G
CANopen network adapter
GN-9261
User manual
-series GN-9261 CANopen Rev. 1.01.docx
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GN-9261 User Manual
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REV.
PAGES
REMARKS
DATE
Editor
1.00
New Document
2018/7/30
1.01
First release
2019/01/29
NJL
DOCUMENT CHANGE SUMMARY
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Contents
1. Important Notes ............................................................................................................................................................. 5
1.1.1 Symbols.............................................................................................................................................................. 6
1.1.2 Safety Notes .................................................................................................................................................... 6
1.1.3 Certification ..................................................................................................................................................... 6
3.1 GN-9261 Specification ........................................................................................................................................ 8
3.2 GN-9261 Wiring Diagram ..................................................................................................................................... 9
3.3 GN-9261 LED Indicator ....................................................................................................................................... 10
3.3.1 LED Indicator................................................................................................................................................. 10
3.3.2 MOD(Module Status LED) ...................................................................................................................... 10
3.3.3 RUN(Module Status LED) ....................................................................................................................... 10
3.3.4 ERROR(CANopen Error LED)................................................................................................................. 10
3.3.6 Field Power, System Power LED(Field Power, System Power Status LED) ................... 11
3.3.7 Indicator states and flash rates .......................................................................................................... 11
3.4. GN-9261 Electrical Interface ............................................................................................................................ 12
3.4.1 5pin Open Connector ............................................................................................................................... 12
3.4.2 Dip Switch ...................................................................................................................................................... 12
3.4.4 RS232 Port for MODBUS/RTU, Touch Panel or I/O Guide .................................................. 13
4. Dimension ........................................................................................................................................................................ 14
4.1 GN-9261 .................................................................................................................................................................... 14
5. Communication .............................................................................................................................................................. 15
5.1 Device Model
......................................................................................................................................................... 15
5.1.1 Structure of the device model ............................................................................................................ 15
5.2 PDO (Process Data) ........................................................................................................................................... 15
5.2.1 Introduction ................................................................................................................................................... 15
5.2.2 PDO Mapping ............................................................................................................................................... 16
5.2.3 PDO Identifier .............................................................................................................................................. 16
5.2.4 PDO Communication Type .................................................................................................................... 17
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5.3 SDO (Service Data) ............................................................................................................................................. 19
5.3.1 Introduction ................................................................................................................................................... 19
5.4 Emergency (Error Message) .......................................................................................................................... 20
5.5 NMT (Network Management) ......................................................................................................................... 20
5.5.1 Network Start-up ........................................................................................................................................ 20
5.5.2 Boot-up Message ....................................................................................................................................... 21
5.5.3 Node Guarding ............................................................................................................................................ 21
5.5.4 Life Guarding ................................................................................................................................................ 23
6. Object Directory ............................................................................................................................................................. 26
6.1 Communication Profile Area ......................................................................................................................... 26
6.2. Manufacturer Specific Profile Area ........................................................................................................... 33
6.3 Standard Device Profile Area – DS401 ..................................................................................................... 35
7. MODBUS Interface ....................................................................................................................................................... 39
7.1 MODBUS Interface Register/Bit Map......................................................................................................... 39
7.2 Supported MODBUS Function Codes ...................................................................................................... 39
7.2.1 8(0x08)Diagnostics .................................................................................................................................... 40
7.2.2 Error Response ............................................................................................................................................. 41
7.3 MODBUS Special Register Map ..................................................................................................... 42
7.3.1 Adapter Identification Special Register (0x1000, 4096) ....................................................... 42
7.3.3 Expansion Slot Information Special Register (0x2000, 8192)....................................... 43
APPENDIX A .................................................................................................................................................................. 48
A.1 Pr oduct List ........................................................................................................................................................... 48
A.2 Glossary .................................................................................................................................................................. 50
APPENDIX B .................................................................................................................................................................. 51
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Warning!
Caution!
1. Important Notes
Solid state equipment has operational characteristics differing from those of electromechanical equipment.
Safety Guidelines for the Application, Installation and Maintenance of Solid State Controls describes some
important differences between solid state equipment and hard-wired electromechanical devices.
Because of this difference, and also becaus e of the wide variety of uses for solid state equipment, all
persons responsible for applying this equipment must satisfy themselves that each intended application of
this equipment is acceptable.
In no event will CREVIS be responsible or liable for indirect or consequential damages resulting from the use
or application of this equipment.
