Table of Contents
Summary of Contents for Axel CANDPSX
- Page 1 AXEL S.r.l. Via del Cannino 3 21020 Crosio della Valle (Va) tel. 0332 949600 fax. 0332 969315 e-mail: info@axelsw.it web: www.axelsw.it PROFIBUS DP – CAN/CANopen Gateway CANDPSX User Manual User Manual Rev. 2 of December 11, 2008...
- Page 2 CANDPSX user manual rev 2 Page 2 of 42 ____________________ _ Specification document nr. SP07012 Version Author Date Note Rev. 2 M. BIANCHI 11/12/2008 New firmware version Candpsx_101.sre. Rev. 1 M. BIANCHI 10/10/2007 First version...
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Page 3: Table Of Contents
CANDPSX user manual rev 2 Page 3 of 42 ____________________ _ CONTENTS 1 INTRODUCTION ......................... 6 1.1 PRODUCT OVERVIEW ........................6 1.2 Profibus ............................... 6 1.3 CAN ..............................6 1.4 RS232 ..............................7 2 QUICK GUIDE TO INSTALLATION ..................... 8 2.1 INTRODUCTION .......................... - Page 4 CANDPSX user manual rev 2 Page 4 of 42 ____________________ _ 7 SAVING AND VALIDATING A CONFIGURATION ..............30 7.1 INTRODUCTION ..........................30 7.2 SAVING THE SETTINGS........................30 7.3 CHECKING THE RESULT OF A CONFIGURATION................31 8 DATA REPRESENTATION in Profibus DP ................32 8.1 INTRODUCTION ..........................
- Page 5 CANDPSX user manual rev 2 Page 5 of 42 ____________________ _ Reference / 1: CiA DS301 V4.01 Figures Fig. .1: State diagram of the CANopen master ................14 Fig. .2: Principles of CAN message mapping................24 Fig. .3: How to code the information about a parameter being mapped ......... 28 Fig.
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Page 6: Introduction
____________________ _ INTRODUCTION PRODUCT OVERVIEW The CANDPSX module is a gateway serving as a coupler between a CAN bus system and a Profibus-DP network. It supports three operating modes for data exchange between the two networks: 1. Profibus-DP slave / CAN (see § 13). -
Page 7: Can
COB (Communication OBject). Below you find the characteristics of CAN communication on CANDPSX: CAN communication Baud rate programmable RS232 The following table shows the characteristics of RS232 communication on CANDPSX: RS232 communication Start bit Data bits Stop bits Parity... -
Page 8: Quick Guide To Installation
Set the parameters of the module with SoftTune (see § 35). Save the current settings (see § 30). Also save the settings to a file, if you wish. The GSD file of the CANDPSX is located in Targets directory, in \Program Files\Axel PC Tools\CANDPSX\Targets\Vx_x. -
Page 9: System Settings
SYSTEM SETTINGS INTRODUCTORY REMARKS All the functions of CANDPSX can be configured, therefore this module implements an internal database with a set of parameters for setting the operating characteristics. Any changes to configuration parameters are actually applied only when the module is switched on again or reset after the settings have been saved to non-volatile memory (see §... -
Page 10: Profibus Dp Communication
CANDPSX user manual rev 2 Page 10 of 42 ____________________ _ PROFIBUS DP COMMUNICATION It is the Profibus master which establishes directly the communication settings of the Profibus-DP network, thus the only specific settings needed by the module are the station address and packet consistency. -
Page 11: Profibus-Dp Watch-Dog Indication Disable
CANDPSX user manual rev 2 Page 11 of 42 ____________________ _ 3.4.4 Profibus-DP Watch-dog indication disable To disable the Profibus-DP watch-dog indication, in CANopen Master and CANopen Slave modality, set the parameter 2024h: Property Value Parameter 2024h Logic View menu... -
Page 12: Profibus-Dp Driver Errors
CANDPSX user manual rev 2 Page 12 of 42 ____________________ _ 3.4.7 Profibus-DP driver errors An active error of the Profibus-DP driver is signalled by the ERR-PB red led. To know the error code, read the parameter 2032h: Property Value... -
Page 13: Operating Modes
PROFIBUS DP / CANOPEN MASTER In this operating mode, CANDPSX serves as a gateway which, on the CAN side, can automatically perform some CANopen master functions of node supervision. The module can control up to 24 nodes on the basis of the programmed presences. Up to 24 CAN messages are available for real-time data exchange (asynchronous PDOs of type 254), which can be programmed as inbound or outbound messages. - Page 14 CANDPSX user manual rev 2 Page 14 of 42 ____________________ _ Fig. .1: State diagram of the CANopen master...
