ADFweb HD67134 User guide

Industrial Electronic Devices

User Manual

CANopen to

DeviceNET

User Manual

Revision 2.001
English

Gateway / Bridge
CANopen to DeviceNET

(Order Code: HD67134)

for Website information:

www.adfweb.com?Product=HD67134

for Price information:

www.adfweb.com?Price=HD67134

Benefits and Main Features:

Very easy to configure
Low cost
Rail mountable

Document code: MN67134_ENG Revision 2.001 Page 1 of 15

For others Gateways / Bridges:
CANopen to Modbus

See also the following 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)

CANopen to CANopen

See also the following link:

www.adfweb.com?Product=HD67121

Do you have an your customer protocol?

See the following link:

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

ADFweb.com Srl – IT31010 – Mareno – Treviso INFO: www.adfweb.com Phone [phone]

Wide supply input range
Galvanic isolation
Industrial temperature range:

-30°C / 70°C (-22°F / 158°F)

User Manual

CANopen to

DeviceNET

Document code: MN67134_ENG Revision 2.001 Page 2 of 15

Industrial Electronic Devices

INDEX:

Page
INDEX 2
UPDATE DOCUMENTATION 2
REVISION LIST 2
WARNING 2
TRADEMARKS 2
CHARACTERISTICS 3
CONNECTION SCHEME 3
INTRODUCTION 5
USE OF COMPOSITORC2DNET.EXE SOFTWARE 5
NEW PROJECT / OPEN PROJECT 6
SET COMMUNICATIONS 7
CONFIGURATION OF THE SDO 8
CONFIGURATION OF THE PDO 10
EDS FILE 11
UPDATE DEVICE 12
CHARACTERISTICS OF THE CABLES 13
MECHANICAL DIMENSIONS 14
ORDER CODE 14
ACCESSORIES 14
WARRANTIES AND TECHNICAL SUPPORT 15
RETURN POLICY 15
PRODUCTS AND RELATED DOCUMENTS 15

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 update.

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

1.001 22/06/2007 Av All Revision

1.002 26/06/2007 Av All Revision

2.000 13/12/2007 Av All New document format

2.001 17/10/2008 Fl All Change Figure 2

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.

ADFweb.com Srl – IT31010 – Mareno – Treviso INFO: www.adfweb.com Phone [phone]

User Manual

CANopen to

DeviceNET

Document code: MN67134_ENG Revision 2.001 Page 3 of 15

Industrial Electronic Devices

CHARACTERISTICS:

The CANopen to DeviceNET Gateway is a mountable electronic device on rail DIN with an autonomous energy supply that allows the
following (through configuration):

 The two-directional passage of information between a CANopen BUS and a DeviceNET BUS.
 Electrical isolation between two BUSes.
 The reading and/or writing of SDO from the DeviceNET.
 The reading and/or writing of PDO from the DeviceNET.
 Temperature range -30°C to 70°C

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

The Gateway CANopen to DeviceNET is configured up to a maximum of 32 bytes in reading and 32 bytes in writing.

CONNECTION SCHEME:

Figure 1: Connection scheme of HD67001 between a CANopen and DeviceNET

ADFweb.com Srl – IT31010 – Mareno – Treviso INFO: www.adfweb.com Phone [phone]

Industrial Electronic Devices

User Manual

CANopen to

DeviceNET

Connector1:
Power Supply

V- = Ground
V+ = Positive wire

12/18 VAC – 4 VA
12/24 VDC – 4 Watt

Jumper1:
Side “B”
Termination CAN Bus

= Open = 120 ohm

V – V+

Port RS232 (D-SUB9-Ma le)

PIN2 = TX
PIN3 = RX
PIN5 = GND

Used for:
A) Programmation Port
B) Modbus on RS232

To connect the device to the COM
port of a PC in order to set it.
You have to use the programming
cable AC34107.

Or a cable made as showed here:

Connector2:
CAN Bus Side “A”

H = High wire
S = Shield
L = Low wire

H S L

Led3:
Green
CAN
comunication

V- L SH H V+

Connector3:
DeviceNET

V+=24Vdc
H = High wire
S = Shield
L = Low wire
V-=0Vdc

Rail DIN
Clamp

12 Vac

Or

24 dc

-- + Hi Grd Lo

Connector1:
Power Supply

V- = Ground
V+ = Positive wire

12/18 VAC – 4 VA
12/24 VDC – 4 Watt

Document code: MN67134_ENG Revision 2.001 Page 4 of 15

Jumper1:
Side “B”
Termination CAN Bus

= Open = 120 ohm

V – V+

V- L SH H V+

Connector2:
CAN Bus Side “A”

H = High wire
S = Shield
L = Low wire

H S L

V- L SH H V+

Connector3:
DeviceNET

V+=24Vdc
H = High wire
S = Shield
L = Low wire
V-=0Vdc

ADFweb.com Srl – IT31010 – Mareno – Treviso INFO: www.adfweb.com Phone [phone]

CABLE
Side A

FEM

CABLE
Side B

FEM

Led2:
Yellow
RUN

Led1:
Green
Not use

Figure 2: Connection scheme for HD67134

Jumper3:
Boot mode

= Yes Jumper
Boot Mode

= No Jumper
Normal Mode

User Manual

CANopen to

DeviceNET

Document code: MN67134_ENG Revision 2.001 Page 5 of 15

Figure 3: Main window for SW67134

Industrial Electronic Devices

INTRODUCTION

The device Configurable Gateway CANopen to DeviceNET, allows a CANopen network to communicate with a DeviceNET network that we
simply call CANopen and DeviceNET in this manual.

