HMS Anybus X-gateway CANopen User Manual
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HMS Anybus X-gateway CANopen User Manual

Profinet irt (2.32)
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USER MANUAL
SCM-1202-029 1.2 en-US ENGLISH

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Summary of Contents for HMS Anybus X-gateway CANopen

  • Page 1 A A n n y y b b u u s s ® ® X X - - g g a a t t e e w w a a y y ™ ™ C C A A N N o o p p e e n n ®...
  • Page 2 HMS Industrial Networks reserves the right to modify its products in line with its policy of continuous product development. The information in this document shall therefore not be construed as a commitment on the part of HMS Industrial Networks and is subject to change without notice.

  • Page 3: Table Of Contents

    Table of Contents Page Preface ..........................3 About This Document .......................3 Document history ......................3 Document Conventions .....................4 Document-Specific Conventions..................4 Description .......................... 5 Introduction ........................5 Data Exchange.........................6 CANopen Functionality......................7 Installation........................... 8 Installation Overview ......................8 DIN Rail Mounting......................9 Power Connector ......................9 USB Connector ........................9 Secondary CANopen Network Interface ................
  • Page 4 CANopen Module Specification..................34 NMT State Machine......................34 CANopen Data Exchange ....................35 LSS Services ........................39 Error Control ......................... 40 CANopen Emergency Messages ..................41 CANopen Live List Functionality ..................42 CANopen Object Implementation ..................44 Static Data Types ......................44 Communication Profile Area ....................

  • Page 5: Preface

    Preface 3 (60) Preface About This Document This document describes Anybus X-gateway CANopen PROFINET IRT (2.32). For additional related documentation and file downloads, please visit www.anybus.com/support. Document history Version Date Description 2017-01-23 First release 2017-11-22 Updated for new firmware 2019-04-11 Added section about PROFINET Asset Management SCM-1202-029 1.2 en-US...

  • Page 6: Document Conventions

    This is a cross-reference within this document: Document Conventions, p. 4 This is an external link (URL): www.hms-networks.com This is additional information which may facilitate installation and/or operation. This instruction must be followed to avoid a risk of reduced functionality and/or damage to the equipment, or to avoid a network security risk.

  • Page 7: Description

    5 (60) Description Introduction Anybus X-gateway CANopen is designed to provide a seamless connection between a primary fieldbus or Ethernet network and a secondary CANopen sub-network. The X-gateway transmits I/O data transparently between the two networks. Data from the primary network is written into CANopen objects that can be mapped into CANopen PDOs or read via CANopen SDOs, and vice versa.

  • Page 8: Data Exchange

    Data Exchange The terminology and definitions used for different types of data vary between network types. All data transported through the Anybus X-gateway CANopen are fast, cyclic data, and will in this document simply be referred to as “I/O data”.

  • Page 9: Canopen Functionality

    Description 7 (60) CANopen Functionality The functionality of the secondary CANopen network interface is defined by the following CANopen specifications: • KGB Draft Standard 301 version 4.2.0 (Rev. 4.2) • CiA Draft Standard Proposal 302 Part 1–5. Supported CANopen Services Communication and parameters in the CANopen protocol are built around åbject.

  • Page 10: Installation

    ESD prevention measures to avoid damage. Installation Overview Basic steps when installing the Anybus X-gateway CANopen: Set the node address and baud rate for the secondary CANopen interface. Set the hardware configuration switches for the primary network interface (if applicable).

  • Page 11: Din Rail Mounting

    Installation 9 (60) DIN Rail Mounting The unit must be electrically grounded through the DIN rail for EMC compliance. Mount on DIN rail Hook the unit onto the upper lip of the rail and push gently downwards. Push the unit towards the rail until it snaps into place.

  • Page 12: Secondary Canopen Network Interface

    Installation 10 (60) Secondary CANopen Network Interface 3.5.1 Configuration Switches Three configuration switches on the side of the unit are used to set the node address and baud rate for the secondary CANopen network interface. The node address and baud rate cannot be changed during runtime. The module must be restarted to make a changed setting take effect.

  • Page 13: Profinet Irt Network Interface

    Installation 11 (60) PROFINET IRT Network Interface LAN 1 LAN 2 Fig. 10 PROFINET IRT interface Ethernet Connectors (LAN 1/LAN 2) The PROFINET IRT interface contains a dual port Ethernet switch with RJ45 type connectors. The two ports are labeled LAN 1 and LAN 2. Function 4, 5, 7, 8 (reserved)

  • Page 14: Led Indicators

    Installation 12 (60) LED Indicators LED 1 to 4 Primary network interface status LED 5 Secondary CANopen network interface status LED 6 Device operation status LED Indicators – Primary PROFINET IRT Network Interface 1 - Network Status Offline – No power –...
  • Page 15 Installation 13 (60) LED Indicator Timing Intervals 50 ms Flickering 50 ms Blinking 200 ms 200 ms Single flash 200 ms 1000 ms Double flash 200 ms 200 ms 200 ms 1000 ms Triple flash 200 ms 200 ms 200 ms 200 ms 200 ms 1000 ms...