The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many
variables and requirements associated with any particular installation, CREVIS cannot assume responsibility
or liability for actual use based on the examples and diagrams.
If you don’t follow the directions, it could cause a personal injury, damage to the equipment or
explosion
Do not assemble the products and wire with power applied to the system. Else it may cause an electric
arc, which can result into unexpected and potentially dangerous action by field devices. Arching is
explosion risk in hazardous locations. Be sure that the area is non-hazardous or remove system power
appropriately before assembling or wiring the modules.
Do not touch any terminal blocks or IO modules when system is running. Else it may cause the unit to
an electric shock or malfunction.
Keep away from the strange metallic materials not related to the unit and wiring works should be
controlled by the electric expert engineer. Else it may cause the unit to a fire, electric shock or
malfunction.
If you disobey the instructions, there may be possibility of personal injury, damage to equipment
or explosion. Please follow below Instructions.
Check the rated voltage and terminal array before wiring. Avoid the circumstances over 55℃ of
temperature. Avoid placing it directly in the sunlight.
Avoid the place under circumstances over 85% of humidity.
Do not place Modules near by the inflammable material. Else it may cause a fire.
Do not permit any vibration approaching it directly.
Go through module specification carefully, ensure inputs, output connections are made with the
specifications. Use standard cables for wiring.
Use Product under pollution degree 2 environment.
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1.1. Safety Instruction
1.1.1 Symbols
Identifies information about practices or circumstances that can cause an explosion
in a hazardous environment, which may lead to personal injury
or death property damage, or economic loss
Identifies information that is critical for successful application and understanding of
the product
Identifies information about practices or circumstances that can lead to personal
injury, property damage, or economic loss.
Attentions help you to identity a hazard, avoid a hazard, and recognize
the consequences
1.1.2 Safety Notes
The modules are equipped with electronic components that may be destroyed by
electrostatic discharge. When handling the modules, ensure that the environment
(persons, workplace and packing) is well grounded. Avoid touching conductive
components, G-BUS Pin.
1.1.3 Certification
c-UL-us UL Listed Industrial Control Equipment, certified for U.S. and Canada
See UL File E235505
FCC, Reach, RoHS- II, China RoHS
CE Certificate
EN 61000-6-2; Industrial Immunity
EN 61000-6-4; Industrial Emissions
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Environment Specification
Operating T emperature
-40℃~70℃
UL Temperature
-20℃~60℃
Storage T e mperature
-40℃~85℃
Relative Humidity
5% ~ 90% non-condensing
Operating Altitude
2000m
Mounting
DIN rail
General Specification
Shock Operating
IEC 60068-2-6
Vibration resistance
Based on IEC 60068-2-6
Test time : 1hrs for each test
EMC resistance burst/ESD
EN 61000-6-2 : 2005
EN 61000-6-4/ALL : 2011
Installation Pos. / Protect. Class
Vertical and horizontal installation is available.
Product Certifications
CE, UL
2. Environment Specification
Sine Vibration
5 ~ 25Hz : 1.6mm
25 ~ 300Hz : 4g
Sweep Rate : 1 Oct/min, 20 cycles
Random Vibration
10 ~ 40Hz : 0.0125g²/Hz
40 ~ 100Hz : 0.0125 → 0.002g²/Hz
100 ~ 500Hz : 0.002g²/Hz
500 ~ 2000Hz : 0.002 → 1.3 x 10-⁴g²/Hz
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Interface Specifications, GN-9261
Adapter Type
Slave node (CANopen, CiA 301)
Max. PDO Number
32 TPDO / 32 RPDO
Max. SDO Number
1 Standard SDOs
PDO Mapping Method
Auto Mapping : CiA 301 (default), Sequential
Max. Expansion Module
63 slots
Max. Input size
252 bytes
Max. Output size
252 bytes
Nodes
1~99
Baudrate
10, 20, 50, 100, 125, 250, 500, 800, 1000 Kbps(default 1000Kbps)
Interface Connector
5pin Open Connector
Other Serial Port
RS232 for MODBUS/RTU(Touch Panel, I/O Guide ...)
