Helmholz PN/CAN gateway Manual
Profinet/canopen
Hide thumbs
Also See for PN/CAN gateway:
- Quick start manual (12 pages) ,
- Manual (36 pages) ,
- Manual (28 pages)
Table of Contents
Advertisement
Quick Links
Advertisement
Table of Contents
Related Manuals for Helmholz PN/CAN gateway
Summary of Contents for Helmholz PN/CAN gateway
- Page 1 PN/CAN gateway, PROFINET/CANopen® Manual Version 3 / 27.01.2017 Manual order number 900-670-PNC01/de Helmholz GmbH & Co. KG | Hannberger Weg 2 | D-91091 Großenseebach | Germany Phone +49 9135 7380-0 | Fax +49 9135 7380-110 | info@helmholz.de | www.helmholz.com...
- Page 2 Helmholz GmbH & Co. KG. All rights reserved in the event of the granting of a patent or the registration of a utility model. To download the latest version of this manual, please visit our website at www.helmholz.de. We welcome all ideas and suggestions.
-
Page 3: Table Of Contents
CAN bus connection ......................13 4.2.3 PROFINET connection ......................13 4.2.4 USB interface ........................13 CAN bus ......................14 Wiring a CAN Bus ........................14 CAN bus plug ........................14 The CANopen® protocol ......................15 PN/CAN gateway, PROFINET/CANopen® | Version 3 | 27.01.2017... - Page 4 7.4.1 SDO transmission example ....................33 Emergency messages ......................34 Layer Setting Service (LSS) ..................... 35 PROFINET diagnosis alarm ..................... 37 LED-based diagnosis ..................38 PROFINET Certificate ..................39 Technical data....................40 PN/CAN gateway, PROFINET/CANopen® | Version 3 | 27.01.2017...
-
Page 5: General
1 General This operating manual applies only to devices, assemblies, software, and services of Helmholz GmbH & Co. KG. 1.1 Target audience for this manual This description is only intended for trained personnel qualified in control and automation engineering who are familiar with the applicable national standards. For installation, commissioning, and operation of the components, compliance with the instructions and explanations in this operating manual is essential. -
Page 6: Note Symbols And Signal Words
If the hazard warning is ignored, people can be injured or harmed. Draws attention to sources of error that can damage equipment or the environment. Gives an indication for better understanding or preventing errors. PN/CAN gateway, PROFINET/CANopen® | Version 3 | 27.01.2017... -
Page 7: Intended Use
Helmholz GmbH & Co. KG. The PN/CAN gateway may not be used as the only means for preventing hazardous situations on machinery and systems. -
Page 8: Installation
• Do not touch components and assemblies on contacts. 1.6.4 Overcurrent protection Overcurrent protection isn't necessary as the PN/CAN gateway transports no load current. The power supply of the PN/CAN gateway electronics is to be secured externally with a fuse of maximum 1 A (slow-blowing). 1.6.5 EMC protection... -
Page 9: Liability
Helmholz GmbH & CO. KG is not liable for damage caused by software that is running on the user’s equipment which compromises, damages, or infects additional equipment or processes through the remote maintenance connection and which triggers or permits unwanted data transfer. -
Page 10: System Overview
2 System overview 2.1 General/area of application The PN/CAN gateway integrates a CANopen® network into a PROFINET network. It is a full-fledged CANopen® master and enables the incorporation of the process and service data of CANopen® slave devices into the IO area of a PROFINET CPU. -
Page 11: Installation And Removal
In order to ensure safe operation, the ambient temperature must not exceed 60 °C. 3.1 Installation position The PN/CAN gateway can be installed in any position. The front plate must be accessible in order to plug in bus lines. 3.2 Minimum clearance It is recommended to adhere to the minimum clearances specified when installing devices. -
Page 12: Setup And Wiring
4 Setup and wiring 4.1 EMC/safety/shielding The PN/CAN gateway complies with EU Directive 2004/108/EC (“Electromagnetic Compatibility”). One effective way to protect against disturbances caused by electromagnetic interference is to shield electric cables, wires, and components. When setting up the system and routing the required cables, make sure to fully comply with all standards, regulations, and rules regarding shielding. -
Page 13: Wiring Of The Pn/Can Gateway
4.2 Wiring of the PN/CAN gateway 4.2.1 Voltage supply The PN/CAN gateway is supplied with 24 V DC voltage via the 3-pin power supply plug. 4.2.2 CAN bus connection CAN bus D-sub connector CAN low CAN GND CAN high PN/CAN gateway contains no terminating resistor for the CAN bus! 4.2.3 PROFINET connection... -
