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Related Manuals for Anybus CompactCom 30
Summary of Contents for Anybus CompactCom 30
- Page 1 ® Anybus CompactCom ™ CANopen NETWORK GUIDE HMSI-168-78 EN 4.1 ENGLISH...
- Page 2 HMS Industrial Networks AB has intellectual property rights relating to technology embodied in the product de- scribed in this document. These intellectual property rights may include patents and pending patent applications in the USA and other countries. ® Anybus CompactCom ™ 30 Network Guide...
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Page 3: Table Of Contents
Preface ..........................3 About this document ......................3 Related Documents .......................3 Document History ......................3 Document Conventions ....................4 Terminology........................4 Trademark Information ....................5 About the Anybus CompactCom 30 CANopen............6 General.........................6 Features ........................6 Tutorial ..........................7 Introduction ........................7 Fieldbus Conformance Notes..................7 Certification ........................7 Basic Operation....................... - Page 4 Table of Contents B Implementation Details....................30 SUP-Bit Definition ......................30 Anybus State Machine ....................30 Application Watchdog Timeout Handling ................31 C Technical Specification ....................32 Front View ........................32 Functional Earth (FE) Requirements................33 Power Supply ......................33 Environmental Specification..................33 EMC Compliance......................33 D Timing & Performance ....................34 General Information .....................34...
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Page 5: Preface
About this document This document is intended to provide a good understanding of the functionality offered by the Anybus CompactCom 30 CANopen. The document describes the features that are specific to Anybus CompactCom 30 CANopen. For general information regarding Anybus CompactCom 30, consult the Anybus CompactCom 30 design guides. -
Page 6: Document Conventions
The terms “Anybus” or “module” refers to the Anybus CompactCom module. • The terms “host” or “host application” refer to the device that hosts the Anybus. • Hexadecimal values are written in the format NNNNh or 0xNNNN, where NNNN is the hex- adecimal value. -
Page 7: Trademark Information
Preface 5 (36) Trademark Information Anybus ® is a registered trademark of HMS Industrial Networks AB. All other trademarks are the property of their respective holders. ® Anybus CompactCom ™ 30 Network Guide HMSI-168-78 EN 4.1... -
Page 8: About The Anybus Compactcom 30 Canopen
General The Anybus CompactCom 30 CANopen communication module provides instant CANopen connectivity via the patented Anybus CompactCom host interface. Any device that supports this standard can take advantage of the features provided by the module, allowing seamless net- work integration regardless of network type. -
Page 9: Tutorial
Standard 301 v4.02. 29-bit Identifier Fields are not allowed. Certification When using the default settings of all parameters, the Anybus CompactCom 30 CANopen is precertified for network compliance. This precertification is done to ensure that your product can be certified, but it does not mean that your product will not require certification. - Page 10 3.3.1 Reidentifying Your Product After successful setting of attribute #5 (Setup Complete) in the Anybus Object (01h), the Any- bus CompactCom 30 asks for identification data from the CANopen Object (FBh). Therefore, the attributes listed below shall be implemented and proper values returned.
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Page 11: Basic Operation
General Information 4.1.1 Software Requirements Generally, no additional network support code needs to be written to support the Anybus Com- pactCom 30 CANopen, however due to the nature of the CANopen networking system certain things must be taken into account: •... -
Page 12: Data Exchange
(Anybus software revision) Vendor Specific Implementation By implementing support for the CANopen Object (FBh), the module can be customized to ap- pear as a vendor specific implementation rather than a generic Anybus CompactCom 30 device. See also ... • CANopen Object (FBh), p. 26 Data Exchange 4.2.1... - Page 13 0x80000580 (If the PDO is required for 0x440 + Node ID 0x80000580 transferring the mapped ADI as 0x540 + Node ID 0x80000580 READ process data.) 9-36 0x80000580 0x80000580 Default disabled ® Anybus CompactCom ™ 30 Network Guide HMSI-168-78 EN 4.1...
- Page 14 Description Notes 254/255 COS/Timer Message transmission is either triggered by the occur- rence of a device-specific event (COS) or if a specified time has elapsed without occurrence of the event. ® Anybus CompactCom ™ 30 Network Guide HMSI-168-78 EN 4.1...
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Page 15: Device Address & Baud Rate Configuration
The CANopen baud rate and device address can be set by the host application using Network Configuration Object (04h). Note that in order to ensure network compliance, the recommenda- tions stated for this object in the Anybus CompactCom 30 Software Design Guide must be fol- lowed at all times. -
Page 16: Object Dictionary (Canopen)
Number of errors ject, see Diagnostic Object error field 01h...06h Error field (02h), p. The Anybus diagnostic ob- ject allows up to 5 diagnostic events to be reported. How- ever, an extra event is re- served for internal errors etc. 1005h COB-ID... - Page 17 Revision implemented in the host ap- Number plication. See CANopen Ob- Serial Number ject (FBh), p. 1400h Receive Largest sub-in- dex supported parameter 1423h COB ID used by Transmission type. ® Anybus CompactCom ™ 30 Network Guide HMSI-168-78 EN 4.1...
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Page 18: Manufacturer Specific Objects
As any access to these object entries will result in an object access towards the host application, the time spent communicating on the host interface must be taken into account when calculating the SDO timeout value. ® Anybus CompactCom ™ 30 Network Guide... - Page 19 If no corresponding error meets the error definition, the default error code is 0800 0000h (Gen- eral error). 5.2.3 Network Data Format Data is translated between the native network format and the Anybus data format as follows: Anybus Data Type Native CANopen Data Type BOOL...
