3 4 UNIGATE application diagram 13 Operation modes of the gateway 14 4 1 Configuration mode config mode 14 4 2 The Debug cable for UNIGATE GC 15 kee TOSEMOdOS ams Scar Ae erger EE a Se woe 3B 15 4 4 Data exchange mode ENEE o ele we a 16 RS
23. GATE 16 UNIGATE fieldbus gateway for CANopen V 4 2 21 4 11 Deutschmann Automation GmbH amp Co KG RS interface 5 RS interface 5 1 Framing Check only for UNIGATE RS The length of the stop bit received by the gateway is checked through the function Framing Check from the software V 2 1 on Here the stop bit generated by the gateway is always long enough so that connected participants can evaluate the stop bit Please be aware that the function Framing Check becomes effective only in case of 8 data bit and the setting No parity An error is detected and indicated by the Error LEDs in case the stop bit does not show the length 1 bit during the activated check The possible settings for this parameter are enabled and disabled The presetting for the Stop Bit Framing Check is enabled 5 2 RS interface at the UNIGATE SC On principle the hardware cannot be distinguished from the standard gateway In addition to the regular hardware a special hardware version is available which however is only required for the generation of a script Due to technical reasons this advanced hardware is not available for all buses a development can be made on another than the target hardware though Compared to the standard gateway this development gateway is equipped with an extra inter face RS232 which however is only available to the outside at the version with 9 pole D SUB This debug interface itself is always operated wi
24. Hz lt f lt 26 Hz amplitude 0 75 mm 26 Hz lt f lt 500 Hz acceleration 2 Hz lt f lt 25 Hz 1 6 mm 25 Hz lt f lt 100 Hz 4 g IEC 60068 2 6 Fe 20 m s Frequency sweep 1 octave min 10 frequency sweeps each in X Y Z 2 Shock test Shock waveform semi sinusoi IEC 68 2 27 Ea dal Acceleration 15g 150 m s Shock duration 11 ms 3 shocks in direction in x y Z 3 ESD 8 kV discharge in air 8 kV discharge in air EN 50082 2 4 kV contact discharge 4 kV contact discharge 4 Electromagnetic 10 V m 80 MHz 1GHz 10V m EN 50082 2 fields 5 BURST 2 kV 5 kHz supply voltage 2 kV 5 kHz supply voltage EN 50082 2 1 kV 5 kHz data lines 1 kV 5 kHz data lines 6 Emitted interfer Limit value class A Wire bound EN 55011 ence 10 KHz 150 KHz 120 dBuV 69 dBuV 150 KHZ 1 5 MHz 79 dBuV 63dBuV 1 5 MHz 30 MHz 63 dBuV Radiation 150 KHz 30 MHz 80 dBuV 5OdBuV 30 MHz 100 MHz 60 dBuV 54dBuV 100 MHZ 1GHz 54 dBuV 156 MHZ 165 MHz 24 dBuv 7 Approvals CE mark GL gt Certificate of Conformity Table Tests standards and regulations 21 4 11 UNIGATE fieldbus gateway for CANopen V 4 2 49 Technical data Deutschmann Automation GmbH amp Co KG 15 1 1 Interface data The table below lists the technical data of the interfaces and ports on the device The data has been taken from the corresponding Standards
25. Likewise it can be used to select customized protocols A description is given below 11 3 Connectors 11 3 1 Connector to the external device RS interface The connection cable to the external device must be plugged in at the connector accessible on the underside of the device Pin assignment 5 pin screw type plug connector not available for RS422 Pin No Name Function 1 10 8 30 V DC power supply Power supply 2 0 V power supply Power supply 3 RX RS485 RS485 B Receive signal 4 TX RS485 RS485 A Transmit signal 5 GND Reference for PIN 3 4 Pin assignment 9 pin Sub D plug Standard for the RS232 422 model optional for the RS232 485 model Pin No Name Function 1 Shield Rx Receive signal 2 RS485 Transmit receive signal RS422 Tx Transmit signal Tx Transmit signal 3 RS485 Transmit receive signal RS422 Tx Receive signal 4 5 GND Ground connection reference for PIN 2 3 6 7 6 RS422 Rx Receive signal 7 RS422 Rx Receive signal 8 9 Attention The assignment of the 9 pin Sub D plug may differ from the above pin assignment and also a customized configuration is possible Attention In case the RS interface is NOT potentially divided GND and supply OV are connected internally 36 UNIGATE fieldbus gateway for CANopen V 4 2 21 4 11 Deutschmann Automation GmbH amp Co KG Hardware ports switch
26. MARK Voltage level 1 5 3V 3 15V 15 5V Logic level 1 1 1 Table Technical data of the interfaces and ports on the module 50 UNIGATE fieldbus gateway for CANopen V 4 2 21 4 11 Deutschmann Automation GmbH amp Co KG Technical data 15 2 Housing data The table below lists the technical data of the different housing variations Aluminium housing High grade steel housing Polycarbonat housing supplied until January 2006 Material AISi12 DIN 1725 High grade steel 1 25 mm 1 4404 316L Polycarbonat thermoplasti cally splashed Protection type IP 66 EN 60529 IP 66 EN 60529 IP 66 EN 60529 Impact strength gt 7 Nm EN 50014 gt 30 kv mm Temperature 40 to 90 C 60 C to 130 C 40 to 100 resistance Seals Polyurethan seal compact Polyurethan seal compact Spring groove system porosity foamed porosity foamed Surface coating Powder mold coating color RAL 7001 silvery gray Polished grain 240 Tinted RAL 7035 Outside dimen sion 160 x 160 x 90 cm 150 x 150 x 78cm 120 x 122 x 85 cm Weight with gateway 2 05 kg 1 60 kg 0 45 kg 21 4 11 UNIGATE fieldbus gateway for CANopen V 4 2 51 Commissioning guide Deutschmann Automation GmbH amp Co KG 16 Commissioning guide 16 1 Note Only trained personnel following the safety regulations may commission the UNIG
27. SC as well unless differences are explicitly pointed out 10 UNIGATE fieldbus gateway for CANopen V 4 2 21 4 11 Deutschmann Automation GmbH amp Co KG Introduction 3 1 UNIGATE RS software flow chart The following graph shows a typical application flow of a UNIGATE fieldbus module Start konfig msg Readwrite konfig data 21 4 11 UNIGATE fieldbus gateway for CANopen V 4 2 11 Introduction Deutschmann Automation GmbH amp Co KG 3 2 UNIGATE SC software flow chart tart konfig msg Readwrite konfig data 12 UNIGATE fieldbus gateway for CANopen V 4 2 21 4 11 Deutschmann Automation GmbH amp Co KG Introduction 3 3 UNIGATE block diagram The following graph shows a typical UNIGATE module design ES Configuration FE Configuration LED lalol 000 O 3 bit Miexprozessor Isolation ES Vee GND Connector Fieldbus Connector Fieldbus Electronics ASIC CPU ete a0000 3 4 UNIGATE application diagram The following graph shows a typical connection scheme EW ES 232 UNIGATE fieldbus 485 422 21 4 11 UNIGATE fieldbus gateway for CANopen V 4 2 13 Operation modes of the gateway Deutschmann Automation GmbH amp Co KG 4 Operation modes of the gateway 4 1 Configuration mode config mode The configuration mode serves to configure the gateway Adjustments at the gateway s con
28. Type Approval Symbol 60 6 File No 1 8 06 Hamburg 2001 12 27 fN S MON dia ermanischer Lloyd J Wittburg T Huthotf Valid until 2006 12 26 This cortficate d issued on the tasis of Regutatons lor the Perlormance of Type Tests Pan 3 Procedure 21 4 11 UNIGATE fieldbus gateway for CANopen V 4 2 61
