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ESD CANopen-PN Manual

Profinet io / canopen gateway
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CANopen-PN
PROFINET IO / CANopen Gateway
Manual
to Product C.2921.02
CANopen-PN
Manual • Doc. No.: C.2921.21 / Rev. 1.6
Page 1 of 105
esd electronic system design gmbh
Vahrenwalder Str. 207 • 30165 Hannover • Germany
http://www.esd.eu
Phone: +49 (0) 511 3 72 98-0 • Fax: +49 (0) 511 3 72 98-68

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  • Page 1 CANopen-PN Manual • Doc. No.: C.2921.21 / Rev. 1.6 Page 1 of 105 esd electronic system design gmbh Vahrenwalder Str. 207 • 30165 Hannover • Germany http://www.esd.eu Phone: +49 (0) 511 3 72 98-0 • Fax: +49 (0) 511 3 72 98-68...
  • Page 2 design.
  • Page 3 2015-11-27 Note to compatibility of CANopen-PN firmware and specific GSDML Composer versions inserted Note to CommunicationCyclePeriod inserted New chapter “Using GSDML File and CANopen-PN Gateway with the TIA 5.11 Portal“ Classification of warning messages moved and revised Warning message concerning power supply inserted...
  • Page 4 This NOTICE statement contains the general mandatory sign and gives information that must be heeded and complied with for a safe use. INFORMATION INFORMATION Notes to point out something important or useful. Page 4 of 105 Manual • Doc. No.: C.2921.21 / Rev. 1.6 CANopen-PN...

  • Page 5: Safety Instructions

    The CANopen-PN may become warm during normal use. Always allow adequate ventilation around the CANopen-PN and use care when handling. ● Do not operate the CANopen-PN adjacent to heat sources and do not expose it to unnecessary thermal radiation. Ensure an ambient temperature as specified in the technical data. ●...
  • Page 6 Service Note The CANopen-PN does not contain any parts that require maintenance by the user. The CANopen-PN does not require any manual configuration of the hardware. Unauthorized intervention in the device voids warranty claims. Disposal Devices which have become defective in the long run have to be disposed in an appropriate way or have to be returned to the manufacturer for proper disposal.

  • Page 7: Table Of Contents

    5.9.9 EDS File Info....................... 42 5.9.10 Comments......................42 5.10 Insert the GSD File in the SIMATIC-Manager ..............43 5.11 Using GSDML File and CANopen-PN Gateway with the TIA Portal........47 5.11.1 Quick Start........................ 47 5.11.2 Installation of the GSDML File...................48 5.11.3 Insert CANopen-PN Hardware and Network Configuration........50...
  • Page 8 Cables....................84 9.6.1 Cable for light industrial Environment Applications (Two-Wire)........84 9.6.2 Cable for heavy industrial Environment Applications (Four-Wire)........84 CAN Troubleshooting Guide.....................85 10.1 Termination........................85 10.2 Electrical Grounding......................86 Page 8 of 105 Manual • Doc. No.: C.2921.21 / Rev. 1.6 CANopen-PN...
  • Page 9 10.3 Short Circuit in CAN Wiring....................86 10.4 CAN_H/CAN_L-Voltage ....................86 10.5 CAN Transceiver Resistance Test..................87 10.6 Support by esd........................87 CANopen Firmware........................88 11.1 Definition of Terms......................88 11.2 NMT-Boot-up........................89 11.3 The CANopen Object Directory..................89 11.4 Accessing the Communication Parameters via SDO Telegrams........90...
  • Page 10 Table 12: Data of the USB interface....................... 71 Table 13: Conductor connection/Conductor cross section................77 Table 14: Recommended cable lengths at typical bit rates (with esd-CAN interfaces) ........83 Table 15: Implemented CANopen objects of the CANopen-PN gateway............95 Table 16: Order information.......................... 105 Table 17: Available manuals.........................
  • Page 11 Figure 28: Installation was completely successful..................49 Figure 29: Devices and networks........................50 Figure 30: Choose the version (detail) ......................51 Figure 31: Program window with new CANopen-PN in the window Network view..........51 Figure 32: Net view (detail)..........................52 Figure 33: Select IO controller........................52 Figure 34: Compile Hardware and Software (detail)..................53...

  • Page 12: Overview

    The firmware controls the connection of CAN bus units via the CANopen protocol [2] to PROFINET IO, thus the CANopen-PN can be e.g. connected to a SIMATIC-S7. The number of CAN participants is not limited by the CANopen-PN. The device is CANopen master.