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Page 15: Auto Mode
CANDPSX user manual rev 2 Page 15 of 42 ____________________ _ It is possible to monitor the current status by reading the parameter 2092h: Property Value Parameter 2092h Logic View menu All parameters/System/CANopen Master Data type 8 bit unsigned int... -
Page 16: Configuring The Network
4.2.4 SDO Service The CANDPSX module enables a Profibus master to exchange parameters with the slave nodes connected via the SDO protocol. To activate this function, you will have to enable the SDO protocol and to map the SDO control structures (parameters 20A3h and 20A4h) and the data transportation... - Page 17 CANDPSX user manual rev 2 Page 17 of 42 ____________________ _ To enable the SDO service, set the parameter 20A0h: Property Value Parameter 20A0h Logic View menu All parameters/System/CANopen Master/SDO services Data type 8 bit unsigned int Measurement unit 0 = service disabled...
- Page 18 CANDPSX user manual rev 2 Page 18 of 42 ____________________ _ Format and elements of the result control structure mapped in the Profibus dual port (parameter 20A4h): Elements of the SDO result control structure request acknowledgement request result according to CANopen:...
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Page 19: The Node Guarding Service
CANDPSX user manual rev 2 Page 19 of 42 ____________________ _ 4.2.5 The Node guarding service The CANDPSX module can perform node guarding, complying with what stated in the CiA DS301 standard. To activate this service, set the parameter 20B0h: Property Value... -
Page 20: Handling Node Alarms
4.2.6 Handling node alarms The CANDPSX module handles the emergency messages sent by nodes and saves each node’s error code – defined according to the CANopen standard – to the parameters 20E0h - 20F7h, that can also be mapped in the Profibus dual port (see § 28). -
Page 21: Profibus Dp / Canopen Slave
Type-5 and type-6 CAN messages are active. To know how to program PDOs, see § 23. PROFIBUS DP / CANOPEN SLAVE In this operating mode, the CANDPSX module serves as a gateway, seen from the CAN side as a CANopen slave that can be controlled by a standard CANopen Master. -
Page 22: Programming Pdos
CANDPSX user manual rev 2 Page 22 of 42 ____________________ _ 4.3.2 Programming PDOs Up to 24 CAN messages, which can be programmed in transmission or reception, are available for real-time data exchange as defined in the standard (asynchronous PDOs of type 254). Data transmission is evaluated at each data exchange request from Profibus. -
Page 23: Data Exchange Between Profibus-Dp And Can
CANDPSX user manual rev 2 Page 23 of 42 ____________________ _ DATA EXCHANGE BETWEEN PROFIBUS-DP AND CAN INTRODUCTION Data exchange between Profibus and CAN is carried out by means of standard CAN messages with 11-bit identifier. The maximum length of messages is 8 bytes. For each byte making up the message it is possible to specify the corresponding source offset (if the message is outbound) or destination offset (if the message is inbound) in the Profibus dual port. -
Page 24: Mapping Data Of The Profibus Dual Port To Can Messages
CANDPSX user manual rev 2 Page 24 of 42 ____________________ _ Data type 32 bit unsigned int Measurement unit Value 000h to 7FFh Default value 000h Access Read/Write 5.2.3 Mapping data of the Profibus dual port to CAN messages The maximum length of user data in a CAN message is 8 bytes. Each byte can be assigned independently the offset of the associated byte in the Profibus dual port. -
Page 25: Can Massage Triggers
CANDPSX user manual rev 2 Page 25 of 42 ____________________ _ In order to assign the corresponding offset in the Profibus dual port to CAN message objects, set the parameters 2300h - 23FFh. The parameters are aggregated into groups of 8 elements (e.g. -
Page 26: Checking The Size Of A Can Message
CANDPSX user manual rev 2 Page 26 of 42 ____________________ _ To specify the size of the trigger objects of a CAN message, set the parameters 21C0h - 21DFh: Property Value Parameters 21C0h to 21DFh Logic View menu All parameters/Messages/Message n... -
Page 27: Example: Configuration Of An Outbound Can Message
CANDPSX user manual rev 2 Page 27 of 42 ____________________ _ 5.2.7 5.2.8 Example: configuration of an outbound CAN message Let us consider the configuration of message 2 with the following characteristics: • outbound asynchronous PDO of type 254 •... -
Page 28: Data Exchange Between Profibus-Dp And The System
DATA EXCHANGE BETWEEN PROFIBUS-DP AND THE SYSTEM INTRODUCTION CANDPSX makes it possible to map system data in the Profibus dual port in order to enable the Profibus Master to interact with the system. The objects are published in the internal database and thus they are seen as parameters. -
Page 29: List Of The System Parameters That Can Be Mapped To Profibus-Dp
CANDPSX user manual rev 2 Page 29 of 42 ____________________ _ Access Read/Write LIST OF THE SYSTEM PARAMETERS THAT CAN BE MAPPED TO PROFIBUS- The next table contains the list of the system parameters that can be exchanged with the Profibus- DP. -
Page 30: Saving And Validating A Configuration
____________________ _ SAVING AND VALIDATING A CONFIGURATION INTRODUCTION To apply any changes to configuration parameters of the CANDPSX module, you will have to give a save-parameters command followed by a power-on or a software reset command. SAVING THE SETTINGS To save the current configuration, set the parameter 2000h:... - Page 31 CANDPSX user manual rev 2 Page 31 of 42 ____________________ _ 3 = Profibus-DP configuration error 4 = invalid type of CAN message with the current operating mode 5 = invalid length of CAN message 6 = invalid length of trigger message...
