ADFweb HD67121 User guide

Industrial Electronic Devices

User Manual

CAN

open

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Products

Benefit

User Manual

Revision 2.000
English

Gateway / Bridge
CANopen to CANopen

(Order Code: HD67121)

for Website information:

www.adfweb.com?Product=HD67121

for Price information:

www.adfweb.com?Price=HD67121

Benefits and Main Features:

Similiar

Very easy to configure
Low cost
Rail mountable
Wide supply input range
Galvanic isolation
Industrial temperature range:

-30°C / 70°C (-22°F / 158°F)

Document code: MN67121_ENG Revision 2.000 Page 1 of 24

Logical
Scheme

For other Gateways / Bridges:

Canopen to Modbus / DeviceNET

See also the follwing links:

www.adfweb.com?product=HD67001 (Modbus RTU Master)
www.adfweb.com?product=HD67002 (Modbus RTU Slave)
www.adfweb.com?Product=HD67004 (Modbus TCP Master)
www.adfweb.com?Product=HD67005 (Modbus TCP Slave)
www.adfweb.com?product=HD67134 (DeviceNET)

Do you have an your customer protocol?

See the following links:

www.adfweb.com?Product=HD67003

Do you need to choose a device? do you want help?

Ask it to the following link:

www.adfweb.com?Cmd=helpme

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Document code: MN67121_ENG Revision 2.000 Page 2 of 24

Industrial Electronic Devices

INDEX:

Page
INDEX 2
UPDATED DOCUMENTATION 2
REVISION LIST 2
WARNING 2
TRADEMARKS 2
CHARACTERISTICS 3
CONNECTION SCHEME 4
INTRODUCTION 6
USE OF COMPOSITOR SW67121 6
NEW PROJECT / OPEN PROJECT 7
SET COMMUNICATION 8
SET SDO ACCESS 10
EMCY CONFIGURATION 12
CREATION OF AN EMCY 13
TRANSLATION OF AN EMCY FROM CAN 0 TO CAN 1 14
EXAMPLE OF THE TO SETTING A FILTER FOR THE EMCY 15
SET TRANSLATE PDO 19
UPDATE DEVICE 21
CHARACTERISTICS OF THE CABLES 22
MECHANICAL DIMENSIONS 23
ORDER CODE 23
ACCESSORIES 23
WARRANTIES AND TECHNICAL SUPPORT 24
RETURN POLICY 24
PRODUCTS AND RELATED DOCUMENTS 24

UPDATED DOCUMENTATION:

Dear customer, we thank you for your attention and we remind you that you
need to check that the following document is:

 Updated
 Related to the product you own

To obtain the most recently updated document, note the “document code” that
appears at the top right-hand corner of each page of this document.

With this “Document Code” go to web page www.adfweb.com/download/ and
search for the corresponding code on the page. Click on the proper “Document
Code” and download the updates.

To obtain the updated documentation for the product that you own, note the
“Document Code” (Abbreviated written "Doc. Code" on the label on the product)
and download the updated from our web site www.adfweb.com/download/

REVISION LIST:

Revision

1.000 03/04/2004 Ddt All First release version

1.010 04/10/04 Mt

1.011 25/07/2005 Dp All

1.012 17/02/2006 Dp All

1.015 19/06/2006 Ddt All documentation code changed

1.016 22/06/2007 Av All Revision

1.017 26/06/2007 Av All Revision

2.000 10/07/2007 Av All New document format

Date Author Chapter

Description

WARNING:

ADFweb.com reserves the right to change information in this manual about our
product without warning.
ADFweb.com is not responsible for any error this manual may contain.

TRADEMARKS:

All trademarks mentioned in this document belong to their respective owners.

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Document code: MN67121_ENG Revision 2.000 Page 3 of 24

Industrial Electronic Devices

CHARACTERISTICS:

The CANopen to CANopen Gateway the following:

 two-directional translation of information at high levels between two distinct CANopen Buses .
 Electrical isolation between two Buses .
 The association between objects of device modules located in different buses, readable via SDO from the Gateway on the other side .
 The generation of EMCY on one side of the Gateway when there is an EMCY on the other side (originator) .
 The generation of PDO on one side of the Gateway when there is an PDO on the other side (originator) .
 Temperature range -30°C to 70°C

The CANopen to CANopen Gateway must be used for interfacing two CANopen lines. Otherwise, in order to extend the length and electrical
isolation of more branches than CANopen line you must use CAN Repeater device (note: view PRODUCTS AND RELATED DOCUMENTS ).

