Mode Of Operation Of The System; General Explanation; Interfaces; Data Exchange Canopen V3 - DEUTSCHMANN AUTOMATION UNIGATE CM-CANopen Instruction Manual

Deutschmann Automation GmbH & Co. KG
8

Mode of operation of the system

8.1

General explanation

Communication can be split into seven layers, Layer 1 to Layer 7, in accordance with the
ISO/OSI model.
The Deutschmann Automation Gateways convert Layers 1 and 2 of the customized bus system
(RS485 / RS232 / RS422) to the corresponding Fieldbus system. Layers 3 to 6 are blank, and
Layer 7 is converted in accordance with chapter 8.3.
8.2

Interfaces

The Gateway features the RS232-, RS422- and RS485-interfaces.
8.3

Data exchange CANopen V3

All data is transferred by the Gateway in dependence of the downloaded Script.
The following three objects are existing in the CANopen-gateway for the data exchange on the
CANopen-side:
•
Default setting as long as the Script command CO_Init_Channel is not carried out.
- Adr. 2000H (Type DOMAIN):Data received by the gateway
- Adr. 2001H (Type DOMAIN):Data sent by the gateway
- Adr. 2002H (Type BYTE): Length of the data sent
The length of the receiving- and transmitting buffer (Obj. 2000 + 2001) is configured through
®
WINGATE .
8.3.1

SDO-access

Generally the data can always be exchanged through SDOs (Obj. 2000 - 2002).
Likewise an access to all Mandatory-objects according to CiA
SDOs.
8.3.2

PDO-access

PDOs are supported according to the following table depending on the configured length and the
PDO-length is set dynamically to the correct value:
Gateway
receiving-data
Max. 8 Byte
Max. 8 Byte
>8 Byte
>8 Byte
23.6.17
Gateway
transmitting-data
Max. 8 Byte
>8 Byte
Max. 8 Byte
>8 Byte
®
UNIGATE fieldbus gateway UNIGATE
Mode of operation of the system
®
DS 301 is possible through
Receiv.-PDO1 Transm.-PDO1
(Adr = 512 + ID) (Adr = 384 + ID)
Receiv. data Transm. data
Receiv. data Length transmitting data
- Transm. data
- Length transmitting data
®
CM - CANopen V. 1.4 19