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Related Manuals for Helmholz 700-672-PNC01
Summary of Contents for Helmholz 700-672-PNC01
- Page 1 Version 2 | 1/26/2021 | for firmware V1.00 and above Link to newest version of manual Helmholz GmbH & Co. KG | Hannberger Weg 2 | D-91091 Großenseebach | Germany Phone +49 9135 7380-0 | Fax +49 9135 7380-110 | info@helmholz.de | www.helmholz.com...
- Page 2 Helmholz GmbH & Co. KG. All rights reserved in the event of the granting of a patent or the registration of a utility model. To download the latest version of this manual, please visit our website at www.helmholz.de. We welcome all ideas and suggestions.
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Page 3: Table Of Contents
Contents General ......................5 Target audience for this manual....................5 Safety instructions ........................5 Note symbols and signal words ....................6 Intended use ........................... 7 Improper use ........................... 7 Liability ............................ 8 1.6.1 Disclaimer of liability ......................8 1.6.2 Warranty ..........................8 Recycling / WEEE ........................ - Page 4 5.3.2 CANopen functions ......................17 5.3.3 Network management ....................... 18 Setup and use ....................20 Transfer EDS or DCF file to PN/CAN Gateway ................. 20 Configure Gateway........................ 22 6.2.1 Install GSDML file ......................22 6.2.2 Parameterization ........................ 23 6.2.3 Configuration ........................24 6.2.4 Maximum extension of a PN/CAN Gateway configuration ..........
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Page 5: General
General This operating manual applies only to devices, assemblies, software, and services of Helmholz GmbH & Co. KG. 1.1 Target audience for this manual This description is only intended for trained personnel qualified in control and automation engineering who are familiar with the applicable national standards. For installation, commissioning, and operation of the components, compliance with the instructions and explanations in this operating manual is essential. -
Page 6: Note Symbols And Signal Words
1.3 Note symbols and signal words If the hazard warning is ignored, there is an imminent danger to life and health of people from electrical voltage. If the warning is ignored, there is a probable danger to life and health of people. If the caution note is ignored, people can be injured or harmed. -
Page 7: Intended Use
Modifications to hardware or software configurations which are beyond the documented options are not permitted and nullify the liability of Helmholz GmbH & Co. KG. The PN/CAN Gateway may not be used as the only means for preventing hazardous situations on machinery and systems. -
Page 8: Liability
Helmholz GmbH & CO. KG is not liable for damage caused by software that is running on the user’s equipment which compromises, damages, or infects additional equipment or processes through the remote maintenance connection and which triggers or permits unwanted data transfer. -
Page 9: Recycling / Weee
1.7 Recycling / WEEE The company Helmholz GmbH & Co. KG is registered as a manufacturer with the HELMHOLZ brand and the device type "Small devices of information and telecommunications technology for exclusive use in households other than private households" as well as the following registration data: Helmholz GmbH &... -
Page 10: System Overview
System overview 2.1 General/area of application The "PN/CAN Gateway, PROFINET/CANopen Slave" enables the coupling of machines with CANopen bus to machines with PROFINET network. The PN/CAN Gateway represents a freely configurable, fully-fledged CANopen device on the CAN bus and extended the PLC – system / machine to a CANopen device. -
Page 11: Installation
Installation 3.1 Access restriction The modules are open operating equipment and must only be installed in electrical equipment rooms, cabinets, or housings. Access to the electrical equipment rooms, cabinets, or housings must only be possible using a tool or key, and access should only be granted to trained or authorized personnel. 3.2 Electrical installation Observe the regional safety regulations. -