  • Page 13: Pcb View With Connectors

    2. PCB View with Connectors Musterbild Anschlussplan Überschrift in Connecting Diagram ändern Figure 2: Connecting diagram of CANopen-PN See also page 73 for signal assignment of the CAN connectors. CANopen-PN Manual • Doc. No.: C.2921.21 / Rev. 1.6 Page 13 of 105...

  • Page 14: Leds

    Ethernet connection is established no Ethernet connection Activity yellow blinking Ethernet connection is established, data is transferred Ethernet connection is established Table 1: Indication of the RJ45-LEDs Page 14 of 105 Manual • Doc. No.: C.2921.21 / Rev. 1.6 CANopen-PN...

  • Page 15: Canopen Indicator States

    Force Requirement of the PROFINET IO controller blinking for identification of the unit no error - the CANopen-PN is in working condition Warning Limit Reached - At least one of the error counters of the single flash CANopen CAN controller has reached or exceeded...

  • Page 16: Hardware Installation

    Mount the CANopen-PN module and connect the interfaces (power supply voltage, CAN, PROFINET IO). Please note that the CAN bus has to be terminated at both ends! esd offers special T-connectors and termination connectors. Additionally the CAN_GND signal has to be connected to earth at exactly one point in the CAN network.

  • Page 17: Software Configuration With The Gsdml Composer

    The EDS files with information about the CANopen slaves which are required on CANopen side, must be imported in the GSDML Composer. The GSD file for the description of CANopen-PN as PROFINET IO slave, which is used on PROFINET IO side, is generated with the GSDML Composer.

  • Page 18: Features Of The Gsdml Composer

    Export of the DCF files of the parametrized CANopen Slaves • • Export of the GSD file containing the complete configuration, for the usage of the esd CANopen-PN gateway with the corresponding CANopen net in PROFINET IO 5.1.2 System Requirements Operating system Microsoft Windows XP or newer with Microsoft .NET Framework...

  • Page 19: Software Installation

    CANreal, which will be used for testing (5.1.4.2.1). INFORMATION The CAN driver and the CAN-SDK will not be automatically deleted if the CANopen-PN software is removed. Therefore use “Software” of the Windows system administration and remove “EtherCAN […] Host Driver” and “CAN SDK for Windows”.

  • Page 20: Configuration/Test Of The Can Interface Under Windows

    IP address has to be entered: 192.168.7.1 Do not change the other settings (see NTCAN API Manual Part 2 for details). Now you can use e.g. CANreal (part of the esd CAN SDK) for testing. It can be started with the start menu entry ”Program/esd/CAN SDK/CANreal“.

  • Page 21: Figure 7: Canreal

    Select the baud rate in the input field Baud rate: and click the Start button. Now all CAN frames received by the CANopen-PN are shown, depending on the configuration of the ID-filter as displayed in the upper left of the CANreal window.

  • Page 22: Gsdml Composer Quick Start

    To guarantee a proper operation of the CANopen-PN make absolutely sure to use version 1.0.6 of the GSDML Composer, that is compatible with the CANopen-PN firmware version 1.0.6, before you start with the software configuration! Open the GSDML Composer e.g. via the Windows start menu.

  • Page 23: Main Window Of The Gsdml Composer

    4. CANopen Network Editor, see 5.6 5. Device Editor (in background), see 5.9 6. Configuration of the CANopen Net with the CANopen Manager, see 5.7 7. Output, see 5.8 CANopen-PN Manual • Doc. No.: C.2921.21 / Rev. 1.6 Page 23 of 105...

  • Page 24: Menu Bar Of The Gsdml Composer

    Opens the export directory in the Windows Explorer. If the export directory has not already been specified, the Project settings window (see figure 9) will be automatically opened Page 24 of 105 Manual • Doc. No.: C.2921.21 / Rev. 1.6 CANopen-PN...

  • Page 25: Menu Item View

    5.4.4 Menu Item Window This menu item shows a selection of all available windows/tabs (Device Editor and the CANopen Network Editor). Click on a selected window to activate it. CANopen-PN Manual • Doc. No.: C.2921.21 / Rev. 1.6 Page 25 of 105...

  • Page 26: Device Library

    This simplifies the first generation of the CANopen network – the values may be changed at any time, see chapter "5.9.1 Configuration of a CANopen Slave via Device Editor". Page 26 of 105 Manual • Doc. No.: C.2921.21 / Rev. 1.6 CANopen-PN...

