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Beijer Electronics G Series User Manual

Canopen network adapter
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CANopen network adapter
GN-9261
User manual
G-series GN-9261 CANopen Rev. 1.01.docx
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  • Page 1 CANopen network adapter GN-9261 User manual G-series GN-9261 CANopen Rev. 1.01.docx Page 1 of (52)
  • Page 2 GN-9261 User Manual DOCUMENT CHANGE SUMMARY REV. PAGES REMARKS DATE Editor 1.00 New Document 2018/7/30 1.01 First release 2019/01/29 G-series GN-9261 CANopen Rev. 1.01.docx Page 2 of (52)

  • Page 3: Table Of Contents

    GN-9261 User Manual Contents 1. Important Notes ................................5 1.1.1 Symbols................................6 1.1.2 Safety Notes ..............................6 1.1.3 Certification ..............................6 3.1 GN-9261 Specification ............................8 3.2 GN-9261 Wiring Diagram ............................. 9 3.3 GN-9261 LED Indicator ............................10 3.3.1 LED Indicator..............................10 3.3.2 MOD(Module Status LED) ........................
  • Page 4 GN-9261 User Manual 5.3 SDO (Service Data) ............................. 19 5.3.1 Introduction ..............................19 5.4 Emergency (Error Message) .......................... 20 5.5 NMT (Network Management) ......................... 20 5.5.1 Network Start-up ............................20 5.5.2 Boot-up Message ............................21 5.5.3 Node Guarding ............................21 5.5.4 Life Guarding ..............................

  • Page 5: Important Notes

    GN-9261 User Manual 1. Important Notes Solid state equipment has operational characteristics differing from those of electromechanical equipment. Safety Guidelines for the Application, Installation and Maintenance of Solid State Controls describes some important differences between solid state equipment and hard-wired electromechanical devices. Because of this difference, and also because of the wide variety of uses for solid state equipment, all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable.

  • Page 6: Symbols

    GN-9261 User Manual 1.1. Safety Instruction 1.1.1 Symbols Identifies information about practices or circumstances that can cause an explosion in a hazardous environment, which may lead to personal injury or death property damage, or economic loss Identifies information that is critical for successful application and understanding of the product Identifies information about practices or circumstances that can lead to personal injury, property damage, or economic loss.
  • Page 7 GN-9261 User Manual 2. Environment Specification Environment Specification Operating Temperature -40℃~70℃ UL Temperature -20℃~60℃ Storage Temperature -40℃~85℃ Relative Humidity 5% ~ 90% non-condensing Operating Altitude 2000m Mounting DIN rail General Specification Shock Operating IEC 60068-2-6 Vibration resistance Based on IEC 60068-2-6 Sine Vibration 5 ~ 25Hz : 1.6mm 25 ~ 300Hz : 4g...

  • Page 8: Gn-9261 Specification

    GN-9261 User Manual 3. General Description 3.1 GN-9261 Specification Interface Specifications, GN-9261 Adapter Type Slave node (CANopen, CiA 301) Max. PDO Number 32 TPDO / 32 RPDO Max. SDO Number 1 Standard SDOs PDO Mapping Method Auto Mapping : CiA 301 (default), Sequential Manual Mapping (Reference to Index : 0x20F0, Sub Index : 6) Max.

  • Page 9: Gn-9261 Wiring Diagram

    GN-9261 User Manual 3.2 GN-9261 Wiring Diagram Pin No. Signal Description Signal Description Pin No. System Power, 24V System Power, Ground System Power, 24V System Power, Ground Field Power, Ground Field Power, Ground Field Power, 24V Field Power, 24V G-series GN-9261 CANopen Rev. 1.01.docx Page 9 of (52)

  • Page 10: Gn-9261 Led Indicator

    GN-9261 User Manual 3.3 GN-9261 LED Indicator 3.3.1 LED Indicator LED No. LED Function / Description LED Color Module Status Green/Red CANopen Status Green/Red ERROR CANopen Error Status Extension Module Status Green/Red Field Power Field Power Enable Green 3.3.2 MOD(Module Status LED) Status To indicate Not Powered...