Page 14: Can Bus
A CAN bus cable requires at least three wires: CAN high, CAN low, and CAN ground. Only linear bus topologies are allowed, A terminating resistor of 120 ohms must be connected between CAN high and CAN low at both ends of the CAN bus cable. The PN/CAN gateway has no installed bus terminating resistor. -
Page 15: The Canopen® Protocol
CANopen® communication profiles and standards are administered by the CIA (CAN in Automation e.V.). The standard DS 301 "CANopen® application layer and communication profile" is relevant for the PN/CAN gateway. This is available at CAN in Automation's website (http://www.can-cia.org). -
Page 16: Canopen® Functions
RPDO4 (rx) 1010 – 57F SDO (tx) 1011 – 5FF SDO (rx) 1100 – 67F NMT error control 1110 – 77F "tx" = transmitted by the slave "rx" = received by the slave PN/CAN gateway, PROFINET/CANopen® | Version 3 | 27.01.2017... -
Page 17: Network Management
In order to ensure that the intervals at which the SYNC frame are sent are equally spaced, the frame has a high priority level. [COB-ID: 80 PN/CAN gateway, PROFINET/CANopen® | Version 3 | 27.01.2017... - Page 18 If one of the CANopen® slaves detects that something has gone wrong (e.g., life guarding times out), it will send an emergency message on the bus. [COB-ID: 80 + node ID / data: 8 bytes] PN/CAN gateway, PROFINET/CANopen® | Version 3 | 27.01.2017...
-
Page 19: Setup And Use
6.2 Configuring gateway The PN/CAN gateway can be found in the hardware catalogue under "PROFINET IO Other field devices Gateway Helmholz PN/CAN gateways". Add the "PN/CAN gateway CANopen®" to the project and connect it with your PROFINET network. -
Page 20: Configure Gateway Master
CAN bit rate: 10, 50, 100, 125, 250, 500, 800 Kbps and 1 Mbps are available as bit rates. CAN master node ID: Node ID under which the PN/CAN gateway at the CAN bus is active. In some applications, a SYNC frame is necessary for operation. -
Page 21: Add And Configure Canopen® Device
When the option Slave must be present (mandatory device) is selected, all CANopen® participants on the CAN bus of the PN/CAN gateway are first switched to Operational when this device is present and configured. When this option is selected for several devices, all devices must first be Operational before the PN/CAN gateway goes Operational. -
Page 22: Minimum Requirements Of A Canopen® Slave
"NMT boot up" is not waited for. A response must come no later than by the 3rd reading of the SDO 1000, otherwise 3 times SDO 0x1000 are read again upon expiration of the boot up timeout. PN/CAN gateway, PROFINET/CANopen® | Version 3 | 27.01.2017... -
Page 23: Configure Pdos
A maximum of 32 PDOs per slave can be configured; 16 TPDOs and 16 RPDOs. The mapping of the PDOs cannot be prescribed by the PN/CAN gateway configuration in the hardware configurator. If the default mapping is changed, the slave can be initialized to Pre-Operational and the mapping then be changed with the SDO frames. -
Page 24: Cob-Ids Of The Pdos
PDO settings have already been set in the CAN device in advance. The PN/CAN gateway will then not alter the PDO settings when starting up. PDO TTYPE: Transmission type of the PDO as defined by the CANopen® standard. -
Page 25: Detection And Initialization Of A Slave
(see Ch. 7.1.1 "Master Control"). The CANopen® slave can then be configured as desired with the SDO commands (see Ch. 7.4 "SDO Kommunikation"). The gateway is only switched to the Operational (2) state subsequent to this. PN/CAN gateway, PROFINET/CANopen® | Version 3 | 27.01.2017... -
Page 26: Assign The Gateway A Profinet Name
The clear identification of the PN/CAN gateway is ensured here by the MAC address of the device. The assigned name must agree with the name established in the hardware configurator (see Ch. 6.2.1). If the PN/CAN gateway has been assigned the correct PROFINET name, it is recognized by the PLC and configured. -
Page 27: Programming In The Plc
Activate LSS mode: The PN/CAN gateway is to be switched to the LSS operating mode. This is only permitted if the master is in the state 0 (bootup). Whether the gateway is in LSS mode can be read off bit 6 of byte 1 of the master status. -
Page 28: Master Status
An "NMT stop" is transmitted to the CAN bus and the PN/CAN gateway is re-initialized. The "Bit user reset requested" in the master status (byte 1, bit 7) shows the carried out reset. The bit "User reset" can now be reset. - Page 29 Emergency Lost: The bit indicates the overflow of the emergency message buffer (see also Ch. 7.5). User reset requested: User reset request (master control, byte 0, bit 7) has been detected and NMT Reset transmitted to the CAN bus. PN/CAN gateway, PROFINET/CANopen® | Version 3 | 27.01.2017...