  • Page 27: Edit Device Library

    The selected files are automatically copied into the device Library INFORMATION device library “DeviceLibrary“ subdirectory of the CANopen-PN. Do not edit it manually! Additionally the files will be changed when copied to the directory and may therefore not be copied back or used somewhere else.

  • Page 28: Canopen Network Editor

    Software Configuration with the GSDML Composer 5.6 CANopen Network Editor In the CANopen Network Editor window the CANopen-PN and all slaves of the CANopen net are displayed and may be visually rearranged. Figure 12: CANopen Network Editor window with manually positioned slaves Use the scroll bar (on the right in Figure 12) to scale the view of the CANopen Network Editor.

  • Page 29: Display Options

    Shows a dialogue for the selection of an image file and changes the image of the device accordingly. INFORMATION Supported file extensions for the image files are: .jpg, .jpeg, .bmp, .gif and .png CANopen-PN Manual • Doc. No.: C.2921.21 / Rev. 1.6 Page 29 of 105...

  • Page 30: Configuration Of The Canopen Net With The Canopen Manager

    Software Configuration with the GSDML Composer 5.7 Configuration of the CANopen Net with the CANopen Manager Here the general settings of the CANopen-PN and its CANopen Manager are specified. Figure 13: CANopen Manager window Bitrate The bit rate of the CANopen net, “_1000” represents 1000 kbit/s, etc.
  • Page 31 Defines if the SYNC objects of the slaves are written. (If the value is False, the SYNC-settings defined via the Device Editor will be ignored and the default configuration will be used.) CommunicationCyclePeriod In this period (in µs) the CANopen-PN generates SYNC messages. ('0' to disable) INFORMATION...
  • Page 32 If during the BootTime no communication with the connected CANopen modules has been possible due to a failure of the CAN bus, the CANopen-PN terminates the boot process and does not even try to start the modules after the failure is ended.

  • Page 33: Output

    The number of entries in the list is limited. If the number is exceeded, the oldest entries will be deleted. Furthermore all entries will be rejected if the GSDML Composer is closed. CANopen-PN Manual • Doc. No.: C.2921.21 / Rev. 1.6...

  • Page 34: Configuration Of A Canopen Slave Via Device Editor

    If the entered node-ID is already assigned to another device, the entry will not be accepted. Furthermore the general information about the device are shown. (Extracted from the CANopen objects 0x1000, 0x1008 up to 0x100a and 0x1018) Page 34 of 105 Manual • Doc. No.: C.2921.21 / Rev. 1.6 CANopen-PN...

  • Page 35: Rpdo Mapping

    “[6200.01, 8 Bit] (Default)”: The object mapped is the object 0x6200, sub-index 1 with 8-bit data width. “Default” indicates that this value complies with the EDS-“DefaultValue” of the PDO object CANopen-PN Manual • Doc. No.: C.2921.21 / Rev. 1.6 Page 35 of 105...

  • Page 36: Change Mapping Parameter Via Buttons

    Transmission Equivalent to the Transmission Type of the TPDOs as seen Type from the CANopen-PN, see Transmission Type in chapter 5.9.3 All other parameters do only apply for TPDOs, see chapter 5.9.3 5.9.2.1 Change Mapping Parameter via Buttons...

  • Page 37: Tpdo Mapping

    The number of PDO pairs (TPDO, RPDO, T/RPDO) is limited to 15 per connected CANopen participant. The current Composer (version 1.0.0) observes this limit and does not allow the generation of a GSDML file. CANopen-PN Manual • Doc. No.: C.2921.21 / Rev. 1.6 Page 37 of 105...

  • Page 38: Manager Settings

    Defines whether the slave may only be started if the revision number exactly matches this value. Verify Serial No. [1018.04] Defines whether the slave may only be started if the serial No. exactly matches this value. Page 38 of 105 Manual • Doc. No.: C.2921.21 / Rev. 1.6 CANopen-PN...

  • Page 39: Sync/Emergency

    Specifies whether this slave may generate Emergency messages. CAN-ID The CAN-ID of the Emergency message Inhibit Time The minimum period between two Emergency messages (specified as multiple of 100 µs) CANopen-PN Manual • Doc. No.: C.2921.21 / Rev. 1.6 Page 39 of 105...