  • Page 16: Configuration

    The device description file can be referred to as an EDS, GSD, DDF, etc., depending on the type of network. The latest versions of the device description files to use with Anybus X-gateway CANopen can be downloaded from www.anybus.com/support.

  • Page 17: Configuring The Secondary Canopen Network

    CANopen configuration tool. For instructions on how to create and apply a configuration, please refer to the documentation for the configuration tool used. Download the Anybus X-gateway CANopen EDS file from www.anybus.com/support. Prepare EDS files for the other nodes on the secondary CANopen network.

  • Page 18: Configuring The Profinet Irt (2.32) Interface

    All PROFINET devices are associated with an XML-based GSD file. This file contains information about the basic capabilities and configuration options of the device. The latest version of the GSD file for Anybus X-gateway CANopen can be downloaded from www.anybus.com/support.
  • Page 19 To be able to communicate over Ethernet the network interface needs a valid TCP/IP configuration. This section explains some basic concepts and describes how to configure the TCP/IP settings in Anybus X-gateway CANopen using the IPconfig software tool. When Ethernet communication has been established the TCP/IP settings can also be changed from the web interface.
  • Page 20 18 (60) TCP/IP Configuration Installing the IPconfig Utility IPconfig is a Windows-based tool for configuration of TCP/IP settings in HMS devices. The tool will detect all compatible and active HMS devices on the local network. Download IPconfig from www.anybus.com/support. Unpack the contents of the zip archive and run the installer program.
  • Page 21 Configuration 19 (60) Ethernet Configuration To change the IP settings for a device, double-click on the entry in the main window or right-click on it and select Configuration. Fig. 14 Ethernet configuration Enter static IP settings as required, or select DHCP if using dynamic IP addressing. Do not enable DHCP if there is no DHCP server available on the network.
  • Page 22 Do not enable the internal DHCP server if there is already an active DHCP server on the network. DCP (Discovery and Control Protocol) Anybus X-gateway CANopen PROFINET IRT (2.32) supports the DCP protocol, which allows a PROFINET IO Controller/Supervisor to change the network settings during runtime. SCM-1202-029 1.2 en-US Anybus ®...
  • Page 23 Configuration 21 (60) 4.3.3 Web Pages Network configuration settings and status of the PROFINET IRT network interface can be accessed by pointing a web browser to the IP address of the interface. Module Overview Fig. 16 Overview tab Provides basic information about the X-gateway including the serial number and the installed firmware version.

  • Page 24: Enabling Data Exchange

    Configuration 22 (60) Enabling Data Exchange Once both interfaces of the X-gateway have been properly configured, the PLC (master) on the primary network must explicitly allow the X-gateway to exchange I/O data between the primary and secondary networks by writing the OPERATIONAL command in the control word. If the X-gateway is set as master on the secondary network, it will automatically be available when the PLC has enabled data exchange.

  • Page 25: Profinet Asset Management

    PROFINET Asset Management 23 (60) PROFINET Asset Management Asset Management Record With the asset management record functionality data about the assets available on a non PROFINET network can be recorded and read out over a PROFINET network. Together with the Identification & Maintenance data functionality an extensive registration of devices and machines is possible, even in facilities where the devices are not installed in the PROFINET environment.

  • Page 26: Supported File Formats

    PROFINET Asset Management 24 (60) Record Data Data about the assets on the non PROFINET network is recorded and stored in an XML file or an binary file. Read Data Each time an instance is requested the asset management data is read out over the PROFINET network.

  • Page 27: Xml Based Asset Management

    PROFINET Asset Management 25 (60) XML Based Asset Management 5.5.1 Creating the Asset Management XML File Creating the asset management XML file: List all assets and their corresponding data on the non PROFINET network. Create an XML file that include one asset management record for each asset. Repeat all the attributes after each other.
  • Page 28 PROFINET Asset Management 26 (60) Attribute Name and Data Format Data Format Attribute Name Description AM info Type Unsigned 8 The value can be set in either of two formats, 0x12 or 18. Location Type AM Type Identification Unsigned 16 The value can be set in either of two formats, 0x1234 or IM Hardware Revision 4660.
  • Page 29 PROFINET Asset Management 27 (60) 5.5.4 Asset Management XML File Structure Example The code example presented below can be used as a guide when creating the asset management XML file. Fig. 20 Asset management XML file structure example SCM-1202-029 1.2 en-US Anybus ®...