The Gateway cannot perform as Master in the network management functions. For example, it cannot begin the “start” of the network .
“Start” meaning the type of package made for carrying modules from the preoperational to the operational state.

If the two CANopen networks which connect the gateway do not have a device for a single network that acts as a Master, the Gateway cannot
transmit a PDO from one network to another.
This is because a CANopen network cannot use a PDO in the “preoperational” state.

To configure the Gateway, use the available software that runs with Windows, called SW67121. It is downloadable on the site www.adfweb.com
and its operation is described in this document.

The Configurable CANopen Gateway can be configured up to a maximum 1600 SDO (SDO CAN 0 + SDO CAN 1) .

While the maximum number of the following:

 EMCY
 PDO

Depend on the available memory of the Gateway and the number defined SDO.

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CONNECTION SCHEME:

Figure 1: Connection scheme of HD67121 between CANopen and CANopen

Document code: MN67121_ENG Revision 2.000 Page 4 of 24

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Document code: MN67121_ENG Revision 2.000 Page 5 of 24

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Figure 2: Connection scheme for HD67121

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Document code: MN67121_ENG Revision 2.000 Page 6 of 24

Industrial Electronic Devices

INTRODUCTION:

The Gateway, allows a CANopen line to communicate with another different CANopen line that we simply call CAN 0 and CAN 1 in this manual.

The two networks are symmetrical at a logical level. What CAN 0 can do to CAN 1, so can CAN 1 do to CAN 0.
CAN A and CAN B are different only on the level of hardware. One of the two CANopen has the power supply in common with the logic of the
device. The other CANopen is isolated based on the logic of the device.

You need Compositor SW67121 software on your PC in order to perform the following:

 Define that the SDO of the CAN 0 are accessible from CAN 0
 Define that the SDO of the CAN 1 are accessible from CAN 0.
 Define which and how the EMCY of the CAN 0 are accessible from CAN 1.
 Define which and how the EMCY of the CAN 1 are accessible from CAN 0.
 Define which PDO of CAN 0 are accessible from CAN 1.
 Define which PDO of CAN 1 are accessible from CAN 0.
 Update the new configurations of the device.
 Save, duplicate, modify, export the configurations.

USE OF COMPOSITOR SW67121:

When launching the SW67121 the right window appears:
(The SW67121 is downloadable on the site

http://www.adfweb.com/home/download/download.asp

This manual is referenced to the last version of the software present on our
web site)

The following explains the function of the buttons:

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Figure 3: Main window for SW67121

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Document code: MN67121_ENG Revision 2.000 Page 7 of 24

Industrial Electronic Devices

NEW PROJECT / OPEN PROJECT:

The “New Project” button creates the folder which contains the entire device configuration.
A device configuration can also be imported and exported:

 To clone the configurations of the Gateway in order to configure another Gateway device in the same manner, it is necessary to maintain

the folder and all its contents.

 To clone a project in order to obtain a different version of the project, it is sufficient to duplicate the project folder with another name

and open it with the button “Open Project”.

When a new project is created or an existent project is open, it will be possible to access the various configuration sections of the software:

 “Set Communication”
 “Set SDO Access”
 “Set Translate EMCY”
 “Set Translate PDO”

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Document code: MN67121_ENG Revision 2.000 Page 8 of 24

Industrial Electronic Devices

SET COMMUNICATION:

This section defines the fundamental communication parameters of two Buses.

By pressing the “Set Communication” button from the Main window for SW67121 (Fig. 3)
the window “Set Communication” appears (Fig. 4):

 In the field “DevID”, the CAN address of CAN0 is defined.
 In the fields “Baud Rate”, the velocity of the two Buses are defined.
 The parameter SDO timeout (1/10) is expressed in millisecond decimals so the

example in the window is set at 100 ms.

 “SDO timeout” is the maximum waiting time when the device of CAN0 asks at

Gateway for a SDO that comes from a device of CAN1 and CAN1’s device does not
respond (vice-versa if you have changed CAN1 with CAN0).

Figure 4: “Set Communication” window

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