-
Page 30: Canopen® Device
The profile read from the SDO 1000 does not correspond to the planned profile. The initialization of the slave cannot be continued. SDO 1001: The SDO 1001 "Error Index" is read by the slave and the state entered here. PN/CAN gateway, PROFINET/CANopen® | Version 3 | 27.01.2017... -
Page 31: Canopen® Device Control
Resend all RPDOs: The RPDOs are normally only transmitted when a value in the initial map of the PN/CAN gateway has been changed. With this bit it is possible to have unchanged data sent again. 7.3 PDO data The PDO data is found as inputs (TPDOs) or as outputs (RPDOs) directly in the process map. -
Page 32: Sdo Communication
Out 4 SDO sub-index Out 5 Out 6 Transmission data for SDO job Out 7 Out 8 All data/values must be written in Big Endian (highest address first) in the IO area. PN/CAN gateway, PROFINET/CANopen® | Version 3 | 27.01.2017... -
Page 33: Sdo Transmission Example
Wait for SDO status "Job completed" (EB 110, bit 5) = 1 ? "Job completed with errors" (EB 110, bit 4) = 1 ? Evaluate abort code Reset "Start job" (AB 110, bit 7 = 0) Wait until EB 110 = 0 PN/CAN gateway, PROFINET/CANopen® | Version 3 | 27.01.2017... -
Page 34: Emergency Messages
7.5 Emergency messages Emergency messages from the slaves are always received by the PN/CAN gateway and made available to the PLC. The PN/CAN gateway does not itself react actively to the emergency messages. The messages must be evaluated by the application program. -
Page 35: Layer Setting Service (Lss)
In order to carry out the LSS functions on the CAN bus, these must be programmed in the PLC. To this purpose, the LSS module makes available the following command interface in the IO map. PN/CAN gateway, PROFINET/CANopen® | Version 3 | 27.01.2017... - Page 36 1 is set in the LSS status. Bit 2 is also set for a timeout. In the LSS protocol, the COB IDs 7E5 (LSS master transmitting) and 7E4 (LSS slave responding) are used. Ask support for the example of handling blocks for the LSS functions. PN/CAN gateway, PROFINET/CANopen® | Version 3 | 27.01.2017...
-
Page 37: Profinet Diagnosis Alarm
7.7 PROFINET diagnosis alarm The PN/CAN gateway supports the following diagnosis alarms: Configuration error SDO 0x1001 in the same is no longer equal to 0 * Configuration error at the slave (e.g. same PDO numbers) Alarm for master transition due to missing mandatory slave *... -
Page 38: Led-Based Diagnosis
CAN bus error in the recipient or PN/CAN gateway hasn't been configured yet CAN TX Flashing green CAN frames are being transmitted Transmission not possible (e.g. false Baud rate, CAN bus disrupted) or the PN/CAN gateway has not yet been configured PN/CAN gateway, PROFINET/CANopen® | Version 3 | 27.01.2017... -
Page 39: Profinet Certificate
9 PROFINET Certificate PN/CAN gateway, PROFINET/CANopen® | Version 3 | 27.01.2017... -
Page 40: Technical Data
DIN EN 60068-27:2010 “Shock” Protection rating IP 20 Relative humidity 95% without condensation Installation position Permissible ambient temperature 0° C to 60° C Transport and storage temperature -20° C to 80° C PN/CAN gateway, PROFINET/CANopen® | Version 3 | 27.01.2017...
Need help?
Do you have a question about the PN/CAN gateway and is the answer not in the manual?
Questions and answers