29. a grounded mounting place d Under the housing must be 5 cm place for the insertion of the cable Attention All leads have to be shielded 42 UNIGATE fieldbus gateway for CANopen V 4 2 21 4 11 Deutschmann Automation GmbH amp Co KG Housing variations The fieldbus leadings have to go through the PG screwing without connecting the shield with the housing The shield of the fieldbus cable have to be put exclusive on the D sub plug Except for the DeviceNet gateway Here the shield is put on the PG screwing 21 4 11 UNIGATE fieldbus gateway for CANopen V 4 2 43 Installation guidelines Deutschmann Automation GmbH amp Co KG 14 Installation guidelines 14 1 Installation of the module The module of size 90 x 127 x 55 mm W x H x D has been developed for switch cabinet use IP 20 and can thus be mounted only on a standard mounting channel deep top hat rail to EN 50022 14 1 1 Mounting es Engage the module from the top in the top hat rail and swivel it down so that the module engages in position e Other modules may be rowed up to the left and right of the module e There must be at least 5 cm clearance for heat dissipation above and below the module e The standard mounting channel must be connected to the equipotential bonding strip of the switch cabinet The connection wire must feature a cross section of at least 10 mm e An earthing terminal must be positioned next to the module so as to allow t
30. ad the gateway filters all PDO s out of the CAN data transfer whose COB ID is in sector 181H 57FH The data of the PDO s is transferred via the RS232 interface in the following form COBID low COBID high PDO Data 1 PDO Data n n PDO data length The transfer format on the RS interface is configured via WINGATE and corresponds to the UNI VERSAL 232 protocol see also chapter 9 2 Thus it is possible to configure for example start and end signs check sums a s o All the other CAN data packages COB ID out of 181H 57FH are processed according to the CANopen specification DS301 Data that are received by the gateway via the RS interface are ignored Thus there is only one data stream from the CANopen to the RS interface 9 6 Modbus RTU 9 6 1 Notes For reasons of simplicity Modbus RTU is referred to as Modbus in the text below 21 4 11 UNIGATE fieldbus gateway for CANopen V 4 2 27 Implemented protocols in UNIGATE RS Deutschmann Automation GmbH amp Co KG gt Modbus ASCIl is currently not supported gt The terms input and output are always viewed from the gateway s point of view i e field bus input data is the data sent by the fieldbus master to the gateway 9 6 2 UNIGATE as Modbus master 9 6 2 1 Preparation Before data exchange is commenced the Baud rate and Parity parameters and if applicable the Trigger byte and the Length byte must be set The number of Start
31. audlst can be determined as follows Baudlst F32 K F32 Crystal frequency Hz 32 K Round F32 BaudSoll Round is a commercial roundoff Example The actual baud rate is to be calculated when 9600 baud are pre set where the gateway is operated with 40 MHz F32 40000000 32 1250000 K Round 1250000 9600 Round 130 208 130 Baudlst 1250000 130 9615 38 e The baud rate actually adjusted by the gateway is 9615 38 baud The resulting error in per cent can be calculated as follows Error abs Baudlst BaudSoll BaudSoll 100 In our example the following error results Error abs 9615 38 9600 9600 100 0 16 In practise errors below 2 can be tolerated In the following please find a listing of baud rates at a 40 MHz crystal frequency with the corre sponding errors 32 UNIGATE fieldbus gateway for CANopen V 4 2 21 4 11 Deutschmann Automation GmbH amp Co KG Generating a script only for UNIGATE SC 4800 baud 0 16 9600 baud 0 16 19200 baud 0 16 38400 baud 1 35 57600 baud 1 35 62500 baud 0 115200 baud 1 35 312500 baud 0 625000 baud 0 10 8 Script processing times The Script is translated by the Protocol Developer and the consequently generated code is loaded into the Gateway Now the processor in the Gateway interprets this code In this case there are commands that can be processed very fast e g Set Parameter There are also commands
32. bits Stop bits and Data bits are permanently preset In addition a Response time which corresponds to the maximum time up to which the Modbus slave responds after a request must be set Since the Modbus operates with a variable data format dependent on the required function and data length but since the fieldbus requires a fixed data length this must be preset by means of the configuration with WINGATE This length should be selected by the user such that the lon gest Modbus request resp response can be processed If a Modbus response is longer than the preset fieldbus length the gateway signals an Rx buffer overflow The user can choose whether the fieldbus requests are forwarded to the Modbus cyclically in the event of a change or on request If he chooses cyclic mode the next request follows directly after a response of the Modbus slave In Change mode detection of a change is based on the fact that the fieldbus data are transferred only in case of an SDO PDO request via the Modbus The third mode Modus request on request necessitates the first byte in the fieldbus containing a trigger byte see chapter 6 5 This byte is not transferred to the Modbus and serves only to start a Modbus transmission For this purpose the gateway constantly monitors this trigger byte and sends data to the Modbus only when this byte has changed In the reverse direction to the field bus the gateway transfers the number of receiv
33. byte The fieldbus master detects when it has to analyze a record via the Trigger byte which is incre mented by the gateway at every inquiry The number of the following Modbus data is to be found in the length byte Now the fieldbus master has to analyze the Modbus inquiry and it has to send back the answer in the same format optionally with the leading Trigger byte and Length byte via the fieldbus to the gateway The gateway then takes this answer and completes the Modbus address and the CRC and sends the data to the Modbus master via the RS interface With it the data exchange is com pleted and the gateway waits for a new inquiry from the Modbus master 21 4 11 UNIGATE fieldbus gateway for CANopen V 4 2 29 Implemented protocols in UNIGATE RS Deutschmann Automation GmbH amp Co KG 9 6 3 4 Status report If no response occurs within the stipulated Response time from the fieldbus master the gate way a Timeout Error The last Modbus ID that was transferred to the RS interface is indicated by the yellow LEDs 30 UNIGATE fieldbus gateway for CANopen V 4 2 21 4 11 Deutschmann Automation GmbH amp Co KG Generating a script only for UNIGATE SC 10 Generating a script only for UNIGATE SC 10 1 What is a script A script is a sequence of commands that are executed in that exact order Because of the fact that also mechanisms are given that control the program flow in the script it is also possible to assemb
34. ctions 9 1 1 Data exchange This protocol allows a connection between ARCNET and CANopen With it those data sent to the UNIGATE via CANopen are passed on via ARCNET in accor dance with the data structure described below Here only those data packets are included that have been sent to the ARCNET ID of the UNIGATE Data the gateway receives via ARCNET are passed on correspondingly via CANopen With it the parameters configurable with WINGATE Trigger and lengthbyte are included The length of the receive buffers and transmission buffers is also configured via WINGATE The mapping of the data to SDO s and PDO s is described in chapter 6 3 Data exchange CANo pen6 9 1 1 1 Broadcast In case the destination address equals 0 the data are sent to each ARCNET participant 9 1 2 Data structure ARCNET Data area CANopen Triggerbyte opt Lengthbyte opt ARCNET ID Data area 9 1 2 1 Trigger byte See The trigger byte only at UNIGATE RS chapter 6 5 9 1 2 2 Length byte See The length byte only at UNIGATE RS chapter 6 6 9 1 2 3 ARCNET ID In case the data are transmitted from UNIGATE via CANopen this byte is the ID of the ARCNET sender In the opposite direction data get to the UNIGATE via CANopen here the CANopen sender registers the ARCNET ID to which the gateway is supposed to send the data 9 1 2 4 Data area In this field the useful data are copied transparent