  • Page 40: Heartbeat/Guarding

    Heartbeat Time and generates Heartbeat messages in the interval specified. Heartbeat Consumer, This value specifies the interval in which the Producer (the CANopen-PN Interval here) expects the Heartbeat messages. ('0' to disable) This value must be sufficiently greater than the interval of the Producer, because otherwise missing heartbeats might result, only due to the jitter at transmission/reception.

  • Page 41: Object Lists (Various)

    Generally all objects with indices < 0x2000 are considered to be fixed, with exception of: 0x1028, 0x1029, [0x1200..0x12FF] and [0x1FA0..0x1FFF]. The modified values are transferred in the GSD file and the CANopen Manager will write them into the slaves during initialisation. CANopen-PN Manual • Doc. No.: C.2921.21 / Rev. 1.6 Page 41 of 105...

  • Page 42: Eds Device Info

    Displays the EDS section [FileInfo]. For information only – cannot be changed. 5.9.10 EDS Comments Displays the EDS section [Comments]. For information only – cannot be changed. Page 42 of 105 Manual • Doc. No.: C.2921.21 / Rev. 1.6 CANopen-PN...

  • Page 43: Insert The Gsd File In The Simatic-Manager

    Select the GSD file you want to install and confirm the selection with the button Install (see Figure 19). The GSD file will be installed now. After installation the CANopen-PN is shown in the tree structure in the window of the hardware configurator (see Figure 20, right bottom) under: Additional Field Devices/Gateway/CANopen Profinet-IO.

  • Page 44: Figure 20: Select Gsd File

    Select the CANopen-PN in the tree structure and move it via “Drag'n'Drop” to the chosen Ethernet PROFINET IO system, which is shown in the upper left window area. In the table (bottom left) only the CANopen-PN and the properties contained in the GSD file are displayed.

  • Page 45: Figure 21: Canopen Manager Properties

    Example 2: Properties - Node Configuration In this example the properties of the first connected node are shown. For further information about the parameters see chapter 5.9. Figure 22: Node Configuration CANopen-PN Manual • Doc. No.: C.2921.21 / Rev. 1.6 Page 45 of 105...

  • Page 46: Figure 23: Rpdo Tpdo

    The number of PDO pairs (TPDO, RPDO, T/RPDO) is limited to 15 per connected CANopen participant. The current Composer (version 1.0.0) observes this limit and does not allow the generation of a GSDML file. Page 46 of 105 Manual • Doc. No.: C.2921.21 / Rev. 1.6 CANopen-PN...

  • Page 47: Using Gsdml File And Canopen-Pn Gateway With The Tia Portal

    Software Configuration with the GSDML Composer 5.11 Using GSDML File and CANopen-PN Gateway with the TIA Portal INFORMATION This chapter does only describe the steps which are relevant for the usage of the GSDML file and the CANopen-PN gateway with the TIA Portal.

  • Page 48: Installation Of The Gsdml File

    In this window you can now select the path to your GSDML folder. Click on the button OK to confirm the path. Figure 26: Select the path to the folder Page 48 of 105 Manual • Doc. No.: C.2921.21 / Rev. 1.6 CANopen-PN...

  • Page 49: Figure 27: Activate Check-Box

    If the installation of the selected file has been successful, you see the message as shown in the window on the left. Figure 28: Installation was completely successful CANopen-PN Manual • Doc. No.: C.2921.21 / Rev. 1.6 Page 49 of 105...

  • Page 50: Insert Canopen-Pn Hardware And Network Configuration

    Therefore click under Project tree / Devices in the upper left part of the window onto Devices & networks as shown in the following figure. Figure 29: Devices and networks Choose now your CANopen-PN device the in the tree structure of the Hardware Catalogue, which is in the right part of the window. IMPORTANT...

  • Page 51: Figure 30: Choose The Version (Detail)

    164646 .XML). To import the device in your project, select the CANopen-PN with the left mouse button in the tree- structure in the field Catalog, drag it into the field Network view and drop it. Figure 31: Program window with new CANopen-PN in the window Network view CANopen-PN Manual •...

  • Page 52: Figure 32: Net View (Detail)

    Software Configuration with the GSDML Composer The CANopen-PN is now displayed in the field Network view as CANopen-PN_1, but it is still not connected to PROFINET (see Figure 32). To assign the device, click onto the button Not assigned. Figure 32: Net view (detail) The drop-down menu Select IO controller is opened.

