ESD CANopen-PN/2 Manual
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ESD CANopen-PN/2 Manual

Canopen-profinet-io gateway
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CANopen-PN/2
®
®
CANopen
-PROFINET
-IO Gateway
Manual
For Product C.2931.02
CANopen-PN/2
Manual Doc. No.: C.2931.21 / Rev 1.0
Page 1 of 119
esd electronics 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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Summary of Contents for ESD CANopen-PN/2

  • Page 1 For Product C.2931.02 CANopen-PN/2 Manual Doc. No.: C.2931.21 / Rev 1.0 Page 1 of 119 esd electronics 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 Links esd electronics gmbh assumes no liability or guarantee for the content of Internet pages to which this document refers directly or indirectly. Visitors follow links to websites at their own risk and use them in accordance with the applicable terms of use of the respective websites.
  • Page 3 The changes in the document listed below affect changes in the hardware as well as changes in the description of the facts, only. Rev. Chapter Changes versus previous version Date First English manual of CANopen-PN/2 2023-06-20 Technical details are subject to change without further notice. CANopen-PN/2 Manual Doc.
  • 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. Manual Doc. No.: C.2931.21 / Rev. 1.0 Page 4 of 119 CANopen-PN/2...

  • Page 5: Safety Instructions

    ● The galvanic isolation of the CANopen-PN/2 has only functional tasks and is not a protection against hazardous electrical voltage. ● The CANopen-PN/2 is a device of protection class III according to DIN EN IEC 61010-2-201 and may only be operated on supply circuits that offer sufficient protection against dangerous voltages.
  • Page 6 It is the responsibility of the device's user to take care that necessary safety precautions for the...

  • Page 7: Table Of Contents

    Table of Contents Safety Instructions .......................... 5 Overview ..........................12 Description of CANopen-PN/2 ..................12 Glossary ......................... 14 View with Connectors ..................... 15 LEDs ..........................16 1.4.1 Position of the LEDs ....................16 1.4.2 PROFINET IO LEDs ....................16 1.4.3 Status LEDs ......................
  • Page 8 PLC Function Blocks ....................88 5.8.19.1 Read Records ....................88 5.8.19.2 Write Records ....................89 CANopen-PN/2 Object Directory ..................90 5.9.1 Objects of CiA Specification CiA 301 ............... 90 5.9.2 Objects of CiA Specification CiA 302-2 ..............91 Firmware Update ........................92 CAN Monitoring ........................
  • Page 9 13.3 Short Circuit in CAN Wiring ................... 114 13.4 Correct Voltage Levels on CAN_H and CAN_L............. 114 13.5 CAN Transceiver Resistance Test ................115 13.6 Support by esd......................115 14 References .......................... 116 15 Declaration of Conformity ..................... 117 16 PROFINET IO Certificate ..................... 118 17 Order Information .........................
  • Page 10 Table 66: Data of the USB device interface ................100 Table 67: Data of the CAN interface ................... 101 Table 68: Recommended cable lengths at typical bit rates (with esd-CAN interfaces) ....111 Table 69: Order information hardware ..................119 Table 70: Available manuals ......................
  • Page 11 Figure 6: View with LED/Connector label ..................18 Figure 7: Manage GSDML files ..................... 30 Figure 8: Inserting the CANopen-PN/2 ..................31 Figure 9: Choose GSDML file of the CANopen-PN/2 ..............32 Figure 10: Not assigned CANopen-PN/2 ..................32 Figure 11: Assigned CANopen-PN/2 ..................... 32 Figure 12: Assign IP address and device name of the configuration ..........

  • Page 12: Overview

    Node Guarding and Heartbeat. Figure 2: Block circuit diagram of CANopen-PN/2 The CANopen-PN/2 comes in a compact housing for DIN rail mounting with easily accessible connectors. It is equipped with two Ethernet ports via RJ-45 sockets for PROFINET IO, a CAN interface via a connector with spring-cage connection and a Mini-USB-B interface for diagnose and firmware update.
  • Page 13 Control your CANopen Devices ® The CANopen-PN/2 supports the functionality of a CANopen manager according to CiA 302-2 (4). As such, the gateway is able to start, configure and stop all CANopen devices in the network. The gateway supports up to 126 CANopen devices.

