deltadue DY-5030 Protocol Converter ® CANopen
Contents
1. MASK for Automatic SEND of PDO 0 03 0000 Receive PDO 3 Bit Bitinuse 8 Delete Row Insert Row IL Move UP Move DOWN Address Device address quan D8 add 8 NOT enable In the form above it is possible to configure the four parts of each PDO compiling the exchange table For the TPDO can be read from the protocol converter 64 bits max 8 data bytes For the RPDO can be written to protocol converter 32 bits max 8 bytes 4 data bytes 4 mask bytes Data 0001 0001 0011 1111 0001 0001 0011 1111 Mask 0011 0110 1114 1111 0011 1110 1110 1111 Written bits 01 00 0011 1111 xx01 000x 001 1111 bits indicated by x not written Chapter 2 Using the DY5030 Compositor Software 2 7 Sent and received data coherence Writing and reading using the SDOs the protocol converter asks directly to the Modbus device If the Modbus device does not answer the protocol converter generates an SDO general error 00 00 00 08 Writing and reading using the PDOs the protocol converter uses the information of the internal database If the Modbus device does not answer the protocol converter uses the last valid information stored in the internal database In order to point out that the PDOs information are not updated 10 check bits 5 for the TPDO and 5 for the RPDO are available When the check bit is set to 1 at least one of the variables inserted in the correspondent PDO is not2. deltadue DY 5030 Protocol Converter FSD amp CANopen Modbus Master S E RIE User Manual Ka M U DY 5030 5 10 11 Cod J30 478 1ADY E Copyright 2008 2010 ASCON spa All rights reserved No part of this document may be stored in a retrieval system or transmitted in any form electronic or mechanical without prior written permission of ASCON Spa ASCON has exercised care in preparing this book and believes the information contained within to be accurate The ASCON Products are subjected to continuous improvement in the pursuit the technological leadership These improvements could require changes to the information contained within this book ASCON reserves the right to change such information without notice ASCON makes no warranty of any kind expressed or implied with regard to the documentation contained in this book ASCON shall not be liable for any incidental and consequential damages in connection with or arising out of the use of this book sigmadue gammadue and deltadue are trademarks of ASCON spa All the other tradenames or product name are trademark or registered trademarks ASCON spa Via Falzarego 9 11 20021 Baranzate MI Italy Fax 39 02 3504243 http www ascon it support 2ascon it PEOFOQUISIOS E s n RAR A Enka Ee eRe Updated documentation Using this manual Current Documentation on the Internet Chapter 1 Characterislics 24 E AA ER AAA Chapte
3. Select Download Documentation and fill the table with Typology Manual Type User Language EN English Code DY Click SEARCH and Download the file Ascon_MIU_DY 5030_EN zip Revision list Revision Date Author Chapter Description 1 00 07 2006 ASCON All fFirstrelease version 2 00 03 2007 ASCON All Second release version 3 00 09 2007 ASCON All Third release version 4 00 11 2008 5 All Fouth release version 5 00 111 2010 ASCON All Fifthrelease version Using this manual Specifications within the text of this manual are given in the International System of Units SI with non SI equivalents in parentheses Fully Capitalized words within the text indicate markings found on the equipment Words in bold style within the text indicate markings found in the Configuration Tools Warnings Cautions and Notes are used to emphasize critical instructions DANGER Indicates an imminently hazardous situation which if not avoided will result in death or serious injury deltadue DY 5030 User manual A Note WARNING Indicates a potentially hazardous situation which if not avoided could result in death or serious injury Caution Indicates a potentially hazardous situation which if not avoided may result in minor or moderate injury or property damage Highlights important information about an operating procedure or the equipment Curr