  • Page 53: Compile And Download Hardware And Software

    Select your device (PLC_1 here) again and further in the pull-down menus the menu items Download to device and then Hardware and software. Figure 35: Download hardware and software to device (detail) CANopen-PN Manual • Doc. No.: C.2921.21 / Rev. 1.6 Page 53 of 105...

  • Page 54: Figure 36: Toolbar With Button Go Online

    In the program window the components of the decentralised periphery are marked with check marks. The I/O addresses of the single units are shown in detail in the Device overview. Figure 37: Main window with device overview Page 54 of 105 Manual • Doc. No.: C.2921.21 / Rev. 1.6 CANopen-PN...

  • Page 55: Control Via Profinet Io

    Document TC2-09-0002 (CANopen- Integration_7012_V10_Mar11) [6] which is supported by the CANopen-PN, the services of the CANopen Manager, which are described in the following chapters and correspond to the CANopen specification [5], can be controlled via PROFINET side. For this purpose the read- and write services of PROFINET IO are used.
  • Page 56 In Step 7 5.x usually the input address of the CANopen Manager module has to be used. In the TIA portal (e.g. when using S7-1500) the HW identifier of the CANopen Manager has to be used instead. Page 56 of 105 Manual • Doc. No.: C.2921.21 / Rev. 1.6 CANopen-PN...

  • Page 57: Upload Sdo (Index 0Xb711)

    By means of this service the object (SDO), described via index and sub-index, of the selected node with the node number Node-ID is read. First the Write service is used to activate the CANopen-PN to read the data and to store it internally. For reading these data the Read service is used.

  • Page 58: Table 3: Sdo Abort Codes

    (e.g. object dictionary is generated from file and generation fails because of an file error). 0xB0 0x0800 0024 No data available Table 3: SDO abort codes Page 58 of 105 Manual • Doc. No.: C.2921.21 / Rev. 1.6 CANopen-PN...

  • Page 59: Download Sdo (0Xb713)

    UNSIGNED64 0x56 Table 4: Supported data types according to PROFINET IO For the return in the event of an error, please note Table 3 in chapter 6.1.1. CANopen-PN Manual • Doc. No.: C.2921.21 / Rev. 1.6 Page 59 of 105...

  • Page 60: Configure Sdo Timeout (0Xb715)

    6.1.3 Configure SDO Timeout (0xB715) With this service the SDO Timeout is changed. SDO Timeout is the time the CANopen-PN waits for an answer of the node defined via the module slot after an SDO request The CANopen-PN will not accept the value until the CANopen Manager is reset (see chapter 6.1.15).

  • Page 61: Set Node To Pre-Operational (0Xb733)

    By means of this service only the CANopen state machine of a single CANopen node (Node-ID = node number) will be reset. PROFINET IO Write Service Index Parameter Description Value range Data type 0xB735 CANopen Node-ID 0x01..0x7F unsigned 8 CANopen-PN Manual • Doc. No.: C.2921.21 / Rev. 1.6 Page 61 of 105...

  • Page 62: Initialize Gateway (0Xb751)

    1000 6.1.10 Set Heartbeat Producer (0xB754) By means of this service the Heartbeat-Producer time of the CANopen-PN can be set. This service can only be proceeded for the CANopen-PN itself, the parameter Node-ID will not be evaluated. The CANopen-PN will not accept the value (see chapter 6.1.15) until the CANopen Manager is reset.

  • Page 63: Set Node-Id (0Xb755)

    6.1.11 Set Node-ID (0xB755) With this service the node number of the CANopen-PN can be changed. The CANopen-PN will not accept the value (see chapter 6.1.15) until the CANopen Manager is reset. Normally this value is specified in the GSDML Composer (see chapter 5.7) and does not have to be changed.

  • Page 64: Get Version (0Xb762)

    Control via PROFINET IO 6.1.14 Get Version (0xB762) This service can request information about the CANopen-PN. Therefore a Write service with a parameter "Dummy" has to be called previously. PROFINET IO Write Service Index Parameter Description Value range Data type...

  • Page 65: Start Controller (0Xb772)

    Control via PROFINET IO 6.1.16 Start Controller (0xB772) This service starts the CANopen Manager in the CANopen-PN. This is only sensible if the CANopen Manager has been stopped before (see 6.1.17) The parameter is not evaluated. PROFINET IO Write Service...