35. d water to IEC 529 DIN 40050 4 Service life 10 years 10 years 5 Housing size 90 x 127 x 55 mm 120 x 122 x 80 mm WxHxD 6 Installation position Any Any 7 Weight 0 3 kg 1 15 kg 8 Operating temperature 20 C 55 C 0 C 55 humidity non condensing 9 Storage transport temper 40 C 70 C 40 C 70 C ature 10 Atmospheric pressure during operation 795 hPa 1080 hPa during transport 660 hPa 1080 hPa 11 Installation altitude 2000 m Not applicable Unrestricted 4000 m Restricted Ambient temperature lt 40 C 12 Relative humidity Max 80 Max 100 No condensation no corrosive atmosphere 14 External 10 8 30 V DC 24 V 20 Standard power supply unit power supply to DIN 19240 15 Current consumption at 24 Typ 120 mA Max 150 mA At 10 8V typ 350 mA VDC max 150 mA 16 Reverse voltage protec Yes Yes But does not function tion 17 Short circuit protection Yes Yes 18 Overload protection Poly switch Poly switch Thermal fuse 19 Undervoltage lt 9VDC detection USP 20 Emergency power supply gt 5 ms Device fully operable Table Technical data of the module 48 UNIGATE fieldbus gateway for CANopen V 4 2 21 4 11 Deutschmann Automation GmbH amp Co KG Technical data The table below lists all tests standards and regulations on the basis of which the module has been tested No Parameter Data GL certified design Explanations 1 Vibration test 5
36. ed Modbus data records in this byte i e this byte is incremented by the gateway after each data record If the Length byte is activated see chapter 6 6 the gateway transfers only the number of bytes specified there The number of received Modbus data items is saved in the direction of the field bus master The length always refers to bytes Address to Dat n inclusive in each case always without CRC checksum As the gateway determines the data length independently by means of the Modbus function the length byte is not required 9 6 2 2 Data structure foptional optional 28 UNIGATE fieldbus gateway for CANopen V 4 2 21 4 11 Deutschmann Automation GmbH amp Co KG Implemented protocols in UNIGATE RS 9 6 2 3 Communication sequence The gateway always acts as the slave with respect to the fieldbus and always acts as the master at the Modbus end Thus data exchange must always be started by the fieldbus master The gateway fetches this data which must be structured in accordance with Chapter Data structure from the fieldbus master determines the valid length of the Modbus data if the length byte is not activated adds the CRC checksum and sends this data record as a request on the Modbus The response of the selected slave is then sent to the fieldbus master by the gateway without CRC checksum If no response occurs within the stipulated Response time the gateway sig nals a TIMEOUT ERROR 9 6 3 _UNIG
37. ent by the gateway Adr 2002H Type BYTE Length of the data sent The length of the receiving and transmitting buffer Obj 2000 2001 is configured through WINGATE 6 3 1 SDO access Generally the data can always be exchanged through SDO s Obj 2000 2002 Likewise an access to all Mandatory objects according to CiA DS 301 is possible through SDO s 6 3 2 PDO access PDO s are supported according to the following table depending on the configured length and the PDO length is set dynamically to the correct value Gateway Gateway Receiv PDO1 Transm PDO1 receiving data transmitting data Adr 512 ID Adr 384 ID Max 8 Byte Max 8 Byte Receiv data Transm data Max 8 Byte gt 8 Byte Receiv data Length transmitting data gt 8 Byte Max 8 Byte Transm data gt 8 Byte gt 8 Byte Length transmitting data 6 3 3 Possible data lengths The table below shows the maximum transferable data in CANopen Input data max 255 bytes Variable maximum value in this case Output data max 255 bytes Variable maximum value in this case Emergency data 1 byte See chapter Error handling 18 UNIGATE fieldbus gateway for CANopen V 4 2 21 4 11 Deutschmann Automation GmbH amp Co KG Mode of operation of the system 6 4 Data exchange RS232 RS485 Data exchange via the RS interface can be programmed as follows e Cyclic e Only if input data changes e Only if trigger by
38. er Manual provided for the process device when commissioning the pro cess device 16 9 Connecting the supply voltage Please connect 10 8 30 DC voltage to the terminals provided for this 16 10 Shield connection Connect the PE wire at the terminal provided for this Earth the top hat rail onto which the mod ule has been snapped 21 4 11 UNIGATE fieldbus gateway for CANopen V 4 2 53 Servicing Deutschmann Automation GmbH amp Co KG 17 Servicing Should questions which are not covered in this Manual crop up please contact us directly Please note down the following information before calling e Device designation e Serial number S N e Article number e Error number and error description You can reach us during hotline hours which are as follows Monday to Thursday from 8 am to midday and from 1 pm to 4 pm Friday from 8 am to midday Deutschmann Automation GmbH amp Co KG Carl Zeiss StraBe 8 D 65520 Bad Camberg Germany Central office and sales department 49 0 6434 9433 0 Technical hotline 49 0 6434 9433 33 Fax sales department 49 0 6434 9433 40 Fax technical hotline 49 0 6434 9433 44 E mail technical hotline hotline deutschmann de 17 1 Returning a device If you return a device we require as comprehensive a fault error description as possible We require the following information in particular e What error number was displayed e What is the supply voltage 0 5 V with gateway connected
39. es and LEDs Attention In case RS422 is selected then the termination switch has to be set to ON in order to avoid communication errors Pin assignment 2 pin screw type plug connector only in conjunction with 9 pin D Sub Pin No Name Function 1 10 8 30 V DC 10 8 30 V supply voltage 2 0V DC 0 V supply voltage 11 3 2 CANopen connector The connector labelled CANopen for connection to CANopen is located on the upper side of the device Pin No Name Function 1 2 CAN L Dominant low 3 CAN GND CAN Ground 4 5 6 7 CAN H Dominant high 8 9 11 3 3 Debug plug Please compare to chapter 4 2 11 3 4 Power supply The device must be powered with 10 8 30 VDC Please note that the devices of the series UNIGATE can not be operated with AC voltage On the version with 5 pin screw type plug connector the power supply is routed via this connec tor on the version with 9 pin D Sub connector the power supply is routed via the separate 2 pin screw type plug connector 11 3 5 Shield terminal lead The shield signal for the electronic circuitry is connected to the top hat rail via the connector pro vided The shield signal for the CANopen cable shield is not electrically connected to the shield signal of the electronic circuitry for reasons relating to interference immunity 11 4 LEDs The gateway features 8 LEDs with the following significance
