Table of Contents
Advertisement
Quick Links
User Manual
Anybus
X-gateway CANopen
®
PROFINET
Doc.Id. HMSI-168-91
Rev. 2.10
Connecting Devices
HALMSTAD • CHICAGO • KARLSRUHE • TOKYO • BEIJING • MILANO • MULHOUSE • COVENTRY • PUNE • COPENHAGEN
HMS Industrial Networks
Mailing address: Box 4126, 300 04 Halmstad, Sweden
E-mail: info@hms-networks.com
Visiting address: Stationsgatan 37, Halmstad, Sweden
www.anybus.com
Advertisement
Table of Contents
Related Manuals for HMS AB7307
Summary of Contents for HMS AB7307
-
Page 1: User Manual
Rev. 2.10 Connecting Devices HALMSTAD • CHICAGO • KARLSRUHE • TOKYO • BEIJING • MILANO • MULHOUSE • COVENTRY • PUNE • COPENHAGEN HMS Industrial Networks Mailing address: Box 4126, 300 04 Halmstad, Sweden E-mail: info@hms-networks.com Visiting address: Stationsgatan 37, Halmstad, Sweden... -
Page 2: Important User Information
PROFINET is expected. Liability Every care has been taken in the preparation of this manual. Please inform HMS Industrial Networks AB of any inaccuracies or omissions. The data and illustrations found in this document are not binding. We, HMS Industrial Networks AB, reserve the right to modify our products in line with our policy of continuous product development. -
Page 3: Table Of Contents
Table of Contents Table of Contents Important User Information Liability............................1 Intellectual Property Rights....................... 1 Trademark Acknowledgements......................1 Preface About This Document Related Documents..........................1 Document History ........................... 1 Conventions & Terminology ........................1 Sales and Support ............................. 1 Chapter 1 Anybus X-gateway CANopen - PROFINET Introduction .............................. - Page 4 Secondary CANopen Network Configuration .................. 17 LSS Routine..........................17 Configuration of the PROFINET Interface ..................18 Data Exchange..........................18 PROFINET IO Data ......................... 18 ......................Modbus/TCP (Read-Only)19 Configuration ..........................20 IP Settings ............................. 20 Enabling Data Exchange........................22 Chapter 6 CANopen Module Specification NMT State Machine..........................
- Page 5 Appendix B Status LED Timing Diagrams Appendix C CANopen Emergency Codes Appendix D Enabling Data Exchange Anybus X-gateway CANopen Doc.Id. HMSI-168-91 Doc.Rev. 2.10...
-
Page 6: Trademark Acknowledgements
Preface P. About This Document For more information, documentation etc., please visit www.anybus.com P.1 Related Documents Document Author CiA Draft Standard 301 v4.2 CAN in Automation CiA Draft Standard Proposal 302 Part 1-5 CAN in Automation PROFINET IO Specification PROFIBUS Nutzerorganisation e.V. (PNO) PROFINET Technology and Application PROFIBUS Nutzerorganisation e.V. -
Page 7: Anybus X-Gateway Canopen - Profinet
Chapter 1 1. Anybus X-gateway CANopen - PROFINET 1.1 Introduction The Anybus X-gateway CANopen is a series of network gateways, used to provide a seamless connec- tion between a primary fieldbus/Ethernet network and a secondary CANopen sub-network. The gate- way enables the master of the fieldbus/Ethernet network to exchange data to and from the secondary CANopen sub-network. -
Page 8: Features
The implementation is based on HMS NP30 network microprocessor and is certified by CAN in Automation (CIA) for full conformance to the CANopen DS 301 v4.0.2 standard. -
Page 9: Functional Overview
Anybus X-gateway CANopen - PROFINET 4 1.3 Functional Overview Internally, the X-ggateway consists of an intelligent gateway platform, an Anybus CANopen interface and an Anybus PROFINET interface. The CANopen interface and the Anybus PROFINET interface are interconnected through the intelligent gateway platform, which basically forwards data from one net- work to the other and vice versa as shown below. - Page 10 Anybus X-gateway CANopen - PROFINET 5 if needed. The master on the primary PROFINET network can see the status of the secondary CAN- open network in the corresponding status word. The amount of data that shall be exchanged, and the use of the control- and status functionality, is spec- ified separately for each application.