  • Page 14: Glossary

    Most Significant Bit n.a. not applicable Operating System Process Data Object Processor Realtime Unit Remote Transmission Request Software Development Kit Service Data Object Universal Serial Bus Extensible Markup Language Page 14 of 119 Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2...

  • Page 15: View With Connectors

    Overview 1.3 View with Connectors Figure 3: Connecting diagram of CANopen-PN/2 See also page 102 for signal assignment of the CAN connectors. NOTICE Read chapter “Hardware Installation” on page 19, before you start with the installation of the hardware! Manual Doc. No.: C.2931.21 / Rev. 1.0...

  • Page 16: Leds

    Blinking Ethernet connection is established, data is transferred Ethernet connection is established No Ethernet connection Link Green Ethernet connection is established Table 1: Description of PROFINET IO LEDs Page 16 of 119 Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2...

  • Page 17: Status Leds

    Green Blinking The application is running Table 3: Description of Status LEDs See also chapter 3 on page 20 for a description of the status LEDs during Start-Up. Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2 Page 17 of 119...

  • Page 18: Labels

    Overview 1.5 Labels Figure 5: View with name plate (example) Figure 6: View with LED/Connector label The name plate (Figure 5) shows among others the name, MAC-ID, esd order No. (PN) and the serial number (SN). Name plate CANopen Gateway...

  • Page 19: Hardware Installation

    CANopen-PN/2 is to be integrated. → The CANopen-PN/2 is a device of protection class III according to DIN EN IEC 61010-2-201 and may only be operated on supply circuits that offer sufficient protection against dangerous voltages.

  • Page 20: Start-Up

    Start-Up 3 Start-Up After switching on the supply voltage, the CANopen-PN/2 starts automatically. During start up the ‘R’ LED (CANopen Status) turns on. When the device is started successfully ‘PWR’ LED (Power) turns on and ‘R’ (CANopen Status) turns off again. This process takes about 10s.

  • Page 21: Canopen Protocol

    0x1000 ... 0x1FFF Communication Profile Area 0x2000 ... 0x5FFF Manufacturer Specific Profile Area 0x6000 ... 0x9FFF Standardized Device Profile 0xA000 ... 0xFFFF Reserved Table 4: CANopen Object Directory Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2 Page 21 of 119...

  • Page 22: Process Data Objects (Pdos)

    Data field Code (low) (high) 0x23 0x00 0x14 0x01 0x7F 0x04 0x00 0x00 0x600+ NodeID Write Index=0x1400 (COB-def.) Data (here COB-ID) = 0x047F Table 5: SDO Communication Parameter 1 Page 22 of 119 Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2...

  • Page 23: Table 6: Sdo Communication Parameter 2

    MSB (bits 24 ... 31) is always in ‘Data 4’. For larger SDO transfers there are also segmented transfers, which are not covered in this manual. Table 6: SDO Communication Parameter 2 Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2 Page 23 of 119...

  • Page 24: Error Codes Of A Sdo Transfer

    Transmitted parameter is below the accepted value range SDO_OTHER_ERROR 0x08000000 Undefined cause of error SDO_LOCAL_CONTROL 0x08000021 Request cannot be executed because of the operating state Table 7: CANopen SDO Error Codes Page 24 of 119 Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2...

  • Page 25: Network Management (Nmt)

    0x7F UNKNOWN* 0x00 UKNOWN is not an official CANopen NMT state but is used from the CANopen-PN/2 to define when the CANopen-PN/2 is unable to detect the NMT state of a CANopen device. Table 8: CANopen NMT States 4.6 Node Guarding and Heartbeat The Node Guarding and Heartbeat protocols can be used to check the availability of another CANopen device.

  • Page 26: Important Canopen Telegrams

    0 ... 8 Bytes Error code Emergency Message * Stands for Node ID of a CANopen module or ‘00’ for a message to all CANopen devices Table 9: Important CANopen Telegrams Page 26 of 119 Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2...

  • Page 27: Software

    PROFINET to the PLC. 5.2 Software Licenses The software used for the CANopen-PN/2 from esd and from third parties is subject to licenses. The license terms of esd (esd electronics License Conditions) and of 3rd parties (3rd Party Licenses) are displayed and installed on your system during installation via the installation program (CANopen-PN_2_X_X_X.exe, see chapter 5.3).