40. f no character is received within the timeout time the protocol terminates transfer No acknowledgement is sent to the coupling partner 21 4 11 UNIGATE fieldbus gateway for CANopen V 4 2 25 Implemented protocols in UNIGATE RS Deutschmann Automation GmbH amp Co KG 9 3 3 4 Retries In the event of negative acknowledgement or timeout a telegram transmitted by the high priority user is repeated twice After this the gateway signals communication as disturbed but still attempts to re establish the connection 9 3 3 5 Initiation of data communication by the high priority user In the case of a negative acknowledgement or timeout a telegram transmitted by the external device is repeated twice before a fault is signalled 9 3 4 State of the 3964R communication The current state of the 3964R communication will be mapped in the fieldbus if the parameter 3964R is activated in WINGATE The states can be taken from the below table This parameter takes effect from software revision 3 41 on and can be adjusted by means of the WINGATE soft ware This information is only presented in the bus data from the gateway to the Master however it applies to the communication via 3964R in both directions Name Value Description 3964R_NO_ACTION 0 If this value is presented no 3964R communication is active 3964R_WAIT_AFTER_STX 1 After the transmission of the STX character the sender waits until the receiver has sent its confirmati
41. figu ration are only possible in this mode The gateway will be starting in this mode in case both switches S4 as well as S5 are set on position F when switching on the gateway and also RS232 is to be selected as interface Right after switching on the gateway in the configuration mode it will be sending its starting message that looks analog with the following message RS CO c dA switch 0x0000 Prot 0x00 SN 20790120 In the configuration mode the gateway always operates with the settings 9600 Bauds no Parity 8 Databits and 1 Stopbit the RS State LED will always be flashing red green the Error No Select ID LEDs are of no account for the user All software revisions contain the configura tion mode Connection cable from the gateway to the PC The cable is supposed to look as follows Connection table 5pin screw plug connector PC Screw plug connector Name D Sub plug connector Name Pin 3 Rx Pin3 Tx Pin 4 Tx Pin 2 Rx Pin 5 GND Pin 5 GND 14 UNIGATE fieldbus gateway for CANopen V 4 2 21 4 11 Deutschmann Automation GmbH amp Co KG Operation modes of the gateway 4 2 The Debug cable for UNIGATE SC The Debug cable consists of the following components a 9 pole D sub socket with two exits where respectively two cables are connected one with a 3 pole Phoenix socket with mating con nector and one with a 9 pole D SUB plug Cable 1 RS product side 3 pole screw plug connector
42. he shield connection on the device to be implemented as short as possible with a flexible wire 1 5 mm 14 1 2 Removal e First disconnect the power supply and signal lines e Then push the module up and swivel it out of the top hat rail Vertical installation The standard mounting channel may also be mounted vertically so that the module is mounted turned through 90 14 2 Wiring 14 2 1 Connection systems The following connection systems must resp may be used when wiring the module e Standard screw type plug connection power supply RS e Push lock terminals connection terminals for earthing e 9 pin SUB D plug connectors CANopen and RS232 connection a In the case of standard screw type terminals one lead can be clamped per connection point It is best to then use a screwdriver with a blade width of 3 5 mm to firmly tighten the screw Permitted cross sections of the line e Flexible line with wire end ferrule 1 x 0 25 1 5 mm e Solid conductor 1x0 25 1 5 mm e Tightening torque 0 5 0 8 Nm b The plug in connection terminal strip is a combination of standard screw type terminal and plug connector The plug connection section is coded and can thus not be plugged on the wrong way round c The 9 pin SUB D plug connectors are secured with two screws with 4 40 UNC thread It is best to use a screwdriver with a blade width of 3 5 mm to screw the screw tight Tightening torque 0 2 0 4 Nm 44 UNIG
43. his is to certify that the undemoted product s has have been tested in accordance with the relevant requirements of the GL Type Approval System Certificate No 42 407 01 HH Company Deutschmann Automation GmbH Max Planck Strafe 21 D 65520 Bad Camberg Universal fieldbus gateways Unigate RS232 485 AG CO V3028 ON V3029 B V3030 PB V3031 Power supply 24 VDC Componentry for interfacing RS232 RS485 RS422 link with fieldbus Supported serial communication protocols optional potential free MODBUS RTU 3964R contro of character delay time start stop character constant data length transparent mode customer specific protocols Supported fieldbus communication potential free CANopen V 2 0 with CAN controller SJA 1000 CO V3028 DeviceNet V 2 0 with CAN controller SJA 1000 DN V3029 INTERBUS V 2 0 with SuPi 3 IB V3030 Profibus DP V 2 0 with ASIC SPC3 PB V3031 Degree of protection 1P24 top hat rail version IP66 casing version Test Standard Regulations for the Performance of Type Tests 1997 Regulations for the Use of Computer and Computer Systems 1994 Documents Test report EMC Test Haus Dr Schreiber 17 189 190 191 257 258 TOV Rheinland E2111072 E 02 968 U 123 2001 Design manual hardware and Software Software Questionnaire according to requirement class 3 dated 2001 09 17 System documents according to submitted files Remarks None Page tot t
44. however that take longer e g copying 1000 bytes Consequently for one thing the processing time differs due to the kind of Sript command But the processing time of the Script commands is considerably more determined by the processor time that is available for this pro cess Since the processor has to carry out several tasks simultaneously multitasking system only a part of the processor s capacity is available for the Script processing The following tasks in the order of priority are executed on the processor e Sending and receiving data at the Debug interface provided that the Protocol Developer has been started on the PC e Sending and receiving data at the RS interface e Sending and receiving data at the Fieldbus interface e Tasks controlled via internal clock 1 ms e g flashing of an LED e Processing of the Script From experience approximately 0 5 ms can be calculated for each Script line This value con firmed itself again and again in many projects as a standard value He is always quite right if the processor has enough time available for the Script processing By means of the tasks mentioned above the following recommendation can be formulated in order to receive a rather fast Script processing e Deactivate the Debug interface it is the normal case in the serial use e Keep the data length at the RS interface as small as possible The baud rate is not the problem here but the amount of characters which are tran
45. ia OM a ue Ye Se 42 14 Installation guidelines lt lt 44 14 1 Installation of the module 44 14 141 MOUNTINO si acera Ae a a ee oe ARNA 44 141 2 ue NEE a a A A 44 12 WAG ro de hoe adden book td ed 44 14 2 1 Connection systems 44 14 2 2 CANopen communication interface 0 45 14 2 2 1 Bus line with copper Cable 45 14 2 2 2 Powersupply croacia a a a A a a 45 14 2 2 3 Shieldconnection 45 14 2 2 4 Equipotential bonding connection 45 14 2 3 Line routing shield and measures to combat interference voltage 45 21 4 11 UNIGATE fieldbus gateway for CANopen V 4 2 5 Deutschmann Automation GmbH amp Co KG 14 2 4 General information online routing 45 14 24 1 Shielding of lines o e e 46 15 Technicalbdata ia a a NN Se 48 15 1 Device data e o 48 E E Intertacedatas aa a a A a 50 1572 HOUSING data irs tou aaea a a a a Net A 51 16 Commissioning guide o 52 VO NOTO ine A ss ein A a A A A 52 16 2 Components do A A Bg den etd e ds 52 16 3 Installation o e e 52 16 4 Dimensional drawing DIN rail mounting 52 165 GOMMISSIONING e geek i le Oe ie dot tea ae be 52 16 6 Setting the CANopen address and Baudrate 52 16 7 CANopen connection vico ci aa ee Oe we ee Ee ae 53 16 8 Connection to