- Page 20 ADI value(s) (At- Data type and Access rights tribute #5) depends on the ADI itself. ADIs with multi- ple elements (i.e. arrays) are rep- resented as mul- tiple sub-indexes. ADI data type ® Anybus CompactCom ™ 30 Network Guide HMSI-168-78 EN 4.1...
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Page 21: Anybus Module Objects
Anybus Module Objects 19 (36) Anybus Module Objects General Information This chapter specifies the Anybus Module Object implementation and how the objects corre- spond to the functionality in the Anybus CompactCom 30 CANopen. Standard Objects: • Anybus Object (01h), p. 20 •... -
Page 22: Anybus Object (01H)
Anybus Module Objects 20 (36) Anybus Object (01h) Category Basic Object Description This object assembles all common Anybus data, and is described thoroughly in the general Anybus CompactCom 30 Software Design Guide. Supported Commands Object: Get_Attribute Instance: Get_Attribute Set_Attribute Get_Enum_String Object Attributes (Instance #0) (Consult the general Anybus CompactCom 30 Software Design Guide for further information). -
Page 23: Diagnostic Object (02H)
Diagnostic Object (02h) Category Basic, Extended Object Description This object provides a standardised way of handling host application events and diagnostics, and is thor- oughly described in the general Anybus CompactCom 30 Software Design Guide. Supported Commands Object: Get_Attribute Create... - Page 24 When creating a Major-severity, this will not end up as an EMCY-message on the bus, since this effectively forces the Anybus module to enter the EXCEPTION state. An internal 6th instance is reserved for internal CANopen diagnostics. This includes the following EMCY error...
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Page 25: Network Object (03H)
Anybus Module Objects 23 (36) Network Object (03h) Category Basic Object Description For more information, consult the general Anybus CompactCom 30 Software Design Guide. Object Attributes (Instance #0) Name Access Type Value Name Array of CHAR “Network” Revision UINT8 Number of instances... -
Page 26: Network Configuration Object (04H)
Anybus Module Objects 24 (36) Network Configuration Object (04h) Category Basic Object Description This object contains network specific configuration parameters that may be configured by the end user. Supported Commands Object: Get_Attribute (01h) Reset (Factory Default) (05h) Instance: Get_Attribute (01h) - Page 27 Anybus Module Objects 25 (36) Instance Attributes (Instance #2, Baud Rate) Basic Name Access Data Type Description Name Array of “Baud Rate” CHAR Data type UINT8 08h (= ENUM) Number of elements UINT8 01h (one element) Descriptor UINT8 07h (read/write/shared access)
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Page 28: Host Application Objects
LSS services are used in the network. Minor revision UINT16 Minor revision Serial Number UINT32 Unique number Manufacturer Device Array of “Anybus-CC Replaces object entry 1008h Name CHAR (Max. CANopen” (Manufacturer Device Name) 24 bytes) ® Anybus CompactCom ™ 30 Network Guide... - Page 29 (no consistency checking of the mapping is done). This must be maintained by the application by ADI map- ping order and ADI data typed mapped. 02h - FFh (reserved) ® Anybus CompactCom ™ 30 Network Guide HMSI-168-78 EN 4.1...
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Page 31: A Categorization Of Functionality
This category includes objects, attributes and services that are mandatory to implement or to use. They will be enough for starting up the Anybus CompactCom and sending/receiving data with the chosen network protocol. The basic functions of the industrial network are used. -
Page 32: B Implementation Details
[Heartbeat consumer - and - Heartbeat producer is enabled & error free] - or - [Node guarding is enabled & error free] - and - [LSS not active] Anybus State Machine The table below describes how the Anybus State Machine relates to the CANopen network status. Anybus State CANopen NMT... -
Page 33: Application Watchdog Timeout Handling
NMT service RESET NODE Network Object (03h), In- requests have been received. stance #1, Attribute # 7 (Ex- ception information) The Anybus will reset the CAN controller and stop com- Correct any errors. munication over the network. Reset the Anybus. -
Page 34: C Technical Specification
(Heartbeat consumer) has occurred. Bus off (Fatal Event) Bus off If both LEDs turns red, this indicates a fatal event; the bus interface is shifted into a physically passive state. ® Anybus CompactCom ™ 30 Network Guide HMSI-168-78 EN 4.1... -
Page 35: Functional Earth (Fe) Requirements
C.3.2 Power Consumption TheAnybus CompactCom 30 CANopen is designed to fulfil the requirements of a Class A mod- ule. For more information about the power consumption classification used on the Anybus- CompactCom platform, consult the general Anybus-CompactCom 30 Hardware Design Guide. -
Page 36: D Timing & Performance
D.2.2 Anybus Read Process Data Delay (Anybus Delay) The Read Process Data Delay (labelled “Anybus delay” in the figure above) is defined as the time measured from just before new data is buffered and available to the Anybus host interface software, to when the data is available to the host application (just after the new data has been read from the driver). - Page 37 Anybus host interface software. Please consult the Anybus CompactCom Software Design Guide, Appendix B, for more information.
- Page 38 last page © 2018 HMS Industrial Networks AB Box 4126 300 04 Halmstad, Sweden info@hms.se HMSI-168-78 EN 4.1 / 2018-06-29 / 8802...
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