-
Page 11: About The Anybus X-Gateway Canopen
Chapter 2 2. About the Anybus X-gateway CANopen 2.1 External View A: Status LEDs See also... - “Status LEDs” on page 7 B: Primary Network Connectors and Switches This connector (connectors) and, if available, these switches are used to connect the Anybus X-gateway CANopen module to the primary PROFINET net- work and to configure that interface. -
Page 12: Status Leds
About the Anybus X-gateway CANopen 7 2.2 Status LEDs The status LEDs on the front indicate the status of the module as shown in the table below. Their be- havior is described in “Status LED Timing Diagrams” on page 47 Status LEDs 1 - 4 indicate the status of the primary PROFINET network and status LEDs 5 - 6 indicate the status of the secondary CANopen (sub)network and the de- vice. -
Page 13: Primary Network
About the Anybus X-gateway CANopen 8 2.3 Primary Network 2.3.1 PROFINET Connector (Network Access Port) Pin no Description 4, 5, 7, 8 (reserved) Anybus X-gateway CANopen - PROFINET Doc.Id. HMSI-168-91 Doc.Rev. 2.10... -
Page 14: Secondary Network
About the Anybus X-gateway CANopen 9 2.4 Secondary Network 2.4.1 CANopen Connector At the bottom of the module you find the CANopen connector for the secondary net- work. Pin no. Description CAN_L Housing, CAN cable shield CAN_H 1, 4, 8, 9 (reserved) (male) 3, 6... -
Page 15: Usb Connector
About the Anybus X-gateway CANopen 10 2.5 USB Connector At the bottom of the module, next to the CANopen connector for the secondary net- work, you find a USB connector that is only used for software upgrade of the module. Pin no. -
Page 16: Hardware Installation
About the Anybus X-gateway CANopen 11 2.6 Hardware Installation Perform the following steps when mounting the gateway: 1. Set the Node Address and the baud rate for the secondary CANopen network (see “Configura- tion Switches” on page 9). 2. Snap the gateway on to the DIN-rail (See “External View” on page 6) The DIN-rail mechanism works as follows: To snap the gateway on, first press it downwards (1) to compress the spring in the DIN-rail mechanism, then push it against the DIN-rail as to... -
Page 17: Canopen Electronic Data Sheet (Eds)
This file is used by the network configuration tool during network configuration. The latest version of the GSD file for the Anybus X-gateway PROFINET interface, can be downloaded from the HMS web site, ‘www.anybus.com’ or obtained by contacting HMS. Anybus X-gateway CANopen - PROFINET Doc.Id. HMSI-168-91... -
Page 18: Getting Started
4. Connect the power cable and apply power. 5. Download the appropriate EDS file from HMS to the external CANopen configuration tool. See “CANopen Electronic Data Sheet (EDS)” on page 12. 6. Decide how much data will be transferred. This amount is always configured for the module’s interface to the secondary network. -
Page 19: Canopen Fieldbus Functionality
Chapter 4 4. CANopen Fieldbus Functionality The functionality of the Anybus X-gateway CANopen master/slave on the secondary network is de- fined by the CANopen DS301 Rev. 4.2 specification and DSP302 (part 1-5). Note: The first time the module starts up, it starts as a slave on the secondary CANopen network. It can be set as master during configuration, see “Enabling Data Exchange”... -
Page 20: Chapter 5 Configuration
5.1 Module Identification The Anybus X-gateway CANopen master to PROFINET module identifies itself on the network as fol- lows: Description Value Vendor ID 010Ch Vendor Name “HMS Industrial Networks” Main Family “Gateway” Product Family “X-gateway COPM” Device ID 000Ah Order Number “X-gateway COPM”... -
Page 21: Canopen Master/Slave Configuration
The master of the primary network will have to take these values into consideration, as they will be used by the primary PROFINET network adapter/slave interface of the module. Please contact HMS support for further information, see “Sales and Support” on page 1. Anybus X-gateway CANopen - PROFINET Doc.Id. -
Page 22: Secondary Canopen Network Configuration
Please visit www.anybus.com or contact HMS support for further information, see “Sales and Support” on page 1. The EDS file for the Anybus X-gateway CANopen can be downloaded from www.anybus.com. -
Page 23: Configuration Of The Profinet Interface
Configuration 18 5.4 Configuration of the PROFINET Interface 5.4.1 Data Exchange The first two bytes of the I/O area are used for the status/control word. Thus the slave interface ex- changes up to 510 bytes of I/O data in each direction The control and status words are used by the PROFINET master to control the CANopen network and to read the status of the CANopen network. -
Page 24: Modbus/Tcp (Read-Only)19
Configuration 19 5.4.3 Modbus/TCP (Read-Only) General The Modbus/TCP protocol is an implementation of the standard Modbus protocol running on top of TCP/IP. The same function codes and addressing model are used. The built in Modbus/TCP server provides read-only access to the Input- and Output Buffers via a subset of the functions defined in the Modbus/TCP specification. -
Page 25: Configuration
Configuration 20 5.4.4 Configuration After the configuration of the CANopen master interface has been finalized, the module has to be re- started before the configuration of the PROFINET slave interface can be started. The slave interface is part of a PROFINET network, and will have to be configured within this. This means that the interface must be assigned an IP address, see “IP Settings”... - Page 26 The module supports the HICP protocol used by the Anybus IPconfig utility from HMS, which can be downloaded free of charge from the HMS web site. This utility may be used to configure the network settings of any Anybus product connected to the network. Note that if successful, this will replace the settings currently stored.