  • Page 28: Installation

    NOTICE The CAN driver and the CAN-SDK are not automatically deleted if the CANopen-PN/2 software is removed. Therefore use “Software” of the Windows system administration and remove “EtherCAN [...] Host Driver” and “CAN SDK for Windows”.

  • Page 29: Manual Installation Of The Rndis Driver

    Mini-USB interface with the computer. When the installation has been successful, a new network adapter called RNDIS based ESD Device should be displayed in the Device Manager. If this is not the case, install the driver manually with the following steps:...

  • Page 30: Configuration

    Software 5.4 Configuration This chapter describes the steps which are relevant to configure the CANopen-PN/2. The steps are shown with the Siemens TIA Portal as development environment. For further information about your development environment or the TIA Portal, please read the respective documentation.

  • Page 31: Insert The Canopen-Pn/2

    Project tree Devices onto Devices & networks as shown in the following figure. The so- → called Network view opens. The CANopen-PN/2 can now be added from the Hardware catalog. The device can be found under Other field devices Gateway esd electronics gmbh →...

  • Page 32: Assign The Profinet Network

    Figure 9: Choose GSDML file of the CANopen-PN/2 5.4.5 Assign the PROFINET Network First the CANopen-PN/2 must be assigned to a PROFINET network. To accomplish this, go to the Network view, press the button Not assigned and click on one of the available PROFINET networks.

  • Page 33: Assign Ip Address And Profinet Device Name

    Software 5.4.6 Assign IP Address and PROFINET Device Name In order to work properly the IP address and the PROFINET device name of the configuration must match those persistently saved on the CANopen-PN/2 gateway. Both can be configured separately. NOTICE Each IP address and PROFINET device name can only be assigned once per PROFINET network.

  • Page 34: Figure 13: Assign Ip Address And Device Name Of The Gateway

    Assign IP address or Assign PROFINET device name. Insert the new parameter accordingly and press the Assign IP address or Assign name button. Figure 13: Assign IP address and device name of the gateway Page 34 of 119 Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2...

  • Page 35: Compile And Download Hardware And Software

    Select your device (PLC_1 in this case) again and click Download → Hardware and Software in the pull-down menu. A new dialog opens in which the PLC can be chosen. Figure 15: Download hardware and software to device (detail) Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2 Page 35 of 119...

  • Page 36: Figure 16: Toolbar With Button Go Online

    (see Figure below). If this is not the case, something is wrong. Please read chapters 5.7 and 9 for further information. Figure 17: Online Device overview Page 36 of 119 Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2...

  • Page 37: Gsdml Composer

    Configure the CANopen manager (see chapter 5.5.11). Configure the CANopen devices (see chapter 5.5.12). Save the project and export the GSDML file (see chapter 5.5.8.1). Table 12: GSDML Composer Quick Start Guide Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2 Page 37 of 119...

  • Page 38: Description

    GSDML Composer. After this, the file can be used to add a CANopen device to the network. When the whole CANopen network is configured, a GSDML file can be generated. This file contains all CANopen information for the CANopen-PN/2. The data cannot be changed with the development environment e.g. the Siemens TIA Portal.

  • Page 39: System Requirements

    The CANopen-PN/2 (C.2931.02) GSDML files start with GSDML-V2.42 and can only be used to configure the CANopen-PN/2. They do not work with the CANopen-PN. To update a project from the CANopen-PN to the CANopen-PN/2 and vice versa select the CANopen-PN/2 project at start- up and load an existing project for the CANopen-PN.

  • Page 40: Overview

    3. Device Library (see chapter 5.5.9) 4. CANopen Network Editor (see chapter 5.5.10) 5. Device Editor in background (see chapter 5.5.12) 6. CANopen Manager (see chapter 5.5.11) 7. Output (see chapter 5.5.13) Page 40 of 119 Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2...

  • Page 41: Menu Bar

    The menu item File can be used to start, open, or save a GSDML project (.xgcp) or to export a DCF or a GSDML file. It can also be used to switch between the CANopen-PN and CANopen-PN/2 or to close the application. Some of its functions are also accessible via icons in the toolbar (see Figure 20, 2).

  • Page 42: View

    Network Editor). By clicking on an option, the window will be set to foreground. 5.5.8.5 Help The menu item Help offers a link to this manual as well as some additional information. Page 42 of 119 Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2...