46. ious errors 1 5 In this case the gateway must be switched off and switched back on again If the error occurs again the gateway must be exchanged and returned for repair Warnings 6 15 These warnings are displayed for one minute simply for information purposes and are then automatically reset If such warnings occur frequently please inform After Sales Service Error 10 is additionally activated in case of the heartbeat error In the configuration mode these displays are not valid and only meant for internal use Error no LED8 LED4 LED2 LED1 resp ID Error description 0 0 0 0 0 Reserved 0 0 0 1 1 Initialisation error of the RS485 RS232 interface 0 0 1 0 2 EEROM error 0 0 1 1 3 Stack error 0 1 0 0 4 Hardware fault of the fieldbus ASIC 0 1 0 1 5 Configuration error of the gateways unknown protocol 0 1 1 0 6 Reserved 0 1 1 1 7 RS485 RS232 transmit buffer overflow 1 0 0 0 8 RS485 RS232 receive buffer overflow 1 0 0 1 9 Timeout on reception RS485 RS232 interface 1 0 1 0 10 Transmit error of the RS485 RS232 interface 1 0 1 1 11 Parity or frame check error 1 1 0 0 12 Addressing error of the RS485 RS232 interface 1 1 0 1 13 Internal error 1 1 1 0 14 General error of the RS485 RS232 interface 1 1 1 1 15 Internal error Table 1 Error handling at UNIGATE RS 40 UNIGATE fieldbus gateway for CANopen V 4 2 21 4 11 Deutschmann Automation GmbH amp Co KG Errorhandling
47. ive end awaits as many bytes of useful data without checksum as specified in this byte by the RS232 transmitter At the transmission end the gateway then sets this byte to the number of useful data items transmitted by it without checksum If byte Length232 is not defined the gateway on reception at the RS232 interface waits for the end criterion if this is defined If no end criterion is defined either as many charac ters as can be transferred in the fieldbus transmit buffer are read in via the RS232 interface As a special case for this parameter also a length byte with additional Timeout monitoring can be set in WINGATE In that case the received characters will be discarded at a Timeout Attention If Timeout is selected as end character then this byte has no significance 21 4 11 UNIGATE fieldbus gateway for CANopen V 4 2 23 Implemented protocols in UNIGATE RS Deutschmann Automation GmbH amp Co KG 9 2 3 3 ID This byte is present only for reasons of compatibility It is never activated 9 2 3 4 Data area The useful data is transferred in this field 9 2 3 5 Checksum At the universal 232 protocol the following checksums can be selected XOR bytewise sum XOR with negated result and bytewise sum with negated result The checksum is always generated on the basis of bytes Length232 ID and Data area if present The checksum is generated by the gateway at the transmit end independently On reception
48. le more complex processes from these simple commands The script is memory oriented lt means that all variables always refer to one memory area While developing a script you do not have to take care of the memory management though The Protocol Developer takes on this responsibility for you 10 2 Memory efficiency of the programs A script command can carry out e g a complex checksum like a CRC 16 calculation via data For the coding of this command only 9 byte are required as memory space for the command itself This is only possible when these complex commands are contained in a library A further advantage of this library is that the underlying functions have been in practical use for a couple of years and therefore can be described as void of errors As these commands are also present in the native code for the controller at this point also the runtime performance of the script is favorable 10 3 What can you do with a script device Our script devices are in the position to process a lot of commands In this case a command is always a small firmly outlined task All commands can be put into classes or groups A group of commands deals with the communication in general This group s commands enable the gate way to send and receive data on the serial side as well as on the bus side 10 4 Independence of buses Basically the scripts do not depend on the bus they are supposed to operate on It means that a script which was develo
49. ly from ARCNET to CANopen and the other way round 9 1 3 ARCNET configuration e Baud rate 2 5 Maud e Short packet is determined by the entry fieldbus length 22 UNIGATE fieldbus gateway for CANopen V 4 2 21 4 11 Deutschmann Automation GmbH amp Co KG Implemented protocols in UNIGATE RS 9 1 3 1 ARCNET ID of the UNIGATE The gateway itself also requires an ARCNET ID in order being in the position to exchange data in the net This ID is set through the rotary switch on the ARCNET side Here permissible values are 1 to 254 01H FEH The ID O is not permitted as it is the broadcast address 255 is only used for the configuration Attention The rotary switches are only read in once when switching on the UNI GATE Changes during the operation will be ignored 9 2 Universal 232 protocol 9 2 1 Data structure Data structure Universal 232 protocol Fieldbus RS 232 9 2 2 Fieldbus parameters Trigger byte See The trigger byte only at UNIGATE RS chapter 6 5 on page 19 Length byte See The length byte only at UNIGATE RS chapter 6 6 on page 19 9 2 3 RS232 parameter table 9 2 3 1 Start character If this character is defined the gateway evaluates only the data at the RS232 interface following this start character Each transmission from the gateway via the RS232 interface is initiated with the start character in this case 9 2 3 2 Length 232 If this byte is activated the gateway at the rece
50. n order to do this either a bus terminating resistor in the con nector or the resistor 150 Q integrated in the gateway must be activated In order to do this slide the slide switch to position ON In all other cases the slide switch must remain in position OFF Please refer to the general RS485 literature for further information on the subject of bus ter minations If the integrated resistor is used please allow for the fact that this also activates a pull down resistor 390 Q to ground and a pull up resistor 390 Q to VCC At the RS422 interface the transmission line is terminated The receive line is always firmly terminated 21 4 11 UNIGATE fieldbus gateway for CANopen V 4 2 39 Error handling Deutschmann Automation GmbH amp Co KG 12 Error handling 12 1 Error handling at UNIGATE RS If the gateway detects an error the error is signalled by the State LED lighting red and simulta neously the error number being indicated by means of LEDs Error No as shown in the table below In addition this error number is transmitted as an Emergency telegram via CANopen The code 61xx hex that indicates an internal Firmware error according to DS301 is used for it The current error code is entered for xx in accordance with the below table A detail error that is used for internal purposes may still be included in byte 3 and 4 of the emergency message A distinction can be made between two error categories Ser