4. 67 8 9 Personal Computer COM port DY RS232 serial communications port er B 5 num NC RX TX COM V V A 2 2 CANBUS Cable Characteristics H COM CANopen fieldbus D 13 pm 16 communication port Y Y DC parameter Impedance 70 0 mQ m AC parameters Impedance 120 mQ m Delay 5 ns m Baud Rate Length max 10 kbps 5000 m 20 kbps 2500 m 50 kbps 1000 m Length 100 kbps 650 m 125 kbps 500 m 250 kbps 250 m 500 kbps 100 m 800 kbps 50 m 1000 kbps 25m Appendix A Connections and Jumpers A 3 Jumpers Setting A 3 1 A 3 2 On the printed circuit board of the Protocol Converter are present 5 groups of jumpers that are to be correctly set to let the Protocol Converter to function and communicate Boot Jumpers To update the device configuration the boot jumper present on the PCB of the protocol converter must be set as follows Update device boot jumper position Reserved jumper do not short circuit JP6 J Om D i Boot position Normal operation update device default setting RS485 Ports The protocol converter has two RS485 lines that are routed on 2 different ports 1 The Front RS485 port which can be found at terminal block A always enabled 2 The side RS485
5. STEP Wait for device 1 At this point you must boot the Protocol Converter with the provided jumper See the Boot jumper paragraph in Jumper setting chapter 2 Select the serial port which performs the update Click on Execute update firmware 3 Wait for the running bar to finish 4 Remove the jumper and reboot the protocol converter A 1 Connection Scheme RS485 Modbus master port Chapter A Connections and Jumpers Personal Computer LAA to update the device Female plug for power supply RS485 Modbus configuration 21512 Blinking Nc COM 5232 port RS485 n active 5 Male plug for power supply Other 4 B e TX COM RS485 Modbus deltadue RS485 Modbus master port series gt modules NC N N 4 z E 24 Vac dc L E Power supply switch o Steady lit powered Ms Ne NG Blinking CANopen active G 9 10 11 12 NC E H COM D 13 IO CANopen Y Y 21 4 PLCs 1 0s Me Scanners Pressure Control M acs h transmitters valves deltadue DY 5030 User manual A 2 Cable Characteristics A 2 1 RS232 Cable The connection from RS232 terminal to a serial port example one from a personal computer must be made with a cable similar to the one in the following drawing It is recommended that the RS232 cable does not exceed 15 meters
6. rate 250 K 9600 Chart of a connection of the protocol converter between a CANopen line and Modbus line Protocol converter CANopen to Modbus Device I r Baud rate teed Rate 250 Pa Teneout Send TPDOs on SYNC Send TPOOs on SYNC 1 E ss Transmission gt Transmis en Type 77 Send TPDO on Change JK Send TODOS on Chan Subinces 0 Enable Subincex 0 Enable Swap date in RPDO Dd Swap data in RPOO By pressing the General Parameter button the previous window appears in which can be set the parameters of both the BUSses Inthe field Device ID the Gateway address of CANopen device can be inserted Inthe fields Baud Rate can be inserted the baud rate of the two BUSses The parameter Timeout is expressed in milliseconds Timeout is the maximum waiting time for Serial response Send TPDOs on SYNC When this option is enabled the TPDOs transmission is started after a SYNC command is received The Transmission Type field is connected to the SYNC field If SYNC is enabled the Transmission Type changes automatically the value to 1 when SYNC is disabled the field is set to 255 to allow the Remote Request and Event management For more information about the Transmission Type values meaning consult the table that follows Subindex 0 Enable When there is only one register Quantity 1 if this box is checked the value will be on Subindex 0 instead of Subindex 1 Swap
7. For reading word 0 on device at address 1 you have to read SDO index 2000 subindex 1 For reading word 1 on device at address 1 you have to read SDO index 2000 subindex 2 Etc Sub index 0 contains the number of PDO sub index if Subindex 0 Enable box is not checked Field Quantity means number of consecutive location can be read Read Write RO Holding Register FUN 3 To force reading only and avoid writing the holding registers uses Modbus function 3 Read Write RW Holding Register FUN 3 6 To read and write holding registers uses Modbus functions 3 and 6 Read Write RO Input Register FUN 4 To read input registers uses Modbus function 4 Analogue SDO Setting MANE Address Wo RW Holding Register Fun 3 6 01 add1 5 RW Holding Register Fun 3 6 01 add 1 SP3 RW Holding Register 3 6 02 add 11 SP3 The object 2100 to 2111 and 2200 to 220F are reserved and cannot be used All data will be retrieved on event read of specific SDO The master CANopen need to have a timeout higher than 500 ms The reply time is the time for a serial inquiry plus the serial response Chapter 2 Using the DY5030 Compositor Software 2 4 Digital SDO setting The following objects can be defined within the section as digital SDO Setting The CANopen SDO gives access to Modbus bits Example If want to read data from Modbus network but I m in a CANopen network I ll define SDO index 2060 and this wi