  • Page 11: Field Power, System Power Led(Field Power, System Power Status Led)

    GN-9261 User Manual 3.3.5 IOS LED(Extension Module Status LED) Status To indicate Not Powered Device may not be powered. No Expansion Module Flashing Red Adapter has no expansion module Internal Bus Connection, Green Exchanging I/O data. Run Exchanging I/O Expansion Configuration One or more expansion module occurred in fault state.

  • Page 12: Gn-9261 Electrical Interface

    GN-9261 User Manual 3.4. GN-9261 Electrical Interface 3.4.1 5pin Open Connector Signal Name Description CAN H CAN High Shield CAN L CAN Low CAN G CAN GND 3.4.2 Dip Switch DIP Pole# Description Terminal Resister On : Terminal Resister On Reserved Default : 0 (1000kbps) Baudrate #4...

  • Page 13: Rs232 Port For Modbus/Rtu, Touch Panel Or I/O Guide

    GN-9261 User Manual 3.4.3 Address setup Each Adapter could have an unique address (from 1 to 99) so that it can be addressed independently from other nodes. The address 0 is reserved. 3.4.4 RS232 Port for MODBUS/RTU, Touch Panel or I/O Guide RS232 (37204-64A3-004PL/3M Pin# Signal Name...

  • Page 14: Dimension

    GN-9261 User Manual 4. Dimension 4.1 GN-9261 (mm) G-series GN-9261 CANopen Rev. 1.01.docx Page 14 of (52)

  • Page 15: Communication

    GN-9261 User Manual 5. Communication 5.1 Device Model 5.1.1 Structure of the device model Communication. This functional unit makes the communication data objects and the associated functionality for data exchange over the CANopen network available. The network status machine is part of this. Object directory.

  • Page 16: Pdo Mapping

    GN-9261 User Manual 5.2.2 PDO Mapping CANopen specifies the data assignment for the first two PDOs in the device profile for input/output groups (DS401) (“default mapping”). The first PDO is provided for digital inputs (TxPDO1) or outputs (RxPDO1). The first 4 analog inputs or outputs are located in the second PDO. These PDOs are accordingly occupied by the Network Adapters - if, for instance, no digital output terminals are plugged in, RxPDO1 remains empty.

  • Page 17: Pdo Communication Type

    GN-9261 User Manual This procedure is known as PDO linking. It permits, for example, easy construction of electronic drives in which several slave axes simultaneously listen to the actual value in the master axis TxPDO. 5.2.4 PDO Communication Type Event driven The “event”...
  • Page 18 GN-9261 User Manual Transmission type PDO transmission cyclic acyclic synchronous asynchronous RTR only 1-240 241-251 reserved Synchronous Transmission type 0 is only useful for RxPDOs: the PDO is only used when the next SYNC telegram is received. In transmission types 1-240 the PDO is cyclically transmitted or expected: after every “nth” SYNC (n = 1...240).

  • Page 19: Sdo (Service Data)

    GN-9261 User Manual 5.3 SDO (Service Data) 5.3.1 Introduction The parameters listed in the object directory are read and written by means of service data objects. These SDOs are multiplexed domains, i.e. structures of any size that have a multiplexer (address). The multiplexer consists of a 16-bit index and an 8-bit sub-index that address the corresponding entries in the object directory.

  • Page 20: Emergency (Error Message)

    GN-9261 User Manual 5.4 Emergency (Error Message) Emergency messages are always sent in the event of a critical error situation having occurred/overcome in the device, or if important information has to be communicated to other devices. Structure and meaning of the entries in the emergency object are explained in the table .EMCY-CODE., they are coded in the bus message in a ‘Low byte’...