  • Page 66: Profinet Io Diagnosis

    (The I/O identifier is contained in Bit 15: 0: input address; 1: output address) length of the received alarm information TINFO administrative information AINFO alarm information (see table 5 in chapter 6.2.1) Page 66 of 105 Manual • Doc. No.: C.2921.21 / Rev. 1.6 CANopen-PN...

  • Page 67: Emergency Mapping

    Current, CANopen device input side 0x22xx Current inside the CANopen device 0x23xx Current, CANopen device output side 0x30xx Voltage 0x31xx Mains voltage 0x32xx Voltage inside the CANopen device CANopen-PN Manual • Doc. No.: C.2921.21 / Rev. 1.6 Page 67 of 105...

  • Page 68: Table 6: Canopen Emergency Codes And Classes

    Table 6: CANopen Emergency Codes and Classes Bit Description (from [2]) General error (always set) Current Voltage Temperature Communication Profile-specific Reserved Manufacturer-specific Table 7: CANopen Error Register Page 68 of 105 Manual • Doc. No.: C.2921.21 / Rev. 1.6 CANopen-PN...

  • Page 69: Technical Data

    NS35/7,5 DIN EN 60715 Dimensions width: 22.5 mm, height: 99 mm, depth: 114.5 mm (without connectors) Weight approx. 135 g Table 8: General data of the module CANopen-PN Manual • Doc. No.: C.2921.21 / Rev. 1.6 Page 69 of 105...

  • Page 70: Microcontroller

    Terminating resistor has to be set externally, if required 5-pin COMBICON with spring-cage connection or optional via Connector InRailBus connector (CAN-CBX-TBUS) Table 10: Data of the CAN interface Page 70 of 105 Manual • Doc. No.: C.2921.21 / Rev. 1.6 CANopen-PN...

  • Page 71: Profinet Io Interface

    7.5 DIAG, Serial Interface via USB Interface Type USB-specification USB 2.0 High Speed (480 Mbit/s) Connector DIAG (X3), USB socket type-B Table 12: Data of the USB interface CANopen-PN Manual • Doc. No.: C.2921.21 / Rev. 1.6 Page 71 of 105...

  • Page 72: Software Support

    The configuration of the CANopen side of the gateway is done via the GSDML Composer. The GSDML Composer is used for generation and parametrization of a GSD file for the CANopen-PN. The PROFINET IO side of the CANopen-PN is configured via a so called engineering tool (e.g. SIMATIC-S7).

  • Page 73: Interfaces And Connector Assignments

    Recommendation of an adapter cable from 5-pin COMBICON (here line connector FK-MCP1,5/5-STF_3,81 with spring-cage-connection) to 9-pin DSUB: The assignment of the 9-pin DSUB-connector and the 5-pin Mini- COMBICON is designed according to CiA 303 Part 1. CANopen-PN Manual • Doc. No.: C.2921.21 / Rev. 1.6 Page 73 of 105...

  • Page 74: Profinet Io

    Permissible cable types: Cables of category 5e or higher have to be used to grant the function in networks with up to 100 Mbits/s. esd grants the EC conformity of the product if the wiring is carried out with shielded twisted pair cables of class SF/UTP or higher.

  • Page 75: Power Supply Voltage

    A feed through of the +24 V power supply voltage can cause damage on the modules. Signal Description: P24... power supply voltage +24 V ±10 % M24... reference potential CANopen-PN Manual • Doc. No.: C.2921.21 / Rev. 1.6 Page 75 of 105...

  • Page 76: And Can Via Inrailbus

    Take notice of the instructions for connecting power supply and CAN signals via InRailBus in the appendix! 8.5 DIAG The CANopen-PN realises a virtual network interface. Via this interface firmware can be updated and CAN messages can be recorded and transmitted via the implemented esd EtherCAN functionality, see chapter 5.1.4.2.

  • Page 77: Conductor Connection/Conductor Cross Sections

    2 conductors with same cross section, stranded, 1.0 mm² not allowed TWIN ferrules with plastic sleeve, max. Minimum AWG according to UL/cUL Maximum AWG according to UL/cUL Table 13: Conductor connection/Conductor cross section CANopen-PN Manual • Doc. No.: C.2921.21 / Rev. 1.6 Page 77 of 105...

  • Page 78: Correctly Wiring Electrically Isolated Can Networks

    Therefore the practical maximum number of nodes, bus length and stub length are typically much lower. esd has concentrated her recommendations concerning CAN wiring on the specifications of the ISO 11898-2. Thus this wiring hints forgoes to describe the special features of the derived standards CANopen, ARINC825, DeviceNet and NMEA2000.