8. ING Delta Send 0 means that the TPDO will be continuously transmitted Mnemonic Optional additional comment Dimension Please specify the right PDO size in bytes each index in the table uses 2 bytes It has no effect on the unused PDOs deltadue DY 5030 User manual 2 6 Digital PDO setting The gateway permits to use 1 digital Receive PDO and 1 digital Transmit PDO TPDO3 is mapped at 2110 PDO3 is mapped at 2111 A PDO has 8 bytes length When all the Modbus devices are connected and working Writing an RPDO the data will be written into serial device of specific addresses Requesting a TPDO this PDO will contain the data read from serial bus from a specific device and address When at least one Modbus bit changes according with the MASK for Automatic send of PDO the transmit TPDO will be automatically transmitted In the MASK for Automatic send of PDO the less significant bits are referred to the first bits configured in the digital PDO setting page Digital PDO Setting Transmit PDO 3 Bit Bitinuse 26 Delete Row Insert Row Move UP Move DOWN Input Status D8 add 8 STATUS TOGGLE F F Input Status TPDO1 check bit Input Status TPDO2 check bit Input Status TPDO3 check bit Input Status RPDO1 check bit Input Status RPDO2 check bit Input Status RPDO3 check bit Input Status TPDO4 check bit Input Status TPDOS check bit Input Status RPDO4 check bit Input Status RPDOS check bit 0 1 2 3 4 5 6 7 8 9
9. PDO1 W3 3 2 A OUT TPDOi W4 3 13 i AL3 5 FEEL Transmit PDO 2 Dimension 8 5 Description Add Data Delta Send Mnemonic TPDO2 Wi TPDO2 W2 TPDO2 W3 TPDO2 W4 Transmit PDO 4 Dimension 8 TPDO4 Wi TPDO4 W2 TPDO4 W3 TPDO4 W4 Transmit PDO 5 Second Dev ID 8 Must be equal to Receive Dimension 8 TPDOS Wi TPDOS W2 TPDOS W3 TPDOS W4 Chapter 2 Using the DY5030 Compositor Software Analogue PDO Setting Transmit PDO Receive PDO Receive PDO 1 Dimension 4 y 3 3 SP RPDO1 W1 RPDO1 W2 3 13 AL3 RPDO1 W3 RPDO1 W4 Receive PDO 2 Dimension 8 Description Add Dev Mnemonic RPDO2 Wi RPDO2 W2 RPDO2 W3 RPDO2 W4 Receive PDO 4 Dimension 8 vi RPDO4 W1 RPDO4 W2 RPDO4 W3 RPDO4 Wd4 Receive PDO 5 Second Dev ID 8 8 Must be equal to Transmit Dimension 8 Index Description add Dev add Data Mnemonic 2214 RPDOS_W1 2215 RPDOS Ww2 2216 RPDOS W3 2217 RPDOS W4 For every desired PDO it is necessary to specify Add Dev Modbus Slave Address of the device which contains the parameter that is to be read or write Add Data Address of the Modbus data register that is to be read or write Delta Send Only for TPDO The smallest change of a Modbus variable that trig gers the transmission of a PDO on the CAN network When at least one Modbus word exceeds Delta Send range the correspondent transmit TPDO will be automatically transmitted WARN
10. data in RPDO When this option is enabled the 2 bytes of each word are swapped only for RPDO deltadue DY 5030 User manual Send TPDOs on Change Of Status COS To allow TPDOs automatic transmission when there is a change of the TPDOs variable send on Event Value Type of Transmission Setting this value when a SYNC command is received only 0 Changed TPDOs if COS enabled and those TPDOs that have been requested with a Remote Request are transmitted 1 240 Setting a value between 1 240 means that every 1 240 SYNC Ut commands all the TPDOs are transmitted 241 251 Reserved values 252 Setting this value when SYNC command is received those TPDOs that have been requested with a Remote Request are transmitted Setting these values means that Changed TPDOs if COS enabled 253 255 and those TPDOs that have been requested with a Remote Request are transmitted immediately independently from SYNC 2 3 Analogue SDO setting Example The Manufacturer area of Object Dictionary can be configured for representing data of serial line The following objects can be defined within the section as analogue SDO Setting The CANopen SDO gives access to Modbus registers If want to read analogue data from Modbus network but I m in a CANopen network I ll define an SDO index 2000 and this will be associated to an analogue area inside Mod bus network device 1 Modbus address 0