  • Page 43: Device Library

    The selected files are automatically copied into the Device Library. library NOTICE The Device Library is located in the installation path of the CANopen-PN/2. Do not edit it manually. Delete from Delete the selected device from the library. device library...
  • Page 44 After a device has been inserted, a dialog window for the input of the name and the CANopen node ID opens. The values can be changed afterwards (see chapter 5.5.12.1). Page 44 of 119 Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2...

  • Page 45: Canopen Network Editor

    Software 5.5.10 CANopen Network Editor In the CANopen Network Editor displays the CANopen-PN/2 as well as all configured CANopen devices with their CANopen node IDs. It is located at the middle of the main window (see Figure 20, 4) on the tab CANopen Network Editor.

  • Page 46: Table 17: Gsdml Composer Display Options

    Deletes the selected device. Change device Shows a dialog for the selection of an image file and changes the image of image the device. Table 18: GSDML Composer Device Context Menu Page 46 of 119 Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2...

  • Page 47: Canopen Manager

    NodeId CANopen node ID of the gateway itself. CanOpenManager Defines whether the CANopen-PN/2 works as CANopen manager. The default value is True (Gateway is CANopen manager). False can only be used if several CANopen-PN(/2) devices are used simultaneously. In this case the following parameters are ignored: •...
  • Page 48 Defines whether the SYNC objects of the CANopen devices are written. If the value is False, the SYNC-settings defined via the Device Editor are ignored and the default configuration is used. CommunicationCyclePeriod In this interval in microseconds the CANopen-PN/2 generates SYNC messages ('0' to disable). NOTICE...

  • Page 49: Table 19: Gsdml Composer Canopen Manager Parameter

    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/2 terminates the boot process and does not even try to start the modules after the failure is ended.

  • Page 50: Canopen Device

    Device Editor of the selected CANopen device. A new window will open, which has a navigation menu on the left side. Each navigation point has different parameters which are described throughout this chapter. All screenshots are based on an esd CAN-CBX-DIO8. NOTICE Not every CANopen device supports every option in the Device Editor.

  • Page 51: Rpdo Mapping

    This menu can be used to configure the RPDO mapping, which means the input PDOs for the CANopen device. The RPDOs are sent from the CANopen-PN/2 to the CANopen device. The PLC provides the data for the CANopen-PN/2. Therefore, they are mapped into the PLC output address space.

  • Page 52: Table 20: Gsdml Composer Rpdo Mapping Parameter

    SYNC telegram Event based: Transmission is independent of the SYNC telegram All other parameters do only apply to TPDOs (see chapter 5.5.12.3). Table 20: GSDML Composer RPDO Mapping Parameter Page 52 of 119 Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2...
  • Page 53 -button deletes the object in the PDO, which is selected in the PDO Selection. • Move an object in a PDO A selected object can be positioned in the PDO Selection with the buttons Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2 Page 53 of 119...

  • Page 54: Tpdo Mapping

    This menu can be used to configure the TPDO mapping, which means the output PDOs of the CANopen device. The TPDOs are sent to the CANopen-PN/2 from the CANopen device. The PLC receives the data from the CANopen-PN/2. Therefore, they are mapped into the PLC input address space.

  • Page 55: Table 21: Gsdml Composer Tpdo Mapping Parameter

    (0: The counter value will be ignored. Only if transmission type is ≤ 0xF0). All other parameters do only apply to RPDOs (see chapter 5.5.12.2). Table 21: GSDML Composer TPDO Mapping Parameter Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2 Page 55 of 119...
  • Page 56 -button deletes the object in the PDO, which was selected in the PDO Selection. • Move an object in a PDO A selected object can be positioned in the PDO selection with the buttons Page 56 of 119 Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2...

  • Page 57: Manager Settings

    The settings of the CANopen manager for the CANopen devices can be specified on this menu. It also defines the error handling of the CANopen device. Figure 28: GSDML Composer Manager Settings Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2 Page 57 of 119...

  • Page 58: Table 22: Gsdml Composer Manager Settings Parameter

    Verify Serial No. Defines whether the CANopen device may only be started if the serial No. [1018.04] exactly matches this value. Table 22: GSDML Composer Manager Settings Parameter Page 58 of 119 Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2...

  • Page 59: Sync / Emergency

    Software 5.5.12.5 SYNC / Emergency This menu can be used to configure the settings of SYNC, TIME and EMCY messages. Figure 29: GSDML Composer Sync/Emergency Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2 Page 59 of 119...