  • Page 79: Light Industrial Environment (Single Twisted Pair Cable)

    9.2.1 General Rules NOTICE esd grants the EU Conformity of the product, if the CAN wiring is carried out with at least single shielded single twisted pair cables that match the requirements of ISO 11898-2. Single shielded double twisted pair cable wiring as described in chapter 9.3. ensures the EU Conformity as well.

  • Page 80: Cabling

    ● 9-pin DSUB-termination connectors with integrated termination resistor and male and female contacts are available from esd (order no. C.1303.01). DSUB termination connectors with male contacts (order no. C.1302.01) or female contacts ● (order no. C.1301.01) and additional functional earth contact are available, if CAN termination and grounding of CAN_GND is required.

  • Page 81: Heavy Industrial Environment (Double Twisted Pair Cable)

    CAN_L CAN_GND wire shield n.c. n.c. connector case connector case Shield n.c. = not connected earth (FE) Figure 40: CAN wiring for heavy industrial environment CANopen-PN Manual • Doc. No.: C.2921.21 / Rev. 1.6 Page 81 of 105...

  • Page 82: Device Cabling

    CAN bus line via short cable stubs. This is normally realised by so called T- connectors. When using esd's CAN-T-Connector (order no.: C.1311.03) it should be noted that the shield potential of the conductive DSUB housing is not looped through this T- Connector type.

  • Page 83: Electrical Grounding

    5000 Table 14: Recommended cable lengths at typical bit rates (with esd-CAN interfaces) Optical couplers are delaying the CAN signals. esd modules typically reach a wire length of ● 37 m at 1 Mbit/s within a proper terminated CAN network without impedance disturbances like e.g.

  • Page 84: Examples For Can Cables

    Correctly Wiring Electrically Isolated CAN Networks 9.6 Examples for CAN Cables esd recommends the following two-wire and four-wire cable types for CAN network design. These cable types are used by esd for ready-made CAN cables, too. 9.6.1 Cable for light industrial Environment Applications (Two-Wire)

  • Page 85: Can Troubleshooting Guide

    - there are no open circuits in CAN_H or CAN_L wiring - your bus system has two terminating resistors (one at each end) and that they are 120 Ω each. CANopen-PN Manual • Doc. No.: C.2921.21 / Rev. 1.6 Page 85 of 105...

  • Page 86: Electrical Grounding

    (see figure at previous page). 4. Measure the DC voltage between CAN_L and CAN_GND (see figure at previous page). Normally the voltage should be between 2.0 V and 3.0 V. Page 86 of 105 Manual • Doc. No.: C.2921.21 / Rev. 1.6 CANopen-PN...

  • Page 87: Can Transceiver Resistance Test

    If you have executed the fault diagnostic steps of this troubleshooting guide and you even can not find a solution for your problem our support department will be able to assist. Please contact our support via email at support@esd.eu or by phone +49-511-37298-130. CANopen-PN Manual •...

  • Page 88: Canopen Firmware

    In the individual states only defined operations are allowed. The state transitions can be triggered by internal events (e.g. boot-up, error, reset) or by the NMT master. Page 88 of 105 Manual • Doc. No.: C.2921.21 / Rev. 1.6 CANopen-PN...

  • Page 89: Nmt-Boot-Up

    0x6000 ... 0x9FFF Standardized Device Profile according to user profile DS-40x 0xA000 ... 0xFFFF reserved The kind and number of the supported objects depends on the CANopen module type. CANopen-PN Manual • Doc. No.: C.2921.21 / Rev. 1.6 Page 89 of 105...

  • Page 90: Accessing The Communication Parameters Via Sdo Telegrams

    0x60 = 96 : Write Response, i.e. a parameter has been set successfully 0x80 = 128 : Error Response, i.e. the CAN-module reports a communication error Page 90 of 105 Manual • Doc. No.: C.2921.21 / Rev. 1.6 CANopen-PN...
  • Page 91 The least significant byte is always in ‘Data 1’. With 16-bit values the most significant byte (bits 8...15) is always in ‘Data 2’, and with 32-bit values the MSB (bits 24...31) is always in ‘Data 4’. CANopen-PN Manual • Doc. No.: C.2921.21 / Rev. 1.6 Page 91 of 105...