In order to:

- Define the BUS setting.

- Define data that is accessible from the DeviceNET that goes through the SDO of CANopen.

- Define data that is accessible from the DeviceNET that goes through the PDO of CANopen.

- “download” the newly-configured device.

- Save, duplicate, modify, and export configurations .

USE OF COMPOSITOR SW67134:

When launching the SW67134 the following window appears:
(The SW67134 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:

ADFweb.com Srl – IT31010 – Mareno – Treviso INFO: www.adfweb.com Phone [phone]

User Manual

CANopen to

DeviceNET

Document code: MN67134_ENG Revision 2.001 Page 6 of 15

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 a Programmable CANopen to Modbus Gateway in order to configure another 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 the new folder 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 section of the software:

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

ADFweb.com Srl – IT31010 – Mareno – Treviso INFO: www.adfweb.com Phone [phone]

User Manual

CANopen to

DeviceNET

Document code: MN67134_ENG Revision 2.001 Page 7 of 15

Figure 4: “Set Communication” window

Industrial Electronic Devices

SET COMMUNICATION:

This section defines the fundamental communication parameters of two Buses CANopen
and DeviceNET

By pressing the “Set Communication” button from the main window for SW67134 (Fig.

3) the window “Set communication” appears (Fig. 4):

 In the ID Dev field of the CANopen section, you define the Gateway address in the

CANopen BUS.

 In the Baud Rate field of the CANopen section, you define the BUS CANopen Baud

Rate.

 In the Set Operational State at Start Up field of the CANopen section, you define

the state of Operational at start-up.

 In the Network Start at Stat Up field of the CANopen section, you define a

command of start (operational) to all devices in the CANopen network.

 In the ID Dev field of the DeviceNET section, you define the Gateway address in

the DeviceNET BUS.

 In the Baud Rate field of the DeviceNET, you define the BUS CANopen Baud Rate.

ADFweb.com Srl – IT31010 – Mareno – Treviso INFO: www.adfweb.com Phone [phone]

User Manual

CANopen to

DeviceNET

Document code: MN67134_ENG Revision 2.001 Page 8 of 15

Figure 5: “SDO Setting” window

Industrial Electronic Devices

CONFIGURATION OF THE SDO

Section “SET SDO Access”

The following objects can be define within the section as SET SDO
Access:

 the SDO of the CANopen are accessible from the array of

Byte of DeniceNET.

By pressing the “Set SDO Access” button from the main window for
SW67134 (Fig. 3) the window “Set SDO Access” appears (Fig. 5):

The data of the columns have the following meanings:

 In the field “ID Dev” insert the address of the CANopen device which requires the SDO
 In the field “Index” insert the index of the SDO (coordinated with that SDO)
 In the field “Subindex” insert the subindex of SDO (coordinated with the SDO)
 In the field “nbyte” insert the length of SDO
 In the field “Mnemonic” insert the command description.

ADFweb.com Srl – IT31010 – Mareno – Treviso INFO: www.adfweb.com Phone [phone]

User Manual

CANopen to

DeviceNET

Document code: MN67134_ENG Revision 2.001 Page 9 of 15

Figure 6: Chart of SDO request from Devicenet side.

Industrial Electronic Devices

Example 1:
If you want, from DeviceNET network, to read data in the form of SDO in CANopen network on the device at:

 Address 22 ,
 Index 0x3000 ,
 Subindex 2 ,
 By dimensions 2 byte.

Using the first two data bytes on the DeviceNET.

You need to define the following SDO and you need to write the following information:

In the above scenario (Fig 5):

From the side of the DeviceNET
The Gateway is a Slave and in order to
read/write the bytes, you can use the
following I/O messages:

 Strobe Bit,
 Polling,
 Cyclic,
 COS.

L’SDO:

 two byte dimension (note: nByte=2)
 belonging to a CANopen device ID 22

(note: ID=22)

 of the following coordinates: Index

3000 and Subindex 2 .

ADFweb.com Srl – IT31010 – Mareno – Treviso INFO: www.adfweb.com Phone [phone]

User Manual

CANopen to

DeviceNET

Document code: MN67134_ENG Revision 2.001 Page 10 of 15

Figure 6: “Set PD

O Access” window

Industrial Electronic Devices

CONFIGURATION OF THE PDO

The following objects can be define within the
section as SET PDO Access:

 the PDO of the CANopen are accessible

from the array of Byte of DeniceNET.