Serial Configuration (RS232)
Node : 1 (Fixed)
Stop bit : 1 (Fixed)
Indicator
6 LEDs
1 Green, Field Power Status
Module Location
Starter module left side of G-Series system
Field Power Detection
About 14Vdc
General Specification
System Power
Supply voltage : 24Vdc nominal
Reverse polarity protection
Power dissipation
70mA typical @ 24Vdc
Current for I/O module
1.5A @ 5Vdc
Isolation
System power to internal logic : Non-isolation
System power I/O driver : Isolation
Field Power
Supply voltage : 24Vdc typical(Max. 32Vdc)
Refer to IO Module`s Specification.
Max. Current Field Power Contact
DC 10A Max
Weight
162g
Module Size
54mm x 99mm x 70mm
Environment Condition
Refer to ‘2. Environment Specification’
3. General Description
3.1 GN-9261 Specification
Manual Mapping (Reference to Index : 0x20F0, Sub Index : 6)
Baud Rate : 115200 (Fixed)
Data bit : 8 (Fixed)
Parity bit : No parity (Fixed)
1 Green/Red, Module Status (MOD)
1 Green, Network Status(RUN)
1 Red, Error Status (ERROR)
1 Green/Red, Expansion I/O Module Status (IOS)
1 Green, System Power Status
Supply voltage range : 15~32Vdc
Protection : Output current limit (Min. 1.5A)
* Field Power Range is different depending on IO Module series.
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3.2 GN-9261 Wiring Diagram
Pin No. Signal Description Signal Description Pin No.
0 System Power, 24V System Power, Ground 1
2 System Power, 24V System Power, Ground 3
4 F.G F.G 5
6 Field Power, Ground Field Power, Ground 7
8 Field Power, 24V Field Power, 24V 9
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Status
LED
To indicate
At least one of the error counters of the CAN controller has
reached or exceeded the warning limit.
A guard event (NMT-Slave or NMT-Master) or a Heartbeat event
has occurred.
The SYNC message has not been received within then
0x1006)
3.3 GN-9261 LED Indicator
3.3.1 LED Indicator
LED No. LED Function / Description LED Color
MOD Module Status Green/Red
RUN CANopen Status Green/Red
ERROR CANopen Error Status Red
I.O Extension Module Status Green/Red
Field Power Field Power Enable Green
3.3.2 MOD(Module Status LED)
Not Powered OFF Not power is supplied to the unit.
Normal Operational Green The unit is operating in normal condition.
Unrecoverable Fault Red
The device has an unrecoverable fault.
- Memory error or CPU watchdog error.
3.3.3 RUN(Module Status LED)
Status LED To indicate
Not Powered OFF
Stopped Single flash Green Module is stopped
Pre-Operational Blinking Green Module is in PRE-OPERATIONAL
Operational Green Module is in OPENRATIONAL
Module is either not getting power, or it is NOT_ACTIVE status.
Module is initializing.
3.3.4 ERROR(CANopen Error LED)
Status LED To indicate
Not Powered OFF Module is not getting powered or No error.
Warning limit reached Single flash
Error control Event Double flash
Sync. Error Triple flash
Bus Off ON The CAN controller is bus off.
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configured communication cycle period time out (see index
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Red
Status
LED
To indicate
Equal ON and OFF times with a frequency of approximately 10 Hz: ON for
approximately 50ms and OFF for approximately 50ms.
3.3.5 IOS LED(Extension Module Status LED)
Status LED To indicate
Not Powered OFF Device may not be powered.
No Expansion Module Flashing Red Adapter has no expansion module
Internal Bus Connection,
Run Exchanging I/O
Expansion Configuration
Failed - Detected invalid expansion module ID.
- Overflowed Input/Output Size
- Too many expansion module
- Initialization failure
- Communication failure.
- Changed expansion module configuration.
- Mismatch vendor code between adapter and expansion module.
Green Exchanging I/O data.
One or more expansion module occurred in fault state.
3.3.6 Field Power, System Power LED(Field Power, System Power Status LED)
Not Powered OFF Not power is supplied to the unit.
Normal Operational Green The unit is operating in normal condition.
Unrecoverable Fault Red
The device has an unrecoverable fault.
- Memory error or CPU watchdog error.
3.3.7 Indicator states and flash rates
LED ON Constantly ON
LED OFF Constantly OFF.
LED Blinking
LED Single flash
LED Double flash
LED Triple flash
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One short flash (approximately 200ms) followed by a long OFF phase
(approximately 1000ms)
A sequence of two short flashes (approximately 200ms), separated by an OFF phase
(approximately 200ms).
The sequence is finished by a long OFF phase (approximately 1000ms)
A sequence of three short flashes (approximately 200ms), separated by an OFF phase
(approximately 200ms).