  • Page 30: Binary Based Asset Management

    PROFINET Asset Management 28 (60) Binary Based Asset Management 5.6.1 Creating the Asset Management Binary File Creating the asset management binary file: List all assets and their corresponding data on the non PROFINET network. Create an Binary file that include a asset management record for each asset. Repeat all the attributes after each other.
  • Page 31 PROFINET Asset Management 29 (60) 5.6.4 Binary Instance Data Each instance consists of a series of attributes and their respective data. Attribute Description Each attribute is described by one entry. Data type Comment Attribute Description Byte number Attribute number UINT8 Attribute number of the data being described.
  • Page 32 PROFINET Asset Management 30 (60) Attribute Name and Data Format Supported attribute names and data formats. Attribute Name and Data Format Data Format Description Attribute Name AM info Type Unsigned 8 The value is set as one byte value. Location Type AM Type Identification Unsigned 16 The value is set with two bytes, little-endian format.
  • Page 33 PROFINET Asset Management 31 (60) 5.6.5 Asset Management Binary File Example The binary file structure example presented below can be used as a guide when creating the asset management binary file. Only instance 1 is supported. For instance 1, only attribute 1 and 2 are defined. Fig.

  • Page 34: Uploading The Asset Management File To The Ftp Server

    PROFINET Asset Management 32 (60) Uploading the Asset Management File to the FTP Server Use Windows Explorer or a standard FTP client to transfer the asset management file to the FTP server. When the superposed parameter channel function is enabled, transfer the asset management file via a PLC connected to the network where the gateway is installed.
  • Page 35 PROFINET Asset Management 33 (60) Fig. 23 Application folder with an asset_mgmt.xml file Open the application folder and save the asset management file, XML or Binary file, in the folder. SCM-1202-029 1.2 en-US Anybus ® X-gateway ™ CANopen ® PROFINET ®...

  • Page 36: Canopen Module Specification

    CANopen Module Specification 34 (60) CANopen Module Specification NMT State Machine CANopen network management is modeled as a state machine with four states. The device can change states due to requests from an NMT object, a hardware reset (power cycle), or a module control message initiated by an application event.

  • Page 37: Canopen Data Exchange

    CANopen Module Specification 35 (60) CANopen Data Exchange The first two bytes of the I/O data area are reserved for the Control Word and the Status Word, which are used by the controlling PLC on the primary network to control and report status on the nodes on the secondary CANopen network.
  • Page 38 CANopen Module Specification 36 (60) 6.2.2 Status Word Byte 0 in the status word shows the last valid command and command extension written to the Control Word, to indicate that the command has been performed. Byte 1 gives the lowest NodeID with error.
  • Page 39 The first bit in the Control Word is toggled when a new command is sent, to make sure it is distinguished from the previous command. Primary network master Anybus X-gateway CANopen module Command (Set node with Node ID 2 to...
  • Page 40 CANopen Module Specification 38 (60) 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 number and length of PDOs in a device are node specific and have to be configured by the CANopen configuration tool.

  • Page 41: Lss Services

    LSS Services Anybus X-gateway CANopen supports LSS Master functionality according to the CANopen DS305 specification. An LSS Master can configure the baud rate and NodeID of all slaves that support LSS. The X-gateway can not act as an LSS slave.

  • Page 42: Error Control

    1016h and 1017h), a heartbeat event is registered by the consumer. The ERROR LED on the front of the Anybus X-gateway CANopen and the status word will indicate the event. An EMCY object (8130h) is also transmitted on the CANopen fieldbus. If the module is configured as a slave and is in OPERATIONAL state, it will go to PRE-OPERATIONAL state and wait for the user to take action.

  • Page 43: Canopen Emergency Messages

    5 words are reserved for vendor specific information. Register Vendor specific error field Error code In Anybus X-gateway CANopen the error codes can be read from the list in the Communication Profile Object (CPO) at index 1003h. The following error codes are supported: Error code Description...

  • Page 44: Canopen Live List Functionality

    42 (60) CANopen Live List Functionality Anybus X-gateway CANopen provides a list of the active status of the slave nodes attached to the secondary network CANopen master. The list is assembled by the master and forwarded to the primary network during each cycle.
  • Page 45 CANopen Module Specification 43 (60) Enabling Live List in Anybus Configuration Manager The Live List feature is available in Object 0x3003 (Live List Enable) in Anybus Configuration Manager CANopen. The feature is disabled by default and is enabled by setting the parameter Object Value:Value to 1.