 The byte of array can be sent to

CanOpen network through PDO.

By pressing the “Set PDO Access” button from
the main window for SW67134 (Fig. 3) the
window “Set PDO Access” appears (Fig. 6):

The data of the columns have the following meanings:

 In the field “Cob-ID” insert the complete address of the CANopen PDO that have the datas
 In the field “Dimension” insert the length of PDO
 In the field “Mnemonic” insert the command description.

ADFweb.com Srl – IT31010 – Mareno – Treviso INFO: www.adfweb.com Phone [phone]

User Manual

CANopen to

DeviceNET

Document code: MN67134_ENG Revision 2.001 Page 11 of 15

Industrial Electronic Devices

Example 1:
If you want, from DeviceNET network, to read data in the form of PDO in CANopen network that have:

 Cob-Id 0x201 ,
 By dimensions 2 byte.

Using the first two data bytes free on the DeviceNET.

You need to define the following PDO and you need to write the following information:

In the above scenario (Fig 6):

From the side of the DeviceNET
The Gateway is a Slave and in order to read/write the bytes, you can use the following I/O messages:

 Strobe Bit,
 Polling,
 Cyclic,
 COS.

Pdo:

 By dimension 2 (note: Dimension=2)
 Cob-ID 0x201 (note: Cob-ID=$201)

EDS FILE

By clicking on this button the user can create a valid EDS file for CANopen side.

ADFweb.com Srl – IT31010 – Mareno – Treviso INFO: www.adfweb.com Phone [phone]

Industrial Electronic Devices

User Manual

CANopen to

DeviceNET

Figure 7: Update device procedure.

UPDATE DEVICE

Section “UP Date Device”:
Insert the boot jumper, see figure 2.
In order to load the parameters after they are set, set the com
port you used for update, you must click the button “execute
update firmware” on the principal window.

Document code: MN67134_ENG Revision 2.001 Page 12 of 15

ADFweb.com Srl – IT31010 – Mareno – Treviso INFO: www.adfweb.com Phone [phone]

User Manual

CANopen to

DeviceNET

Document code: MN67134_ENG Revision 2.001 Page 13 of 15

Industrial Electronic Devices

CHARACTERISTICS OF THE CABLES:

The connection from RS232 socket to a serial port (example one from a personal computer), must be made with a NULL MODEM cable (a
serial cable where the pins 2 and 3 are crossed).
It is recommended that the RS232C Cable not exceed 15 meters.

Figure 8: Null modem cabling

CAN BUS CABLE CHARACTERISTICS:

DC parameter: Resistenza 70 Ohm/m

AC parameters: Impedance 120 Ohm/m

Delay 5 ns/m

Length: Baud Rate [bps] MAX Length [m]

10 K 5000
20 K 2500
50 K 1000
100 K 650
125 K 500
250 K 250
500 K 100
800 K 50
1000 K 25

ADFweb.com Srl – IT31010 – Mareno – Treviso INFO: www.adfweb.com Phone [phone]

Industrial Electronic Devices

User Manual

CANopen to

DeviceNET

MECHANICAL DIMENSIONS:

Document code: MN67134_ENG Revision 2.001 Page 14 of 15

Figure 9: Mechanical dimensions scheme

ORDER CODE:

Order Code: HD67134 - Gateway – CANopen to DeviceNET

ACCESSORIES:

Order Code: AC34107 - Null Modem Cable Fem/Fem DSub 9 Pin 1,5 m

Order Code: AC34114 - Null Modem Cable Fem/Fem DSub 9 Pin 5 m

ADFweb.com Srl – IT31010 – Mareno – Treviso INFO: www.adfweb.com Phone [phone]

User Manual

CANopen to

DeviceNET

Document code: MN67134_ENG Revision 2.001 Page 15 of 15

Industrial Electronic Devices

WARRANTIES AND TECHNICAL SUPPORT:

For fast and easy technical support for your ADFweb.com srl products, consult our internet support at www.adfweb.com.
Otherwise contact us at the address [e-mail]

RETURN POLICY:

If while using your product you have any problem and you wish to exchange or repair it, please do the following:

1) Obtain a Product Return Number (PRN) from our internet support at www.adfweb.com. Together with the request, you need to provide detailed information

about the problem.

2) Send the product to the address provided with the PRN, having prepaid the shipping costs (shipment costs billed to us will not be accepted).

3) If the product is within the warranty of twelve months, it will be repaired or exchanged and returned within three weeks. If the product is no longer under

warranty, you will receive a repair estimate.

PRODUCTS AND RELATED DOCUMENTS:

Part Description URL

HD67117 CAN Repeater/Isolator www.adfweb.com?Product=HD67117

HD67116 CanAnalyzer www.adfweb.com?Product=HD67116

HD67121 Translate CANopen Gateway www.adfweb.com?Product=HD67121

ADFweb.com Srl – IT31010 – Mareno – Treviso INFO: www.adfweb.com Phone [phone]