51. ne and must thus be included by the machine manufacturer in the Declaration of Conformity process 21 4 11 UNIGATE fieldbus gateway for CANopen V 4 2 9 Introduction Deutschmann Automation GmbH amp Co KG 3 Introduction The UNIGATE RS232 RS485 CANopen or the SC232 SC485 CANopen module serves to adapt a serial port to the CANopen according to CiA DS 301 In this application it functions as a gateway and operates as the CANopen slave It can be operated by any standard compli ant master At the UNIGATE RS232 485 various transmission protocols are supported at the serial port Modbus RTU The 3964R protocol popular in Siemens equipment Monitoring on the basis of character delay time Start End character Constant data lengths Transparent mode Customized protocols These protocol variants will probably support most applications The module RS or SC essentially consists of the following hardware components e Electrically isolated interface to the CANopen e CAN controller SJA 1000 e Microprocessor T 89C51RD2 e RAM and EPROM e Optionally electrically isolated RS interface e Serial port RS232 and RS485 to the device connected externally Please note This instruction manual is valid for UNIGATE RS standard gateway with implemented protocols and also for UNIGATE SC gateway capable for scripts The information given in this instruction manual is about the UNIGATE RS and the UNIGATE
52. nn Automation GmbH amp Co KG 19 2 High grade steel housing 58 UNIGATE fieldbus gateway for CANopen V 4 2 21 4 11 Deutschmann Automation GmbH amp Co KG Drilling templates 19 3 Polycarbonate housing Supplied until January 2006 21 4 11 UNIGATE fieldbus gateway for CANopen V 4 2 59 Declaration of conformity and certificates Deutschmann Automation GmbH amp Co KG 20 Declaration of conformity and certificates 20 1 EG Certificate of Conformance EG Conformity Certification As defined by EG EMV guideline 92 31 EWG Herewith we company Deutschmann Automation GmbH Max Planck StraBe 21 D 65520 Bad Camberg Tel 49 0 6434 9433 0 Fax 49 0 6434 9433 40 declare that the product mentioned afterwards was developed produced and issued in accordance with the above mentioned EG guideline Product Gatew ay Model name UNIGA TE RS CANopen Used norms EN61000 6 2 Interference immunity EN61000 4 2 ESD EN6 1000 4 3 Insolation E field EN6 1000 4 4 Burst EN6 1000 4 6 Induction EN55011 A Emissi EN55011 A Interference voltage EN55011 A Interference radiation Bad Camberg 05 05 2003 AS Gunther Lawaczeck Michael M Reiter 60 UNIGATE fieldbus gateway for CANopen V 4 2 21 4 11 Deutschmann Automation GmbH amp Co KG Declaration of conformity and certificates 20 2 Certificate Germanischer Lloyd e Type Approval Certificate Germanischer Lloyd T
53. o permanent data exchange Flashes green red only RS No data exchange since switching on Lights red General gateway error see LEDs Error No Flashes red only RS UNIGATE is in the configuration mode 11 45 LEDs Error No Select ID at UNIGATE RS If these 4 LEDs flash and LED State simultaneously lights red the error number is displayed in binary notation conversion table see Annex in accordance with the table in Chapter Error han dling Otherwise the address with which communication is currently running via the RS485 interface is displayed also in binary notation 11 5 Switches The gateway features 7 switches with the following functions DIP switch Node ID and Baud rate Slide switch Termination Switchable CANopen terminating resistor Rotary coding switch S4 RS485 ID High Byte Rotary coding switch S5 RS485 ID Low Byte Slide switch Interface Selector switch for RS485 or RS232 interface Slide switch Termination Switchable RS485 terminating resistor 11 5 1 DIP switch This DIP switch is used to set the Node ID and Baud rate Only the IDs 0 63 can be adjusted with the hardware DIP switch In order to set an address in the area 64 127 an offset of 64 to the hardware setting is required This setting can be carried out with WINGATE at CANopen gateways from software revision 3 1 on The setting Node ID Offset 64 can have the values enabled and disabled In case
54. olycarbonate housings only supplied until January 2006 Aluminium housings are robust terminal housings for distributions and connections of machines and plants high grade steel housings are particularly used in aggressive environments and in the hygiene field Housing data see chapter 15 2 13 1 Main operational fields for housings Main operational fields of aluminium housings with protection type IP 66 e Machines control and plant manufacturing e In aggressive and rough environmental conditions e g sea water field on ships e Electrical and building installation engineering e Measuring switching and controlling technique e EMC Directives relevant fields e Heating air conditioning and ventilation technique and e Medical field Main operational fields of high grade steel housings with protection type IP 66 e In aggressive and rough environmental conditions e g sea water field e In fields with highest purity and cleanness e g food field e EMC Directives applications 13 2 Mounting instruction Mounting instruction of the aluminium housing The assembly with the dimensions 160x160x90 BxHxT is developed for wall mounting Mounting 1 Using the drill template see chapter 19 Drilling templates and mark the four holes the mea sures can also be taken from the reverse side of the housing 2 Unscrew the cover and fix the housing with four screws max M6 in the marked holes 3 The housing have to be fixed on
55. on 3964R_WAIT_QUITTUNG 2 The receipt character is waited for 3964R_WAIT_DATA 5 The gateway waits as reveiver for the useful data 3964R_WAIT_ZVZ 9 An execution time is waited for 9 4 RK512 The gateway is not able to support the entire RK512 protocol any data length through sequence telegram as the handshake to the fieldbus master is getting more complex as though the gate way only uses 3964R and the higher protocol is directly handled by the fieldbus master 4 byte receipt and response data if necessary However UNIGATE supports a simple kind of the RK512 protocol whereas the data exchange is restricted to 1 word fixed In return the end user does not have to care about the problems of the quasi full duplex operation since he receives a fixed response to any command And apart from that the complete data exchange exclusively takes place through PDO s which can be handled by any PLC very easily and quickly 9 4 1 Data exchange In detail the data exchange takes place as follows Commands from the RS1 side PDO1 Tx 6 byte PDO1 Tx byte 1 2 3 4 5 6 At FETCH Byte 5 6 equal 0 Cmd Typ DB DW DatH Dat RK512 byte 3 4 5 6 11 12 Dat only at CnD SEND Response to the above mentioned command from fieldbus master in PDO1 Rx 2 byte PDO1 Rx byte 1 2 At FETCH Dat Dat Receipt Receipt At SEND last two byte of the RK512 receipt Commands from fieldbus
56. on table UNIGATEO IC for the respective product DN DeviceNet EC EtherCAT El Ethernet IP FE Ethernet 10 100 MBit FEX Ethernet 10 100 MBit version X see comparison table UNIGATE IC for the respective product IB Interbus IBL Interbus LN62 LONWorks62 LN512 LONWorks512 MPI Siemens MPI PL Powerlink PN Profinet lO PBDP ProfibusDP PBDPL ProfibusDP version L see comparison table UNIGATE IC for the respective product PBDPX ProfibusDP version X see comparison table UNIGATE IC for the respective product PBDPVO ProfibusDPVO PBDPV1 _ ProfibusDPV1 RS Serial RS232 485 422 21 4 11 UNIGATE fieldbus gateway for CANopen V 4 2 55 Annex Deutschmann Automation GmbH amp Co KG 18 2 Hexadecimal table Hex Decimal Binary 0000 0001 0010 0011 0100 0101 0110 0111 l NISJA BR WW MM o 1000 Kei 1001 ect o 1010 e 1011 4 N 1100 4 wo 1101 4 1110 TNimMoOlO 0O gt o jo x o jo as o m o al 1111 56 UNIGATE fieldbus gateway for CANopen V 4 2 21 4 11 Deutschmann Automation GmbH amp Co KG Drilling templates 19 Drilling templates The following drawings are not true to scale 19 1 Aluminium housing 21 4 11 UNIGATE fieldbus gateway for CANopen V 4 2 57 Drilling templates Deutschma