  • Page 21: Boot-Up Message

    GN-9261 User Manual After Initialization is completed the node automatically switches into PRE-OPERATIONAL (12) state. The NMT master will be informed about this state change with the BOOT-UP message sent by the corresponding node. In this state it is not possible to communicate with the node using PDOs. However, the node can be configured over the CAN bus using SDOs in PRE-OPERATIONAL state.
  • Page 22 GN-9261 User Manual Node state of a CANopen Device Status Byte Node State 0x00 BOOT-UP 0x04 STOPED 0x05 OPERATIONAL 0x7F PRE-OPERATIONAL Bit 7 of the status byte always starts with a 0 and changes its value after each transmission. The application is responsible for actively toggling this bit.

  • Page 23: Life Guarding

    GN-9261 User Manual 5.5.4 Life Guarding As an alternative to Node Guarding node supervision can also be performed by Life Guarding services. In contrast to the Node Guarding the NMT master cyclically sends a Life Guard message to the slave in the form of a remote frame with the CAN identifier 0x700 plus the node address of the NMT slave.
  • Page 24 GN-9261 User Manual 5.6 Example of Input and Output Process Image Map Input image data depends on slot position and expansion slot data type. Input process image data is only ordered by expansion slot position when input image mode is uncompressed (mode 0). But, when input image mode is compressed (mode 1), input process image data is ordered by expansion slot position and slot data type.
  • Page 25 GN-9261 User Manual Discrete Input low 8 pts. (Slot#9) 0x6000 0x08 Discrete Input high 8 pts. (Slot#9) 0x6000 0x09 Analog Output Ch0 low byte (Slot#7) 0x6400 0x01 Analog Output Ch0 high byte (Slot#7) 0x6400 0x01 Analog Output Ch1 low byte (Slot#7) 0x6400 0x02 Analog Output Ch1 high byte (Slot#7)

  • Page 26: Object Directory

    GN-9261 User Manual 6. Object Directory All the CANopen objects relevant for the Network Adapter are entered into the CANopen object directory. The object directory is divided into three different regions: 1) communication-specific profile region (index 0x1000 – 0x1FFF) 2) manufacturer-specific profile region (index 0x2000 – 0x5FFF) 3) standardized device profile region (0x6000 –...
  • Page 27 GN-9261 User Manual 0x02 Consumer Heartbeat time2 unsigned32 0x05 Consumer Heartbeat time5 unsigned32 0x1017 0x00 Producer Heartbeat time unsigned16 Producer Heartbeat time (0~127) Identity Object 0x00 Identity object unsgined8 0x01 Manufacturer ID unsigned32 0x0000029D 0x1018 0x02 Product code unsigned32 0x00009060 0x03 Revision number unsigned32...
  • Page 28 GN-9261 User Manual Format: 4 byte 3 byte 2 byte 1 byte 0 byte 0x00 0x00 0000.4321 (bit) 0x01 0x91 Device connect Number Device Profile Number Meaning 1 = 1, if at least one digital input is connected. 2 = 1, if at least one digital output is connected. 3 = 1, if at least one analog input is connected.
  • Page 29 GN-9261 User Manual • Object 0x1005, COB-ID SYNC message The object defines the COB ID for the synchronization message. • Object 0x1006, Communication Cycle Period The object defines the max. Time in µs for two subsequent SYNC messages. The internal resolution is 2ms. If the value is 0, no SYNC monitoring is performed. •...
  • Page 30 GN-9261 User Manual Object 0x1011, Restore default Parameters This object allows resetting the user stored parameters to the original default values. Sub-indexes 2 and 3 are not supported. The load command is processed in the background and takes approx. 2-3 seconds. When the performance is finished, the SDO reply message is sent.
  • Page 31 GN-9261 User Manual • Object 0x1018, Identity Object The object specifies the device used. • Object 0x1029, Error behavior The object specifies to which state an I/O module shall be set, when a communication error, output error or input error is detected. •...
  • Page 32 GN-9261 User Manual • Object 0x1A00 ~ 0x1A1F, Transmit PDO Mapping Parameter This object is used to define the data, which is transmitted using the PDO. Sub-index 0 contains the number of objects valid for the PDO. Index: Index of the object to be transmitted Sub-Index: Sub-index of the object to be transmitted Size: Object size in bits Due to the fact that max.