  • Page 92: Accessing The Process Data Via Pdos

    PDOs for some typical applications. It depends on the individual CANopen firmware of the CANopen devices how many and which PDOs are supported and which communication parameters can be changed. Page 92 of 105 Manual • Doc. No.: C.2921.21 / Rev. 1.6 CANopen-PN...

  • Page 93: Important Canopen Telegrams

    Error code Emergency Message Node-ID..Node-ID of the addressed CANopen module xx... Node-ID of a CANopen module or ‘00’ for a message to all CANopen nodes CANopen-PN Manual • Doc. No.: C.2921.21 / Rev. 1.6 Page 93 of 105...

  • Page 94: Implemented Canopen Objects Of Canopen-Pn

    CANopen Firmware 11.7 Implemented CANopen Objects of CANopen-PN 11.7.1 CiA Specification CiA 301 Objects The following table shows the implemented CANopen objects according to CiA 301. For a detailed description of the objects refer to CiA 301 [2]. Product-specific Sub-...

  • Page 95: Table 15: Implemented Canopen Objects Of The Canopen-Pn Gateway

    TPDO Mapping Parameter the number of PDOs of the RPDOs of the slaves ..0x1BFF connected, as defined in the composer Table 15: Implemented CANopen objects of the CANopen-PN gateway CANopen-PN Manual • Doc. No.: C.2921.21 / Rev. 1.6 Page 95 of 105...

  • Page 96: Objects Of Cia Specification Cia 302-2

    It is strongly recommended that changes of the objects of CiA 302-2 are carried out by experienced users with detailed knowledge of the CANopen specification. For further information please contact our support team (support@esd.eu). The following table shows the implemented CANopen objects according to CiA 302-2.

  • Page 97: Appendix Inrailbus (Option)

    CAN_GND ... reference potential of the local CAN-Physical layers P24... power supply voltage +24 V ±10 % M24... reference potential FE... functional earth contact (EMC) (connected to mounting rail potential) CANopen-PN Manual • Doc. No.: C.2921.21 / Rev. 1.6 Page 97 of 105...

  • Page 98: Using Inrailbus (Option)

    INFORMATION This chapter describes the installation of the module using InRailBus for CAN-CBX- modules. For the CANopen-PN module the following points apply accordingly. 12.3 Installation of the Module Using InRailBus-Connector If the CAN bus signals and the power supply voltage shall be fed via the InRailBus, please proceed...

  • Page 99: Figure 47: Mounted Can-Cbx Module

    Now the module is mounted on the mounting rail and connected to the InRailBus via the bus connector. Connect the bus connectors and the InRailBus, if not already done. Figure 47: Mounted CAN-CBX module CANopen-PN Manual • Doc. No.: C.2921.21 / Rev. 1.6 Page 99 of 105...

  • Page 100: Connecting Power Supply And Can Signals To Cbx-Inrailbus

    CBX station via 24V connector! A feed through of the +24 V power supply voltage can cause damage on the CBX modules. Figure 49: Connecting the power supply voltage to the CAN-CBX station Page 100 of 105 Manual • Doc. No.: C.2921.21 / Rev. 1.6 CANopen-PN...

  • Page 101: Connection Of Can

    INFORMATION It is possible to remove individual devices from the whole without interrupting the InRailBus connection, because the contact chain will not be interrupted. CANopen-PN Manual • Doc. No.: C.2921.21 / Rev. 1.6 Page 101 of 105...

  • Page 102: References

    PROFIBUS Nutzerorganisation e.V., 76131 Karlsruhe, Germany [7] CiA 303-3 Draft Recommendation V.1.3 2006 CANopen Additional specification Part 3: Indicator specification CAN in Automation e. V., Nürnberg, Germany Page 102 of 105 Manual • Doc. No.: C.2921.21 / Rev. 1.6 CANopen-PN...

  • Page 103: Declaration Of Conformity

    Declaration of Conformity 14. Declaration of Conformity CANopen-PN Manual • Doc. No.: C.2921.21 / Rev. 1.6 Page 103 of 105...

  • Page 104: Profinet Io Certificate

    PROFINET IO Certificate 15. PROFINET IO Certificate Page 104 of 105 Manual • Doc. No.: C.2921.21 / Rev. 1.6 CANopen-PN...

  • Page 105: Order Information

    Table 16: Order information PDF Manuals Manuals are available in English and usually in German as well. For availability of English manuals see table below. Please download the manuals as PDF documents from our esd website www.esd.eu for free. Manuals Order No.

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