-
Page 27: Enabling Data Exchange
Configuration 22 5.5 Enabling Data Exchange Once both the interfaces of the X-gateway have been properly configured, the PLC (the master) on the primary network will have to explicitly allow the X-gateway to exchange I/O data, for any I/O data ex- change to occur between the primary and secondary networks. -
Page 28: Canopen Module Specification
Chapter 6 6. CANopen Module Specification 6.1 NMT State Machine The function of the Anybus X-gateway CANopen can be described as a state machine with four states. Power on Initialization Pre-operational Stopped Operational State Description Initialization When the power is switched on, the module starts initializing. The parameters are set to the so called power-on values, which are the default values or the latest stored values. -
Page 29: Data Exchange
CANopen Module Specification 24 6.2 Data Exchange The Anybus X-gateway CANopen allows for the exchange of 512 bytes of data in each direction be- tween the primary network and the X-gateway. The first two bytes (the first word) are allocated for a Control/Status word, decreasing the size of I/O data for CANopen to 510 bytes. -
Page 30: Control Word
CANopen Module Specification 25 6.2.1 Control Word The control word is used to control the CANopen network of the Anybus X-gateway CANopen. It is triggered on a CoS (Change of State) event. Control Word Effective I/O Data Byte 0 Byte 1 Byte 2 - 510 Cmd, 3 bits CmdExt, 4 bits NodeID... -
Page 31: Status Word
CANopen Module Specification 26 TIONAL)” in the control word. If the module is set as master, it will then administer the secondary net- work. If the module is set as slave, it will answer to any request from the master of the secondary network to participate in the communication on that network (see footnote in the table above). -
Page 32: Supported Commands
CANopen Module Specification 27 Supported commands The table below shows available command responses and their representation in byte 0 of the status word. Toggle CmdRsp CmdExtRsp Name Master Slave (3 bits) (4 bits) (Set NMT State) Response to Set NMT Response to Set NMT State State command. -
Page 33: Example
CANopen Module Specification 28 6.2.3 Example The example shows two control words from the primary network master to the module. Each control word includes a command that affects the secondary CANopen network. Each control word is acknowl- edged by a status word, that contains a response to the command. Note that the first bit in the control word is toggled when a new command is sent, to make sure it is distinguished from the previous com- mand. -
Page 34: Pdo Functionality
CANopen Module Specification 29 6.2.4 PDO Functionality Real-time data transfer is performed by means of PDOs (Process Data Objects). The PDOs are linked to entries in the Device Object Dictionary and provide the interface to the application objects. The num- ber and length of PDOs in a device are node specific and have to be configured by the CANopen con- figuration tool. -
Page 35: Lss Services
CANopen Module Specification 30 RPDO Transmission Types The RPDOs can be received either in synchronous or asynchronous mode. A synchronization (SYNC) object is transmitted periodically by a synchronization master. The data in synchronous RPDOs are not transferred to the application until after the next SYNC object is received. Asynchronous RPDOs will be transferred directly. -
Page 36: Error Control
CANopen Module Specification 31 6.4 Error Control It is strongly recommended to monitor the network. The Anybus X-gateway CANopen can use either Heartbeat or Node Guarding. At an error event from any of these, the active I/O data is frozen, as no new data will be available. -
Page 37: Static Data Types
Visible Current hardware revision hardware ver- sion string sion 100Ah Manufacturer Manufacturer software ver- Visible Set by HMS software ver- sion string sion 100Ch Guard time Used together with “Life time 0000h (default) factor” to decide the node life- time in ms... - Page 38 Time heartbeat. Not used if 0 ms and a multiple of 1 ms 1018h Identity object Number of entries Vendor ID 1Bh (HMS Industrial Networks) Product Code 18h (Anybus X-gateway CAN- open) Revision Number Current software revision Serial Number...
-
Page 39: Configuration Manager
CANopen Supported Objects 34 Index Object Name Subindex Description Type Access Notes 1800h Transmit PDO Largest subindex supported parameter COB-ID used by PDO 187Fh Transmission type See “TPDO Transmission Types” on page 30 Inhibit time In steps of 0.1 ms Event Timer (ms) 1A00h Transmit PDO... -
Page 40: Network Management Objects
CANopen Supported Objects 35 7.2.3 Network Management Objects The NMT master controls the states of the connected network participants, the NMT slaves. It moni- tors the devices and reports to the application, for example if an NMT slave fails. Please refer to the CANopen specification, see “Related Documents”... - Page 41 CANopen Supported Objects 36 NMT Start-up, 1F80h If a device is to be set up as NMT Master, the master functionality must be enabled in this object. It configures the start-up behavior of the device, and how it will manage the slaves. Note: The Anybus X-gateway CANopen starts up as a slave (bit 0 = 0).