  • Page 33: Manufacturer Specific Profile Area

    GN-9261 User Manual 6.2. Manufacturer Specific Profile Area The following table shows all objects of the manufacturer profile supported by the Network Adapter. *0x2100(Slot#0=NA), 0x2101(Slot#1), 0x2102(Slot#2)... Sub- Index Name Type Attribute Default Meaning Index 0x00 Number of entries unsigned8 0x4F 0x01 Node id current switch value unsigned8...
  • Page 34 GN-9261 User Manual unsigned8 0xFE Read Special Input 8 bit 0x00 Read special input data unsigned8 8-bit special input 1 0x3000 … … unsigned8 0xFE 8-bit special input 254 unsigned8 0x3005 0x00 Enable special input interrupts unsigned8 0xFE Special input Interrupt Mask any 0x00 Number of entries change for Special Inputs...

  • Page 35: Standard Device Profile Area - Ds401

    GN-9261 User Manual • Object 0x3000, Special Modules, Inputs. This object contains the process data of the special input modules. Sub-index 1 contains the first 8 special input channels from the left to the right, counted from starting with the Network Adapter. Sub-index 2 the next etc.
  • Page 36 GN-9261 User Manual This object determines, which input port lines shall activate an interrupt by positive or/and negative edge detection. If the object is not supported the device shall behave accordingly to the default value. • Object 0x6007, Interrupt Mask Low-to-High 8-bit This object determines, which input port lines shall activate an interrupt by positive edge detection (logical 0 to 1).
  • Page 37 GN-9261 User Manual • Object 0x6421, Analog Input Interrupt Trigger Selection This object determines, which events shall cause an interrupt for a specific channel. All bits set to 1b shall trigger the corresponding analog input. If the object is not supported, the device shall behave accordingly to the default value.
  • Page 38 GN-9261 User Manual • Object 0x6428, Analog Input Interrupt Positive Delta Unsigned This object shall set the negative delta value (rising below the last communicated value) for interrupt-enabled analog inputs (see 6423h object). • Object 0x6443, Analog Output Error Mode This object is used to define whether the outputs change to a pre-defined error status (see object 0x6444) in the event of an error (i.e.

  • Page 39: Modbus Interface

    GN-9261 User Manual 7. MODBUS Interface 7.1 MODBUS Interface Register/Bit Map • Register Map Start Address Read/Write Description Func. Code 0x0000 ~ 0x007E Read Process input image registers (Real Input Register) 3,4,23 0x0800 ~ 0x087E Read/Write Process output image registers (Real Output Register) 3,16,23 0x1000 * Read...

  • Page 40: 0X08)Diagnostics

    GN-9261 User Manual 2(0x02) Read Discrete Inputs This function code is used to read from 1 to 2000 contiguous status of (Read input bit) discrete inputs in a remote device. The Request PDU specifies the starting address, i.e. the address of the first input specified, and the number of inputs.

  • Page 41: Error Response

    GN-9261 User Manual Sub-function Data Field (Request) Data Field (Response) Description 0x000E(14) 0x0000 Slave Message Count Sub-function 0x000F(15) Return Slave No Response Count The response data field returns the quantity of messages addressed to the remote device for which it has returned no response (neither a normal response nor an exception response), since its last restart, clear counters operation, or power–up.

  • Page 42: Modbus Special Register Map

    GN-9261 User Manual MODBUS Special Register Map The special register map can be accessed by function code 3, 4, 6 and 16. Also the special register map must be accessed by read/write of every each address (one address). 7.3.1 Adapter Identification Special Register (0x1000, 4096) Address Access Type, Size...