Page 12: Installation Position
Installation must be carried out according to VDE 0100/IEC 364 and performed in accordance with applicable national standards. The PN/CAN Gateway has protection rating IP20. If a higher protection rating is required, the system must be installed in a housing or control cabinet. In order to ensure safe operation, the ambient temperature must not exceed 60°C. -
Page 13: Setup And Wiring
Setup and wiring 4.1 EMC/safety/shielding The PN/CAN Gateway complies with EU Directive 2004/108/EC (“Electromagnetic Compatibility”). One effective way to protect against disturbances caused by electromagnetic interference is to shield electric cables, wires, and components. When setting up the system and routing the required cables, make sure to fully comply with all standards, regulations, and rules regarding shielding. -
Page 14: Wiring Of The Pn/Can Gateway
4.2 Wiring of the PN/CAN Gateway 4.2.1 Voltage supply The PN/CAN Gateway is supplied with 24 V DC voltage via the 3-pin power supply plug. 4.2.2 CAN bus connection CAN bus D-sub connector CAN low CAN GND PE, Shield CAN high PN/CAN Gateway contains no terminating resistor for the CAN bus! 4.2.3 PROFINET connection Signal... -
Page 15: Can Bus
5.2 CAN bus plug Helmholz offers a comprehensive range of CAN bus connectors that can be used with the PN/CAN Gateway. All Helmholz CAN bus connectors come with a terminating resistor that can be switched on and off. -
Page 16: The Canopen Protocol
5.3 The CANopen protocol The CANopen® protocol is a layer 7 (application layer) protocol based on the CAN bus. CAN bus layers 1 and 2 (physical layer and data link layer) are used by the CAN bus unchanged. The service elements provided by the application layer make it possible to implement applications that are distributed throughout the network. -
Page 17: Canopen Functions
5.3.2 CANopen functions The CANopen functions are subdivided into the following basic types: • SDO read and SDO write operations • PDO send and PDO receive operations • Network management • Emergency messages The function code is stored in the upper four bits of the CAN identifier, which, together with the node ID, forms the communication object identifier, or COB-ID. -
Page 18: Network Management
5.3.3 Network management Network status (NMT states): Each CANopen device can have various system states. After the device is switched on, an internal system initialization is carried out (hardware initialization, RAM test, setup of the basic objects). After successful initialization, a boot up frame [COB-ID: 700 + node ID / data (1 byte): 00 After this, the device is ready for operation and in the Pre-Operational state. - Page 19 Nodeguarding: With Nodeguarding, a device monitors one or more other CANopen devices by cyclically transmitted telegrams. Each CANopen device must respond to the Nodeguarding request telegram with a status telegram. [COB-ID: 700 + node ID / data: 1 byte with the own current CANopen status] Life guarding: With Lifeguarding, each requested CANopen device monitors whether the node guarding, once started, is carried out continuously within certain time limits.
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Page 20: Setup And Use
An example EDS file for a simple IO-Slave according CreationDate=09-05-2017 ModificationTime=01:37PM to CiA standard DS401 ("DS401_IO_Slave_Vxx.eds") ModificationDate=14-10-2020 FileName=DS401_IO_Slave_V10.eds can be downloaded from the Helmholz website in FileVersion=1 the download area of the PN/CAN-Gateway in the FileRevision=1 EDSVersion=4.0 section "Software": [DeviceInfo] VendorName=Helmholz GmbH &... - Page 21 To transfer the file to the PN/CAN Gateway the software "EDS-DCF Uploader" and a USB cable with mini-USB connector is required. The software and the driver for the USB interface of the PN/CAN Gateway can be downloaded from the Helmholz website. After starting the "Uploader" the PN/CAN Gateway is searched and displayed via USB.