57. only for UNIGATE SC Deutschmann Automation GmbH amp Co KG 10 6 The use of the Protocol Developer The Protocol Developer is a tool for an easy generation of a script for our script gateways Its operation is exactly aimed at this use After starting the program the script that was loaded the last time is loaded again provided that it is not the first start Typical for Windows script commands can be added by means of the mouse or the keyboard As far as defined and required for the corresponding command the dialog to the corresponding command is displayed and after entering the values the right text is automatically added to the script The insertion of new commands by the Protocol Developer is carried out in a way that existing commands will not be overwritten Generally a new command is inserted in front of the one where the cursor is positioned Of course the commands can also be written by means of the keyboard or already written commands can also be modified 10 7 Accuracies of the baud rates at UNIGATE SC The baud rate of the serial interface is derived from the processor s crystal frequency Meanwhile all Script gateways except for the MPI Gateways 20 MHz are working with a crys tal frequency of 40 MHz You can enter any desired integer baud rate into the script After that the firmware adjusts the baud rate that can be derived the most precisely from the crystal frequency The baud rate the gateway is actually working with B
58. opyright Copyright C Deutschmann Automation GmbH 8 Co KG 1997 2011 All rights reserved This document may not be passed on nor duplicated nor may its contents be used or disclosed unless expressly permitted Violations of this clause will necessarily lead to compensation in damages All rights reserved in particular rights of granting of patents or registration of utility model patents Art No V2700E 21 4 11 UNIGATE fieldbus gateway for CANopen V 4 2 7 Information on CE marking of the module Deutschmann Automation GmbH amp Co KG 1 Information on CE marking of the module 1 1 EU Directive EMC The following applies to the module described in this User Manual Products which bear the CE mark comply with the requirements of EU Directive Electromagnetic Compatibility and the harmonized European Standards EN listed therein The EU Declarations of Conformity are available at the following location for perusal by the responsible authorities in accordance with the EU Directive Article 10 Deutschmann Automation GmbH amp Co KG Carl Zeiss StraBe 8 65520 Bad Camberg Germany 1 2 Scope of application The modules are designed for use in the industrial sector and comply with the following requirements Scope of application Requirement applicable to Emitted interference Interference immunity Industry EN 55011 KI A EN 61000 6 2 1 3 Note installation guidelines The module complies with the
59. owing to potential differences between two bus users is not discharged via the device If the device is subject to high mechanical or chemical stress it is advisable to use a tin plated top hat rail in order to ensure greater contact stability of the shield connection 14 2 2 4 Equipotential bonding connection e Fit an earthing terminal to the top hat rail directly next to the module The earthing terminal automatically establishes an electrical connection to the top hat rail e Connect the shield connection terminal to the earthing terminal using a flexible wire with a diameter of 1 5 mm which should be as short as possible e Connect the top hat rail to the equipotential bonding rail with as low an impedance as possible Use a flexible earthing wire with a cross section of at least 10 mm for this 14 2 3 Line routing shield and measures to combat interference voltage This Chapter deals with line routing in the case of bus signal and power supply lines with the aim of ensuring an EMC compliant design of your system 14 2 4 General information on line routing Inside and outside of cabinets In order to achieve EMC compliant routing of the lines it is advisable to split the lines into the fol lowing line groups and to lay these groups separately 21 4 11 UNIGATE fieldbus gateway for CANopen V 4 2 45 Installation guidelines Deutschmann Automation GmbH amp Co KG gt Group A e shielded bus and data lines e g for C
60. ped on a Profibus gateway can also be operated on an Interbus without changes since the functioning of these buses is very similar In order to also process this script on an Ethernet gateway perhaps further adjustments have to be made in the script so that the script can be executed reasonably There are no fixed rules how which scripts have to operate properly When writing a script you should take into account on which target hardware the script is to be executed so the necessary settings for the respective buses can be made 10 5 Further settings at the gateway Most devices require no further adjustments except for those made in the script itself However there are also exceptions to it These settings are made by means of the software WINGATE If you know our UNIGATE series you are already familiar with the proceeding with it An example is the adjustment of the IP address and the net mask of an Ethernet gateway These values have to be known as fixed values and are not available for the runtime Another reason for the configuration of the values in WINGATE is the following After an update of the script these val ues remain untouched i e the settings that were made once are still available after a change of the script Only this way it is also possible that the same script operates on different Ethernet gateways that feature different IP addresses 21 4 11 UNIGATE fieldbus gateway for CANopen V 4 2 31 Generating a script
61. sfered per second e Do not unnecessarily extend the data length at the Fieldbus side Especially at acyclical bus data if possible do only send them when changes were made The data length at buses that are configured to a fixed length e g Profibus should not be longer than absolutely necessary If the processing time should be too large in spite of these measures there is the possibility to generate a customized Script command that executes several tasks in one Script command Please contact our support department for this purpose 21 4 11 UNIGATE fieldbus gateway for CANopen V 4 2 33 Hardware ports switches and LEDs Deutschmann Automation GmbH amp Co KG 11 Hardware ports switches and LEDs 11 1 Drawing of the unit 11 1 1 Model UNIGATE RS SC 232 485 CANopen las ination BusPower Y UNIGATE CANopen Term Deutschmann Automation GmbH Termination nterface On CM Off 32 RI 485 Error No Select ID 8421 State Gi B de 1 24V Pwr 3 Rx 485 EJES 34 UNIGATE fieldbus gateway for CANopen V 4 2 21 4 11 Deutschmann Automation GmbH amp Co KG Hardware ports switches and LEDs 11 1 2 Model UNIGATE RS SC 232 422 CANopen BusState Y UNIGATE CANopen BusPower Y Deutschmann Automation GmbH Termination Interface