  • Page 60: Table 23: Gsdml Composer Sync/Emergency Parameter

    Emergency Inhibit Time The minimum period between two EMCY messages (specified as multiple of 100 µs). CAN-ID CAN-ID of the EMCY message Table 23: GSDML Composer Sync/Emergency Parameter Page 60 of 119 Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2...

  • Page 61: Heartbeat / Guarding

    Software 5.5.12.6 Heartbeat / Guarding Figure 30: GSDML Composer Heartbeat/Guarding Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2 Page 61 of 119...

  • Page 62: Table 24: Gsdml Composer Sync/Emergency Parameter

    Producer, Heartbeat Time Defines whether the CANopen device is a heartbeat consumer of the heartbeat Device is messages of the CANopen-PN/2. The time interval is taken from the CANopen Heartbeat manager settings (see chapter 5.5.11). Consumer Heartbeat...

  • Page 63: Object Lists

    0x1200 … 0x12FF and 0x1FA0 ... 0x1FFF. The modified values are transferred in the GSDML file and the CANopen manager writes them into the CANopen devices during initialisation. Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2 Page 63 of 119...

  • Page 64: Eds Device Info

    5.5.12.9 EDS File Info [FileInfo] Displays the EDS section For information only – cannot be changed. 5.5.12.10 EDS Comments [Comments] Displays the EDS section For information only – cannot be changed. Page 64 of 119 Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2...

  • Page 65: Output

    RPDOs and TPDOs. A CAN busload of less than 50% is recommended. However, because the sending and receiving interval is not fixed, asynchronous PDOs are not included into the calculation. Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2 Page 65 of 119...

  • Page 66: Module In- And Output

    This chapter describes how to translate the GSDML Composer configuration to the PROFINET IO device. It is recommended to read chapter 5.4 and 5.5 first, before reading this chapter. Figure 33: GSDML Composer <-> Siemens TIA Portal Page 66 of 119 Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2...

  • Page 67: Overview

    This module represents a CANopen device. The submodules are 3 ... 128 Device used for PDOs and the NMT state. Table 26: CANopen-PN/2 Slot Structure 5.6.2 CANopen Manager The CANopen Manager module is always in slot 2 and contains its configuration. By selecting the submodule...

  • Page 68: Canopen Devices

    When there are multiple CANopen objects configured within one PDO, the first object is always allocated in the first bytes of the PLC address space. However, the data is already endianness swapped to be directly mapped onto the accurate PLC data type. Page 68 of 119 Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2...

  • Page 69: Table 27: Plc Address Space → Canopen Objects

    PDOs and has 1- byte of input and 1-byte of output data in the PLC address space. Figure 37: PDO Mapping CAN-CBX-DIO8 Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2 Page 69 of 119...

  • Page 70: Diagnostics

    Most PROFINET development environments have predefined function blocks to read alarm information. For the TIA Portal it is called RALRM and is described in more detail throughout this chapter. Page 70 of 119 Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2...

  • Page 71: Table 28: Read Alarm Function Block Parameter

    Error description HW identifier of a module Length of the received alarm information TINFO Administrative information AINFO Alarm information (see Table 29) Table 28: Read Alarm Function Block Parameter Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2 Page 71 of 119...

  • Page 72: Table 29: Alarm Information

    CANopen devices, that do not reset their errors. Use the EMCY Reset Time (see chapter 5.5.12.4) or the write record Reset CANopen Device EMCY (see chapter 5.8.18) to prevent the PLC from a not acknowledged alarm. Page 72 of 119 Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2...
  • Page 73 33.296 PDO not processed due to length error 0x8220 33.312 PDO length exceeded 0x8230 33.328 DAM MPDO not processed, destination object not available 0x8240 33.344 Unexpected SYNC data length 0x8250 33.360 RPDO timeout Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2 Page 73 of 119...

  • Page 74: Table 30: Canopen Error Codes

    The error register is defined in the CANopen specification CiA 301(5). The following table provides descriptions of the error registers: Bit Description General error (always set) Current Voltage Temperature Communication Profile-specific Reserved Manufacturer-specific Table 31: CANopen Error Register Page 74 of 119 Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2...

  • Page 75: Provider And Consumer Status

    PDO validation (see chapter 5.5.12.4). NOTICE Some common error cases with alarms and provider/consumer status and its solution are described in chapter 9. Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2 Page 75 of 119...