  • Page 46: Canopen Object Implementation

    Manufacturer hardware version Visible Current hardware revision hardware version string 100Ah Manufacturer Manufacturer software version Visible Set by HMS software version string 100Ch Guard time Used together with "Life time 0000h (default) factor" to decide the node lifetime in ms...
  • Page 47 The time must be at least 10 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 CANopen) Revision Number Current software revision Serial Number...
  • Page 48 CANopen Object Implementation 46 (60) Index Object Name Subindex Description Type Access Notes Transmit PDO 1A00h No. of mapped application mapping objects in PDO 1A7Fh Mapped object #1 Mapped object #2 Mapped object #3 Mapped object #4 Mapped object #5 Mapped object #6 Mapped object #7 Mapped object #8...
  • Page 49 CANopen Object Implementation 47 (60) 7.2.3 Network Management Objects The NMT master controls the states of the connected network participants, the NMT slaves. It monitors the devices and reports to the application, for example if an NMT slave fails. In more complex systems several devices are able to perform as master, which means that the configuration must have an entry defining which device will act as master.
  • Page 50 48 (60) NMT Start-up, 1F80h If the Anybus X-gateway CANopen should function as NMT Master, the master functionality must be enabled in this object. The object will configure the start-up behavior of the device and how it will manage the slaves.
  • Page 51 CANopen Object Implementation 49 (60) 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 NodeID. Description Value Node with this ID is not a slave. Node with this ID is a slave.
  • Page 52 CANopen Object Implementation 50 (60) 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, p. 49, provided that at the same time no parameters are entered for that node as a Heartbeat Consumer.
  • Page 53 CANopen Object Implementation 51 (60) Product Code, 1F86h Each node on the CANopen network is checked against its expected product code. The subindex indicates which node is checked. The node in question is only checked if data is other than zero: Description Subindex Largest subindex supported (127)

  • Page 54: Manufacturer Specific Objects

    CANopen Object Implementation 52 (60) Manufacturer Specific Objects Manufacturer-specific objects are used to configure the PDOs to the shared memory area. One or several generic data objects can be connected to each PDO. Data in the Input/Output Buffers will be mapped to three different areas in the Local Object Dictionary: Byte, Word and Long, using different data types.
  • Page 55 CANopen Object Implementation 53 (60) Index Subindex Type Access Name Position in Input Data area (byte) Transmit Long 128 510-511 (last 2 bytes padded with zeros) 7.3.2 Output Buffer Contains data received from the secondary CANopen network. Type Access Name Index Subindex Position in Output Data area (byte)
  • Page 56 CANopen Object Implementation 54 (60) 7.3.3 Local Object Dictionary Index Mapping The data in the Input/Output Buffers is mapped to three different areas in the Local Object Dictionary: Byte, Word and Long, using different data types. Example: Application data bytes 2 - 5 are mapped to the following object indices: •...
  • Page 57 CANopen Object Implementation 55 (60) Word object Long object Byte object Transmit data area Index, subindex Index, subindex Index, subindex Byte 0 - 1 Control Byte 2 - 9 Byte 2 2000h, 1 2010h, 1 Byte 10 - 17 Byte 3 2000h, 2 Byte 18 - 25 Byte 4...
  • Page 58 The gateway must be restarted for changes to take effect on the primary network. 7.3.5 Primary Network Specific Parameters Index range 3010h - 30AFh is allocated for parameters that are specific for the different primary networks available in the Anybus X-gateway CANopen model range. Index Subindex Type...
  • Page 59 CANopen Object Implementation 57 (60) Index Subindex Type Access Name and Description Comment PROFINET IRT specific parameters: 30A1h - (reserved for future use) 30AFh SCM-1202-029 1.2 en-US Anybus ® X-gateway ™ CANopen ® PROFINET ® IRT (2.32) User Manual...
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  • Page 61: A Technical Data

    Appendix A: Technical Data 59 (60) Technical Data General Specifications Model name Anybus X-gateway CANopen PROFINET IRT (2.32) Order code AB7329 Dimensions (L x W x H) 120 x 75 x 27 mm 150 g Weight Operating temperature -25 to +55 °C (IEC 60068-2-1 and IEC 60068-2-2) Storage temperature -40 to +85 °C (IEC 60068-2-1 and IEC 60068-2-2)
  • Page 62 © 2019 HMS Industrial Networks Box 4126 300 04 Halmstad, Sweden info@hms.se SCM-1202-029 1.2 en-US / 2019-04-12 / 12864...

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