11. ect 63 Open project General Parameter 68 Analogue SDO Setting 8 Digital SDO Setting FE Digital PDO Setting K Create EDS File update Device J The New Project button creates the folder which contains all the project files The project is the set of files that defines a particular configurations of the CANopen Modbus Protocol Converter This file can also be imported and exported clone configurations of a CANopen Modbus Protocol Converter in order to configure another device in the same manner it is necessary to maintain the folder and all its contents To clone a project in order to obtain a different version of the project it is enough to duplicate the project folder with another name and open the new folder with the button Open Project When the project is created or opened it is possible to access the various configuration sections General Parameter Analogue SDO Setting Digital SDO Setting Chapter 2 Using the DY5030 Compositor Software Analogue PDO Setting Digital PDO Setting Create EDS file 2 2 General Parameter This section defines the main communication parameters of two BUSses where the Protocol Converter is inserted CANopen speed 250 K Modbus RTU at 9600 baud ID 10 Generic Module CANopen ID 24 Generic Module CANopen CANopen Modbus ID 44 1D27 Baud rate Baud
12. ent Documentation on the Internet Make sure you are always working with the latest version of this document ASCON spa reserves the right to make changes to its products in the name of technological advancement New manual revisions when published and can be found online at http www ascon it vi Note Chapter I Characteristics The CANopen Modbus master Protocol Converter is an electronic device that can be installed on DIN rail it allows the following bi directional information between networks CANopen and Modbus Electrical isolation between two BUSes SDO PDO Nodeguarding RS485 Serial Communications To configure the Protocol Converter use the Compositor software that runs under the control of Windows Operating System It is downloadable from the site www ascon it in section download software Entered the download area find the program Ascon SW DY 5030 Compositor zip The first time you enter the Software Download area you need to register yourself by clicking on the register button The Protocol Converter can be configured up to a maximum of 1000 SDO 5 TPDO and 5 RPDO Chapter 2 Using the DY 5030 Conmpositor Software 2 1 Introduction The CANopen Modbus Protocol Converter allows a CANopen network to communicate with a Modbus network that we simply call CANopen and ModBUS in this manual When launching it the following window appears Ascon SW DY 5030 Compositor A New proj
13. ll be associated to a digital area inside Modbus network device 8 starting Modbus address 0 number of reading bits 16 For reading all the 16 bits on device at address 8 you have to read SDO index 2060 subindex 0 For reading all the 8 bits on device at address 8 you have to read SDO index 2061 subindex 0 Etc Field Quantity means number of consecutive bits can be read Subindex field is suggested to always be 0 Bit type RO Input Status FUN 2 To read input bits uses Modbus function 2 Bit type RO Coil Status FUN 1 To force reading only and avoid writing the output bits coils uses Modbus function 1 Bit type RW Coil Status FUN 1 5 and 15 To read and write output bits coils uses Modbus uunctions 1 5 and 15 Digital SDO Setting Pix EE TEE EEC EI MC a 2060 0 16 RO Input Status D8add8STATUSTOGGLEFF 2 2061 0 8 32 8 RW Coil Status D8 add 8 NOT enable For each SDO can be read 16 bits max 4 bytes the last 2 bytes are always set to 0 For each SDO can be written 16 bits max 4 bytes 2 data bytes 2 mask bytes Data 0001 0001 0011 1111 Mask 0011 0110 1111 1111 Written bits 01 x00x 0011 1111 bits indicated by x are not written The object 2100 to 2111 and 2200 to 220F are reserved and cannot be used All data will be retrieved on event read of specific SDO The master CANopen need to have a timeout higher than 500 ms The reply time is the time for a serial inquiry