  • Page 76: Records

    1..2047* SDO Upload (Get Result) 0xB762 Read Version * Record length, value range and data type dependent on the object that is read. Table 32: CANopen-PN/2 Read Records Page 76 of 119 Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2...

  • Page 77: Table 33: Canopen-Pn/2 Write Records

    Stop CANopen Manager 0x003A Reset CANopen Device EMCY * Record length, value range and data type dependent on the object that is written. Table 33: CANopen-PN/2 Write Records Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2 Page 77 of 119...

  • Page 78: Sdo Upload (0Xb711)

    In the event of an error a data response with ErrorCode = 0xDE (IODReadRes) and ErrorDeCode = 0x80 (PNIORW) is returned for read records. In ErrorCode1 – consisting of ErrorClass and ErrorCode - the following values are returned according to the Table 37. Page 78 of 119 Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2...

  • Page 79: Table 36: Canopen Sdo Data Types

    0x13 Floating64 0x15 TimeOfDay without date indication 0x52 TimeDifference with date indication 0x53 TimeDifference without date indication 0x54 INTEGER64 0x55 UNSIGNED64 0x56 Table 36: CANopen SDO Data types Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2 Page 79 of 119...

  • Page 80: Table 37: Sdo Transfer Error Code

    (e.g. object dictionary is generated from file and generation fails because of an file error). 0xB0 0x0800 0024 No data available Table 37: SDO Transfer Error Code Page 80 of 119 Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2...

  • Page 81: Sdo Download (0Xb713)

    0x00 ... 0xFF unsigned8 5..2051* Data * Record length, value range and data type dependent on the object that is written. Table 38: Write Record SDO Download (0xB713) Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2 Page 81 of 119...

  • Page 82: Configure Sdo Timeout (0Xb715)

    Write Record Stop CANopen Device (Index 0xB732 | Record Length 1 Byte) Parameter Byte Description Value Range Data type CANopen Node ID 0x00 ... 0x7F unsigned8 Table 41: Write Record Stop CANopen Device (0xB732) Page 82 of 119 Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2...

  • Page 83: Set Canopen Device To Pre-Operational (0Xb733)

    Write Record Initialize Gateway (Index 0xB751 | Record Length 4 Byte) Parameter Byte Description Value Range Data type 0 ... 3 CAN Bit Timing 0x01 ... 0x08 unsigned32 Table 45: Write Record Initialize Gateway (0xB751) Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2 Page 83 of 119...

  • Page 84: Set Heartbeat Producer (0Xb754)

    Description Value Range Data type CANopen Node ID 0x01 ... 0x7F unsigned8 1 ... 2 HeartbeatProducerTime 0x0000 ... 0xFFFF unsigned16 Table 47: Write Record Set Heartbeat Producer (0xB754) Page 84 of 119 Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2...

  • Page 85: Set Node Id (0Xb755)

    Description Value Range Data type CANopen Node ID 0x01 ... 0x7F unsigned8 1 ... 2 COB-ID 0x0081 ... 0x00FF unsigned16 Table 50: Write Record Stop Emergency Consumer (0xB757) Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2 Page 85 of 119...

  • Page 86: Read Version (0Xb762)

    Write Record Start CANopen Manager (Index 0xB772 | Record Length 1 Byte) Parameter Output Description Value Range Data type Byte CANopen Node ID 0x01 ... 0x7F unsigned8 Table 53: Write Record Start CANopen Manager (0xB772) Page 86 of 119 Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2...

  • Page 87: Stop Canopen Manager (0Xb773)

    Write Record Reset CANopen Device EMCY (Index 0x003A | Record Length 1 Byte) Parameter Output Description Value Range Data type Byte CANopen Node ID 0x01 ... 0x7F unsigned8 Table 55: Write Record Reset CANopen Device EMCY (0x003A) Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2 Page 87 of 119...

  • Page 88: Plc Function Blocks

    The parameter ID needs the HW identifier of the CANopen manager module for every record except ‘Set Heartbeat Producer’ (0xB754) where the HW identifier is used to determine the device. Page 88 of 119 Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2...

  • Page 89: Write Records

    The parameter REQ is not edge-triggered. If the input is not reset accordingly, the operation is repeated permanently. NOTICE The parameter ID needs the HW identifier of the CANopen manager module for every record. Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2 Page 89 of 119...