The sequence is finished by a long OFF phase (approximately 1000ms)
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1
Terminal Resister
On : Terminal Resister On
Default : 0 (1000kbps)
8
Baudrate #1
3.4. GN-9261 Electrical Interface
3.4.1 5pin Open Connector
No. Signal Name Description
3.4.2 Dip Switch
1 -
2 CAN H CAN High
3 Shield F.G
4 CAN L CAN Low
5 CAN G CAN GND
DIP Pole# Description
2
3
4
5 Baudrate #4
6 Baudrate #3
7 Baudrate #2
Reserved
5 6 7 8 (ex.)
0 0 0 1 : 10Kbps
0 0 1 0 : 20Kbps
0 0 1 1 : 50Kbps
0 1 0 0 : 100Kbps
0 1 0 1 : 125Kbps
0 1 1 0 : 250Kbps
0 1 1 1 : 500Kbps
1 0 0 0 : 800Kbps
1 0 0 1 : 1000Kbps
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3.4.3 Address setup
Each Adapter could have an unique address (from 1 to 99)
so that it can be addressed independently from other nodes.
The address 0 is reserved.
3.4.4 RS232 Port for MODBUS/RTU, Touch Panel or I/O Guide
RS232 (37204-64A3-004PL/3M
Pin# Signal Name Description
1 Reserved ---2 TXD RS232 TXD
3 RXD RS232 RXD
4 GND RS232 GND
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4. Dimension
4.1 GN-9261
(mm)
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5. Communication
5.1 Device Model
5.1.1 Structure of the device model
Communication. This functional unit makes the communication data objects and the associated functionality
for data exchange over the CANopen network available. The network status machine is part of this.
Object directory. This contains all the data objects (application data + parameters) that are accessible from
outside and that affect the behavior of communication, application and status machines. The object directory
is organized as a two-dimensional table in which the data are addressed by their index and sub-index.
The data exchange with CANopen devices takes place by means of data objects. In the CANopen
communication profile, two types of standard object (PDO and SDO) and special objects (for network
management etc.) are defined. The GN-9261 supports the following objects:
• 32 transmit PDOs
• 32 receive PDOs
• 1 standard SDO (server)
• Node guarding
• NMT objects
Every CANopen device possesses a CANopen object directory in which
The parameters for all the CANopen objects are entered.
5.2 PDO (Process Data)
5.2.1 Introduction
In many fieldbus systems the entire process image is continuously transferred - usually in a more or less
cyclic manner. CANopen is not limited to this communication principle, since the multi-master bus access
protocol allows CAN to offer other methods.
The process data in CANopen is divided into segments with a maximum of 8 bytes. These segments are
known as process data objects (PDOs). The PDOs each corresponds to a CAN telegram, whose specific
CAN identifier is used to allocate them and to determine their priority.
The PDOs are named from the point of view of the Network Adapter: receive PDOs (RxPDOs) are received
by the coupler and contain output data, while transmit PDOs (TxPDOs) are sent by the coupler and contain
input data.
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5.2.2 PDO Mapping
CANopen specifies the data assignment for the first two PDOs in the device profile for input/output groups
(DS401) (“default mapping”). The first PDO is provided for digital inputs (TxPDO1) or outputs (RxPDO1). The
first 4 analog inputs or outputs are located in the second PDO. These PDOs are accordingly occupied by the
Network Adapters - if, for instance, no digital output terminals are plugged in, RxPDO1 remains empty.
Once the first PDOs have been occupied, the next PDOs are filled with process data in the following
sequence:
1. Digital I/O (1-byte)
2. Digital I/O (2-byte)
3. Analog I/O
5.2.3 PDO Identifier
For the first two PDOs (PDO1 + PDO2) CANopen provides default identifiers depending on the node
address, but all other PDOs must have identifiers assigned to them. The principle of the default identifiers is
explained in the section on “Network Management”, and there is a list of all the CANopen default identifiers
in the appendix.
Pre-Define Connection Set
In the system of default identifiers, all the nodes (here: slaves) communicate with one central station (the
master), since slave nodes do not listen by default to the send identifier of other slave nodes:
PDO Linking
If the consumer-producer model of CANopen PDOs is to be used for direct data exchange between nodes
(without a master), the distribution of identifiers must be appropriately adapted, so that the TxPDO identifier
of the producer agrees with the RxPDO identifier of the consumer:
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