  • Page 43: Expansion Slot Information Special Register (0X2000, 8192)

    GN-9261 User Manual 7.3.2 Adapter Identification Special Register (0x1100, 4352) Address Access Type, Size Description 0x1102(4354) Read 1word Start address of input image word register. =0x0000 0x1103(4355) Read 1word Start address of output image word register. =0x0800 0x1104(4356) Read 1word Size of input image word register.
  • Page 44 GN-9261 User Manual Address Expansion Expansion Expansion Expansion Expansion …….. Offset Slot#1 Slot#2 Slot#3 Slot#4 Slot#63 …… + 0x00(+0) 0x2000(8192) 0x2020(8224) 0x2040(8256) 0x2060(8288) 0x27C0(10176) …… + 0x01(+1) 0x2001(8193) 0x2021(8225) 0x2041(8257) 0x2061(8289) 0x27C1(10177) …… + 0x02(+2) 0x2002(8194) 0x2022(8226) 0x2042(8258) 0x2062(8290) 0x27C2(10178) ……...
  • Page 45 GN-9261 User Manual Address Offset Access Type, Size Description + 0x02(+2) ** Read 1word Input start register address of input image word this slot. + 0x03(+3) ** Read 1word Input word’s bit offset of input image word this slot. + 0x04(+4) ** Read 1word Output start register address of output image word this slot.

  • Page 46: Trouble Shooting

    GN-9261 User Manual 8. TROUBLE SHOOTING How to diagnose by LED indicator LED Status Cause Action All LED turns off - No power - Check main power Cable - Occurrence critical error in - Contact Sales team and send MOD LED is red firmware module for repair.
  • Page 47 GN-9261 User Manual How to diagnose when device couldn’t communicate network Inspection of wrong or omission cable connection - Check status of cable connection for each node. - Check that all color matches between connector and cable. - Check wire omission. Terminator resistor - If terminator resistor is not installed, install terminator resistor - Check location of terminator resistor...

  • Page 48: Product List

    GN-9261 User Manual APPENDIX A A.1 Product List GT-Number Description ID(hex) Digital Input Module GT-1238 8 Points, Universal, 24Vdc, 10RTB 1238 GT-123F 16 Points, Universal, 24Vdc, 20P connector 123F GT-12DF 16 Points, Universal, 24Vdc, 18RTB 12DF GT-12FA 32 Points, Universal, 24Vdc, 40P connector 12FA GT-1804 4 Points, 120Vac, 10RTB...
  • Page 49 GN-9261 User Manual GT-3808 8 Channels, Thermocouple, 20P connector 3808 GT-3901 AC Measurement 3901 GT-3914 4 Channels, Differential, 0~20, 4~20, +/-20mA, 12Bits, 10RTB 3914 GT-3934 4 Channels, Differential, 0~20, 4~20, +/-20mA, 16Bits, 10RTB 3934 GT-3918 8 Channels, Differential, 0~20, 4~20, +/-20mA, 12Bits, 18RTB 3918 GT-3938 8 Channels, Differential, 0~20, 4~20, +/-20mA, 16Bits, 18RTB...

  • Page 50: Glossary

    GN-9261 User Manual A.2 Glossary - System Power : The power for starting up CPU. - Field Power : The power for input and output line. - Terminator Resistor : Resistor for prevention reflected wave. - EDS : Electronic Data Sheet. - Sink : The method of in/output power supply if a device has no power source.

  • Page 51: Appendix B

    GN-9261 User Manual APPENDIX B Bus cable and termination resistors The cables, connectors, and termination resistors used in CANopen networks shall meet the requirements defined in ISO 11898. In addition, here are given some guidelines for selecting cables and connectors. The table below shows some standard values for DC parameters for CANopen networks with less than 64 nodes: Bus cable (1)
  • Page 52 GN-9261 User Manual Head office Beijer Electronics AB Box 426 20124 Malmö, Sweden Phone +46 40 358600 www.beijerelectronics.com G-series GN-9261 CANopen Rev. 1.01.docx Page 52 of (52)

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