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Page 22: Configure Gateway
(GSD)". The PN/CAN Gateway can be found in the hardware catalog under "Other field devices PROFINET IO Gateway Helmholz PN/CAN Gateways". Insert the "PN/CAN Gateway CO Slave" into the project and connect it to your PROFINET network. -
Page 23: Parameterization
By calling the properties, a unique PROFINET name should be assigned to the PN/CAN Gateway and the IP address checked for plausibility. The name of the configured device must later be assigned to the physical device (see Chapter 6.3). 6.2.2 Parameterization The first slot entry "Parameter"... -
Page 24: Configuration
Device Node-ID: Node-ID under which the PN/CAN-Gateway on the CAN bus is active as a device. When using a DCF file, this parameter must be set to 0, the Node-ID is supplied in the DCF file. On PLC-Stop performs device reset: If the PLC goes into Stop, the PN/CAN Gateway data is set to the initial state and restarted. -
Page 25: Maximum Extension Of A Pn/Can Gateway Configuration
Only those SDOs that are relevant for the PLC application must be specified in the configuration. SDOs, which are available in the EDS-/DCF file but not configured in the PLC, still exist in PN/CAN-Gateway and can be accessed via CANopen. For modules which read or write SDOs with 2 or 4 bytes, you can additionally set whether the value from or to the CAN bus stays in its byte order or should be rotated. -
Page 26: Assign The Profinet Device-Name
PLC and configured. When the configuration has run correctly, the blue "Mode" LED should blink. To set the PROFINET name, the Helmholz IPSet Tool can also be used, which can be downloaded free of charge from the Helmholz website. Scan the following QR code... -
Page 27: Programming In The Plc
Programming in the PLC No handling blocks are required in the PLC for operation. The control and status request of the PN/CAN Gateway can be performed directly via the I/O image with the module "Control and Status". The most important function of the control and status bits is to control the CANopen slave state. After power-on the PN/CAN Gateway interprets the EDS/DCF file and initialized all needed objects and functions. -
Page 28: Status
NMT Limitation: Defines the state up to which the CANopen Device can be switched directly from the CANopen network. This setting can be used, for example, to prevent the CANopen network from switching the Device directly to Operational even though the application is not yet ready from the PROFINET side. - Page 29 SYNC-Indication: Toggling this bit signals the receipt of a new SYNC telegram. The toggling of the bit signals that new consistent IN data are available in the PLC, these data must be stored and then the SYNC acknowledge bit must be pulled up. SYNC lost: If the SYNC acknowledge bit is set too late after a SYNC reception, the bit "SYNC lost"...
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Page 30: Read/Write Random Sdo
7.3 Read/write random SDO With the pluggable modules for reading and writing SDOs a cyclic I/O access to the SDO data with a size of up to 4 bytes can be performed. In case SDOs with more than 4 bytes of data are to be read or written or SDOs are to be accessed only rarely, the module "read/write any SDO"... -
Page 31: Transfer Of Sdo Data > 4 Byte
If the reading is to be aborted before the end of the OCTET STRING, the 'Freeze' bit in the job must be 0, otherwise the SDO remains disabled. For the random writing and reading of SDOs, we will gladly provide you with a sample program. Please ask the support at support@helmholz.de. PN/CAN Gateway, PROFINET/CANopen Slave | Version 2 | 1/26/2021... -
Page 32: Transmitting Emergency Messages
7.4 Transmitting Emergency Messages Emergency messages report a serious error of a CANopen device over the CAN bus. The module "Transmit emergency" enables the PLC application to send an emergency message at any time. Emergency command (9 bytes): Byte/Bit 1= enable Toggle bit Out 0 emergencies... -
Page 33: Internal Emergency Messages Of Pn/Can Gateway
7.4.1 Internal Emergency messages of PN/CAN Gateway The PN/CAN Gateway also sends its own emergency messages if errors occur during CANopen or PROFINET communication. 0x5010 – 0x5013 NMT status change due to PLC stop 0x5020 – 0x5023 PROFINET connection broken 0x6201 –... -
Page 34: Profinet Diagnostic Messages
7.5 PROFINET Diagnostic messages The PN/CAN Gateway supports the following diagnostic alarms: Configuration error: Node-ID > 0 is not allowed for a configuration with DCF file According the EDS/DCF configuration the configured SDO cannot be written. The configured SDO is not available in the EDS/DCF configuration. Configured SDO length does not correspond to that in the EDS/DCF configuration. -
Page 35: Internal Sdo
Internal SDO Some SDOs have functionality in the PN/CAN Gateway that influence the behavior of the gateway or represent it´s state. 8.1 Start-up behavior SDO 2FFF This SDO is used to configure the start-up and restart behavior of the PN/CAN Gateway. It can be set accordingly in the EDS/DCF file. -
Page 36: Led-Based Diagnosis
LED-based diagnosis MODE No power supply or device defective Blue on PN/CAN Gateway is correctly configured via PROFINET & CANopen device is “Operational” PN/CAN Gateway is correctly configured via PROFINET & CANopen device is in “Pre-Operational” or Flashing blue “Stop” state PN/CAN Gateway is correctly configured via PROFINET &... -
Page 37: Technical Data
10 Technical data Order no. 700-672-PNC01 Name PN/CAN Gateway, PROFINET/CANopen Slave PROFINET interface Protocol PROFINET IO device as defined in IEC 61158-6-10 Transmission rate 100 Mbps full duplex I/O image size 1440 bytes Connection 2x RJ45, integrated switch PROFINET Conformance Class C,...
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