  • Page 90: Canopen-Pn/2 Object Directory

    Software 5.9 CANopen-PN/2 Object Directory As a CANopen device the CANopen-PN/2 has its own CANopen object directory which contains the following objects: 5.9.1 Objects of CiA Specification CiA 301 The following table shows the implemented CANopen objects according to CiA 301.

  • Page 91: Objects Of Cia Specification Cia 302-2

    PDOs of the RPDOs of the CANopen devices connected, as defined in 0x1BFF the GSDML Composer Table 58: CANopen-PN/2 object directory CiA Specification 301 5.9.2 Objects of CiA Specification CiA 302-2 CANopen objects according to CiA 302-2 (4) are implemented. NOTICE It is strongly recommended that changes of the objects of CiA 302-2 are done by experienced users with detailed knowledge of the CANopen specification.

  • Page 92: Firmware Update

    Connect the gateway via Mini-USB with a Windows computer. Make sure that CANopen-PN/2 is detected correctly and a network adapter called RNDIS based ESD Device shows up in the Device Manager (see chapter 5.3). Extract the package called provided by the esd support, which is named canopen_pn_2_update_X_X_X.zip.

  • Page 93: Can Monitoring

    Install with all packages (see chapter 5.3). Connect the CANopen-PN/2 via Mini-USB with a Windows computer. Make sure that CANopen-PN/2 is detected correctly, and a network adapter called RNDIS based ESD Device shows up in the Device Manager (see chapter 5.3).

  • Page 94: Figure 40: Monitoring The Can Bus With Canreal

    CANreal also offers the possibility to save the current CAN frames by clicking ‘File→Save frames…’. In support cases this is useful to track the issue. The log file has the extension .csplog Page 94 of 119 Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2...

  • Page 95: Compatibility

    The new gateway has a so called ‘CANopen-PN Compatibility Mode’. Whenever an old GSDML file for the original CANopen-PN is loaded into the CANopen-PN/2 this mode is activated automatically. Moreover, it is possible to configure a GSDML project for the new gateway and still activate this mode manually for compatibility reasons (see chapter 5.5.11).

  • Page 96: Troubleshooting

    After the CAN bus is ok, it may take several seconds for the alarm to be resolved. When the CAN bus is faulty during configuration, the CANopen manager needs to be reset by restarting the module or using the write record 0xB771 (see chapter 5.8.15). Page 96 of 119 Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2...

  • Page 97: Faulty Canopen Device

    Not every CANopen device resets its EMCY messages reliable. If this is the case, set the parameter EMCY Reset Time (see chapter 5.5.12.4). The alarm will be resolved after this time when the module is available and the NMT state is OPERATIONAL. Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2 Page 97 of 119...

  • Page 98: Invalid Can Busload

    PDOs on the CAN bus. 9.5 Support by esd When you have a problem with the CANopen-PN/2 please make sure to check the troubleshooting chapter 9 first. If you still cannot find the solution to the problem, don’t hesitate to contact our support team for help.

  • Page 99: Technical Data

    Table 62: General Data of the module 10.2 CPU and Memory ARM Cortex A9, 1 GHz, AM4377, 32-bit SDRAM 1 Gbyte EEPROM 256 kBit NOR Flash 512 Mbit Table 63: CPU and Memory Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2 Page 99 of 119...

  • Page 100: Connectors Accessible From Outside

    Standard USB Specification Rev. 2.0 Bit rate Max. 480 Mbit/s (Hi-speed) Controller Integrated in CPU Connector Mini-USB socket type B Table 66: Data of the USB device interface Page 100 of 119 Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2...

  • Page 101: Can Interface

    CAN to CAN): 1kV DC @ 1s (I < 1 mA) Bus termination Terminating resistor must be set externally, if required Connector 5-pin PCB connector Table 67: Data of the CAN interface Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2 Page 101 of 119...

  • Page 102: Connector Pin Assignments

    CiA 303 part 1. 1) For technical data (e.g. conductor cross section) see Phoenix Contact website, PCB Connectors, Product list PCB connectors Page 102 of 119 Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2...

  • Page 103: Power Supply Voltage

    Connector Pin Assignments 11.2 24V Power Supply Voltage DANGER The CANopen-PN/2 is a device of protection class III according to DIN EN IEC 61010- 2-201 and may only be operated on supply circuits that offer sufficient protection against dangerous voltages.