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Page 32: Data Representation In Profibus Dp
Master and the module is not ready to exchange data. The CANDPSX adjust at word element the number of data in Profibus-DP. CANDPSX can accept configuration telegrams consisting of up to 8 generic-format octets with the following characteristics: Characteristics of the configuration telegram... -
Page 33: Checking The Octets Of Configuration Telegram
CANDPSX user manual rev 2 Page 33 of 42 ____________________ _ Fig. .5: Structure of an octet of the configuration telegram. Elements of an octet of the configuration telegram 0000 = 1 byte / word Data length 1111 = 16 bytes / words... -
Page 34: System Alarms
Page 34 of 42 ____________________ _ SYSTEM ALARMS INTRODUCTION CANDPSX system alarms are coded bitwise and are handled by the operating modes (see § 13). TESTING SYSTEM ALARMS To check which alarms are active, read the parameter 2010h: Property Value... -
Page 35: Pc Tools
The setup program installs the PC tools for configuring the module (Logic View) and upgrading the firmware version (CANDPSX Firmware Upgrade). Both software tools use the COM port. SoftTune supports the Modbus protocol, whereas CANDPSX Firmware Upgrade implements a dedicated protocol. -
Page 36: Program Layout
CANDPSX user manual rev 2 Page 36 of 42 ____________________ _ 10.2.2 Program layout The configuration tool is composed of the following main elements (see § 35): • The toolbar with the functions for exchanging parameters • The menu selection window •... -
Page 37: Firmware Upgrade
COM port and press OK. Synchronize CANDPSX by pushing the button Syncronize and follow the instructions in the synchronization window. When the synchronization process is completed, the Status box will display the module identification data. -
Page 38: Hardware Data
CANDPSX user manual rev 2 Page 38 of 42 ____________________ _ HARDWARE DATA 11.1 GENERAL DESCRIPTION The module consists essentially of the following hardware components: • Electric isolation on the Profibus-DP interface • Profibus ASIC VPC 3+ C • Infineon XC166 family microchip with integrated CAN controller •... -
Page 39: Profibus Connector Dp J3
CANDPSX user manual rev 2 Page 39 of 42 ____________________ _ 0 V supply Tab. .3: Voltage supply connector 11.4.2 Profibus connector DP J3 9-poles socket (see § 38) Pin No. Name Description Shield Non-inverting input/output signal from Profibus DGND – data reference potential... -
Page 40: Leds
CANDPSX user manual rev 2 Page 40 of 42 ____________________ _ open Reserved, do not close open Modbus (open)/Jbus (closed) selection open Reserved for future developments open Reserved for future developments Tab. .7: Jumpers 11.6 LEDS The module mounts 9 LEDs for immediate dignostics (see § 38) -
Page 41: Internal Database
INTERNAL DATABASE 12.1 GENERAL DESCRIPTION The CANDPSX module enables the user to configure all its functions and therefore it integrates an internal database to store the settings. The parameters database compiles with the CANopen CiA Draft Standard 301 specification of object dictionary implementation. The parameters database is... -
Page 42: Version History
CANDPSX user manual rev 2 Page 42 of 42 ____________________ _ VERSION HISTORY Firmware version history Candpsx_101.sre Candpsx_100.sre First version...
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