62. te changes All data is transferred consistently by the gateway in both directions Structure of the data Trigger byte See The trigger byte only at UNIGATE RS chapter 6 5 on page 19 Length byte See The length byte only at UNIGATE RS chapter 6 6 on page 19 User data Trigger byte and length byte are contained only if configured accordingly 6 5 The trigger byte only at UNIGATE RS In case data is transferred cyclically via CANopen normally that is not the case the gateway must detect when the user wishes to send new data via the serial port For this reason the user can set control of transmission via a trigger byte In this mode the gateway always sends and only sends when the trigger byte is changed If Trigger Byte mode is activated the gateway increments the trigger byte each time a telegram has been received The first byte in the CANopen input output data buffer is used as the trigger byte if this mode is activated 6 6 The length byte only at UNIGATE RS The user can configure whether the transmit length is also to be stored as a byte in the input out put data area In transmit direction as many bytes as specified in this byte are sent On reception of a telegram the gateway enters the number of characters received 21 4 11 UNIGATE fieldbus gateway for CANopen V 4 2 19 Transparent mode only at UNIGATE RS Deutschmann Automation GmbH amp Co KG 7 Transparent mode onl
63. th 9600 baud no parity 8 data bits and 1 stop bit Apart from that there are no further differences neither in the software nor in the hardware 21 4 11 UNIGATE fieldbus gateway for CANopen V 4 2 17 Mode of operation of the system Deutschmann Automation GmbH amp Co KG 6 Mode of operation of the system 6 1 General explanation Communication can be split into seven layers Layer 1 to Layer 7 in accordance with the ISO OSI Model The DEUTSCHMANN AUTOMATION gateways convert Layers 1 and 2 of the customized bus system RS485 RS232 to the corresponding fieldbus system Layers 3 to 6 are blank and Layer 7 is forwarded transparently on the standard gateways However customized adaptations are also possible here e g adaptations to existing profiles of the fieldbus systems The gateway can be configured through the software WINGATE that is also supplied see also chapter 11 2 6 2 Interfaces The gateway features the RS232 and RS485 interfaces Switchover is performed by means of a slide switch accessible for the customer The CANopen gateway thus allows access to all devices connected to the RS485 bus via one single CANopen Node ID resp access to the device connected to the RS232 interface 6 3 Data exchange CANopen The following three objects are existing in the CANopen gateway for the data exchange on the CANopen side Adr 2000H Type DOMAIN Data received by the gateway Adr 2001H Type DOMAIN Data s
64. tion 0 o o 9 1 3 1 ARCNET ID of the UNIGATE e e 9 2 9 2 1 Universal 232 protocol aa 5 rabos a ea AE eos bag ew aS Data structure sie he a ee Sa tae he Bee ele 9 2 2 Fieldbus parameters 0 00000 eee eae 9 2 3 RS232 parameter table 92 331 Start character 2 a ek a a ee we A lev a A 9 23 20 Lenin A EE G NA EE D RE E so roto do io aa da E ia dd de la a id oo do 9 2 3 5 CHECKSUM 20 4203 di it cd ER deed oh i 9 2 3 6 7 JEMdicharacte nc ia Se Ross a eae ita ti A A 9 2 4 Communication sequence The 3964 R protocol 9 3 9 3 1 Data Structure 3964R oi sia ra a o eis 9 3 2 Protocol definitions o e 9 3 3 Data communication a a a a a a E e a a Te a a 9 3 3 1 Initiation of data communication by the low priority user er GOniliciS edo S a Bag As eg Eet Ge ce aa yet arsa Sty da nd da E GER Glas tued L EE 9 3 3 4 7 ROTOS sets art e ee OR Oe be a Gi di a o tege LE et ner er 9 3 3 5 Initiation of data communication by the high priority user 9 3 4 State of the 3964R communication 9 4 9 4 1 9 5 9 5 1 9 6 9 6 1 ern hie a EE Ee r a e Data exchange geese Ge a E ia AARI The fieldbus monitor protocol FUNCIO oc Ea hair Ae gest tele dot Brae Rie Bag ee ee aia ban iO 8 Modbus RTU get ae Ge A a ene Bee he ee oa as NOLES ze pod E dEr dete vba A A
65. when shielding e Use metal cable clips to secure the shield braiding The clips must surround the shield over a large area and must have good contact es Downstream of the entry point of the line into the cabinet connect the shield to a shielding bus Continue the shield as far as the module but do not connect it again at this point Shielded data lines and unshielded power supply lines lt 60 V DC are routed to and connected to the module All cable shields must be earthed at both ends in order for the module to comply with all required EMC limits e Downstream of the entry point into the switch cabinet the CANopen cable shield must be connected to the equipotential bonding strip e You must earth the shielded RS232C connection cable via the shield terminal on the module using a flexible wire with a cross section of at least 1 5 mm which is as short as possible e You must also earth the other end of the cable shield of the RS232C connection cable see also chapter 14 2 2 3 21 4 11 UNIGATE fieldbus gateway for CANopen V 4 2 47 Technical data Deutschmann Automation GmbH amp Co KG 15 Technical data 15 1 Device data The technical data of the module is given in the table below No Parameter Data GL certified Explanations design 1 Location Switch cabinet On ships Top hat rail mounting 2 Enclosure IP24 IP66 IP 66 Protection against foreign bodies an
66. y at UNIGATE RS The data is transferred transparently with no timeout monitoring functions whatsoever The user presets the data on the master This data is then forwarded to the external device with no timeout monitoring functions whatsoever A response from the external device is also forwarded to the master with no changes Any security mechanisms must be encrypted by the user in the net data 20 UNIGATE fieldbus gateway for CANopen V 4 2 21 4 11 Deutschmann Automation GmbH amp Co KG Character Delay Time mode only at UNIGATE RS 8 Character Delay Time mode only at UNIGATE RS The Character delay time mode is not a protocol but a special variant of the Universal 232 pro tocol see corresponding chapter 8 1 Receive direction Data received is entered in the transmit buffer until the character delay time expires after recep tion of the last character This time can be configured Transmit direction The data is transmitted transparently 21 4 11 UNIGATE fieldbus gateway for CANopen V 4 2 21 Implemented protocols in UNIGATE RS Deutschmann Automation GmbH amp Co KG 9 Implemented protocols in UNIGATE RS 9 1 Protocol ARCNET ARCNET stands for Attached Resource Computer NETwork It belongs to the group of Token Bus Networks ARCNET is based on a multi master concept that means every ARCNET participant is in the position to communicate with every other ARC NET participant without restri
67. ytes as specified there are transferred Receive data at the RS interface is evaluated in accordance with the configured protocol and the data field data area see chapter 9 2 1 is sent to the fieldbus master If more characters have been received than the fieldbus block length the trailing bytes are truncated and an Rx Overrun is indicated If less have been received padding with O occurs If the Length byte is active the number of received useful data items is entered there If the Trigger byte is active this is incre mented by one after each complete reception operation at the RS interface 9 3 The 3964 R protocol The 3964 protocol is used to transfer data between two serial devices One partner must be a high priority partner and the other must be a low priority partner in order to resolve initialisation conflicts 24 UNIGATE fieldbus gateway for CANopen V 4 2 21 4 11 Deutschmann Automation GmbH amp Co KG Implemented protocols in UNIGATE RS 9 3 1 Data structure 3964R Triggerbyte FB Lengthbyte 3964R Statusbyte Data Fieldbus optional optional optional Rs 9 3 2 Protocol definitions The telegram format is as follows STX Data DLE ETX BCC e The received net data is forwarded transparently in both directions unchanged Attention The DLE doubling is excluded from it that means one DLE 10H on the bus side is sent on the RS side twice A double DLE on the RS side is only

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