  • Page 104: Profinet Io

    NOTICE Cables of category CAT5 or higher must be used to grant the function in networks with 100 Mbit/s. esd grants the EU conformity of the product if the wiring is carried out with shielded twisted pair cables. Page 104 of 119 Manual Doc.

  • Page 105: Diag

    Signal Signal Description: VBUS ... +5 V power supply voltage D+, D-... Data USB 2.0, differential pair +/- Reserved (ID for USB-type). Do not connect! GND... Reference potential Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2 Page 105 of 119...

  • Page 106: Correct Wiring Of Electrically Isolated Can Networks

    Therefore, the maximum achievable number of nodes, bus lengths and stub lengths may differ from the theoretically possible number! esd has limited its recommendations for CAN wiring to the specifications of ISO 11898-2. A description of the special features of the derived specifications CANopen, ARINC825,...

  • Page 107: Light Industrial Environment (Single Twisted Pair Cable)

    12.2.1 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 12.3 ensures the EU Conformity as well.

  • Page 108: Cabling

    In principle the CAN bus must be realized in a line. The nodes are connected to the main • CAN bus line via short cable stubs. This is normally realised by so called T-connectors. esd offers the CAN-T-Connector (Order No.: C.1311.03) If a mixed application of single twisted and double twisted cables cannot be avoided, •...

  • Page 109: Heavy Industrial Environment (Double Twisted Pair Cable)

    6 Select a working combination of bit rate and cable length. 7 Keep away CAN cables from disturbing sources. If this cannot be avoided, double shielded cables are recommended. Figure 46: CAN wiring for heavy industrial environment Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2 Page 109 of 119...

  • Page 110: Device Cabling

    CAN bus line via short cable stubs. This is usually realised via so called T-connectors. When using esd's CAN-T-Connector (order no.: C.1311.03) in heavy industrial environment and with four-wire twisted cables, it must be noted that the shield potential of the conductive DSUB housing is not looped through this type of T-connector.

  • Page 111: Electrical Grounding

    Table 68: Recommended cable lengths at typical bit rates (with esd-CAN interfaces) Optical couplers are delaying the CAN signals. esd modules typically achieve a wire length of 37 m at 1 Mbit/s within a proper terminated CAN network without impedance disturbances, such as those caused by cable stubs >...

  • Page 112: Examples For Can Cables

    CiA 106: “Connector pin-assignment recommendations ”. 12.6 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.

  • Page 113: Can Troubleshooting Guide

    If the determined value is higher than 70 Ω, please make sure that: • All CAN_H and CAN_L lines are correctly connected. • Two terminating resistors of 120 Ω each are connected to your CAN network (one at each end). Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2 Page 113 of 119...

  • Page 114: Electrical Grounding

    Measure the DC voltage between CAN_L and CAN_GND, measuring point (See “Simplified diagram of a CAN network” on previous page). Expected result: The measured voltage should be between 2.0 V and 3.0 V. Page 114 of 119 Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2...

  • Page 115: Can Transceiver Resistance Test

    Another indication of a defective CAN transceiver is a very high deviation of the two measured input resistances (>> 200 %). 13.6 Support by esd If you have followed the troubleshooting steps in this troubleshooting guide and still cannot find a solution to your problem, our support team can help.

  • Page 116: References

    (7) CiA 303-3 Draft Recommendation, CANopen Additional specification Part 3: Indicator specification, CAN in Automation e. V., Nürnberg, Germany, V.1.3 2006 (8) esd electronics, “Source Code License Agreement”, Hannover, esd electronics gmbh, Hannover, 2019-01-21, Rev. 1.1 Page 116 of 119 Manual Doc.

  • Page 117: Declaration Of Conformity

    Declaration of Conformity 15 Declaration of Conformity Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2 Page 117 of 119...

  • Page 118: Profinet Io Certificate

    PROFINET IO Certificate 16 PROFINET IO Certificate Page 118 of 119 Manual Doc. No.: C.2931.21 / Rev. 1.0 CANopen-PN/2...

  • Page 119: Order Information

    C.2002.21 Table 70: Available manuals Printed Manuals If you need a printout of the manual additionally, please contact our sales team (sales@esd.eu) for a quotation. Printed manuals may be ordered for a fee. Manual Doc. No.: C.2931.21 / Rev. 1.0...

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