- Page 42 CANopen Supported Objects 37 Slave Assignment, 1F81h This object defines which slaves the Master should monitor, control and/or configure. One entry is made for each assigned slave, with the subindex corresponding to the slave’s Node ID. Bit No Value Description Node with this ID is not a slave Node with this ID is a slave.
- Page 43 CANopen Supported Objects 38 Request NMT, 1F82h Each node on the CANopen network can be controlled individually from the fieldbus application by sending this object. The subindex indicates what nodes the request affects: Subindex Description Largest subindex supported (128) i (with i = 1...127) Request NMT Service for the slave with Node ID i.
- Page 44 CANopen Supported Objects 39 Request Guarding, 1F83h Guarding can be initiated from the object dictionary in a similar way. Guarding is initiated with the values stored in “Slave Assignment, 1F81h” on page 37, provided that at the same time no parameters are en- tered for that node as a Heartbeat Consumer Note: This functionality is only supported in master mode.
-
Page 45: Vendor Specific Objects
CANopen Supported Objects 40 Product Code, 1F86h Each node on the CANopen network is checked against its expected product code. The subindex indi- cates which node is checked. The node in question is only checked if data is other than zero: Subindex Description Largest subindex supported (127) -
Page 46: Transmit Buffer
CANopen Supported Objects 41 7.3.1 Transmit Buffer This buffer contains data that is transmitted to the secondary CANopen network. Index Subindex Type Access Name Position in transmit data area (bytes) 2000h STRUCT Transmit Byte 1-128 2-129 (The first two bytes in the transmit data area are reserved for the Control Word.) Number of entries (value=128) -
Page 47: Receive Buffer
CANopen Supported Objects 42 7.3.2 Receive Buffer This buffer contains data that is received from the secondary CANopen network. Index Subindex Type Access Name Position in receive data area (bytes) 2100h STRUCT Receive Byte 1-128 area 2-129 (The first two bytes in the receive data area are reserved for the Status Word.) Number of entries (value=128) -
Page 48: I/O Buffer Addresses And Object Dictionary Indices Relation
CANopen Supported Objects 43 7.3.3 I/O Buffer Addresses and Object Dictionary Indices Relation Data in the transmit buffer (bytes 2 - 511, from the primary to the secondary CANopen network) are mapped to three different areas in the Local Object Dictionary. The same data is mapped to each area, but in different data types. -
Page 49: General Fieldbus Parameters
CANopen Supported Objects 44 Note 1: The picture shows the Transmit data area. The Receive data area has the same structure, but with indices for byte objects starting at 2100h. Note 2: The first two bytes are occupied by the control/status word, and are used internally by the X- gateway. -
Page 50: Appendix A Technical Specification
The product must be connected to protective earth (PE) via the DIN-rail connector in order to achieve proper EMC behavior. HMS Industrial Networks does not guarantee proper EMC behavior unless these PE requirements are fulfilled. Note: The shield of the RJ45 connector is not connected directly to PE. As all nodes in a PROFINET network have to share chassis ground connection, the PROFINET cable shield has to be connected to the chassis ground at each node in the network. -
Page 51: Emc (Ce) Compliance
Technical Specification 46 A.4 EMC (CE) Compliance EMC compliance testing has been conducted according to the Electromagnetic Compatibility Directive 2004/108/EC. For more information please consult the EMC compliance document, see product/sup- port pages for Anybus X-gateway CANopen - PROFINET at www.anybus.com. A.5 UL and ATEX Certification The Anybus X-gateway CANopen - PROFINET is HazLoc, UL and cUL certified according to file no. - Page 52 Appendix B B. Status LED Timing Diagrams The LEDs on the front of the module change their behavior according to the status of the module. This appendix gives the timing diagrams for the different indications, described in “Status LEDs” on page 7. 50 ms Flickering 50 ms...
- Page 53 Appendix C C. CANopen Emergency Codes Below is a list of the CANopen emergency codes that can be produced by the Anybus X-gateway CAN- open. The error codes, that have been produced, can be read from the list in the Communication Profile Object at index 1003h, see 32.
- Page 54 Appendix D D. Enabling Data Exchange To enable the X-gateway to exchange data with the primary network, the PLC controlling the primary network will have to add, initialize and set the fieldbus interface of the module in operational mode. To start the data exchange with the secondary network, the command “OPERATIONAL” must be sent from the primary network to the secondary network, using the Control Word.
Need help?
Do you have a question about the AB7307 and is the answer not in the manual?
Questions and answers