14. plus the serial response 2 5 Analogue PDO setting The gateway permits to use 4 analogue Receive PDO and 4 analogue Transmit PDO All PDO are mapped to specific object for TPDO1 2100 2101 2102 2103 consult the tables that follow for further details The PDO may have a maximum length of 8 bytes divided in 4 words Each word is linked to a word in serial bus In order to use the Receive PDO5 and Transit PDO5 the user must configure a second device ID different from the one configured in the General Parameter mask When the device that has the device ID set in the General Parameter mask is set to Operational Mode automatically also the device that has the second device ID is set to Operational Mode in the same way the second device returns deltadue DY 5030 User manual to the Pre Operational Mode when the device that has the device ID set in the Set Parameter Mask is removed from the Operational Mode Setting the second device in Operational or Pre Operational mode has no effect When all the Modbus devices are connected and working writing an RPDO the data will be written into serial device of specific addresses requesting a TPDO this PDO will contain the data read from serial bus from a specific device and addresses Analogue PDO Setting Transmit PDO Receive PDO Transmit PDO 1 Dimension F 5 index Tesoros add Dev Rad bots Send nenes TPDO1 Wi 3 0 1 PV TPDO1_W2 3 1 SP T
15. port present on the connectors on the side of the converter case RS485 side port jumper enable G f mel E port jump JP16 0 JP16 am EE JE s HE C Side port enabled Side port disabled jumpers inserted WARNING As the protocol converter works as Master in the Fieldbus network if another Mas ter module i e DX is connected to the RS485 side port the RS485 side port of the protocol converter must be disabled deltadue DY 5030 User manual Terminating the front RS485 Port RS485 front port termination Termination disabled RS485 front default setting port terminated RS485 front port termination RS485 COM Termination disabled RS485 front default setting port terminated CANopen port termination CANopen NC L H COM 13 A ES DEl uj 8 JP20 JP20 Termination disabled CANopen port default setting terminated Appendix B Mechanical Characteristics B 1 Dimensions 22 5 mm 1 0 89 in 114 5 mm 4 5 in 6 3 mm 0 25 in Material PVC Weight 200 g appro
16. r 2 Using the DY 5030 Conmpositor Software 2 1 Introduction een e jo o o ita idos 2 2 General Parameter vor dadas Baka Ge eee 2 3 Analogue SDO setting taa e ia 2 4 Digital SDO setting a 2 5 Analogue PDO setting o suc bos Bana os ben RE 2 b Digital PDO Setting SER e EET 2 7 Sent and received data coherence 2 6 Grete EDS file 25255 5 mek ES IDE 2 8 DEVICE update vacate eate ari REE ede RC ace n otl e de Chapter A Connections Jumpers A 1 Connection Scheme oss sionem uke A 2 Cable Characteristics xe dada Eua toe ese eR A 2 1 RS232 Gabler EN oan scoot 2 2 CANBUS Cable Characteristics A 3 Jumpers SENG cave Cees vow dente sewer ae A 3 1 BODtJUMPESES acaban eee ad GU av o tenes s A 3 2 9495 PONG si usus betes SG hte eee anda A 3 3 Terminating the CANopen Appendix B Mechanical Characteristics Bel DIMENSIONS yet eere sete ex e o Melle dee M lt Vi 15 15 Index continued Prerequisites Updated documentation It is advised that you always check our Internet site www ascon it for the most current updates Access the English version by clicking on the English flag and choosing English site
17. updated Inserting these check bits in the digital TPDO and configuring the MASK for Automatic send of PDO for automatic transmitting of the TPDO when the bits change the TPDO can be used to know the information coherence in all the PDOs As illustrated in the last 10 lines of the Digital PDO setting display the 10 check bits conventionally are at Modbus Address Device 250 and Modbus Address Bit as described in the table that follows TPDO1 TPDO2 TPDO3 RPDO1 RPDO2 RPDO3 TPDO4 TPDO5 RPDO4 RPDO5 analogue analogue digital analogue analogue digital analogue analogue analogue analogue a deltadue DY 5030 User manual 2 8 Create EDS file By clicking on this button the user can create a valid EDS file WARNING In order to obtain a valid file that describes all the configured SDOs and PDOs create the EDS file only after setting the SDOs and the PDOs 2 9 Device update In order to download the parameters you must click the button Update device on the main window Generale Firmware Ascon SW DY 5030 Compositor A New project es Open project Fr General Parameter Analogue SDO Setting Execs imer a gt EG SCIT p Analogue PDO Setting Digital PDO Setting Create EDS File EJ update Device E Projects Compositor Test Translate sx
18. x deltadue DY 5030 User manual Appendix B Mechanical characteristics 17 deltadue DY 5030 User manual
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