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Helmholz GmbH & Co. KG | Hannberger Weg 2 | D-91091 Großenseebach | Germany
Phone +49 9135 7380-0 | Fax +49 9135 7380-110 | [email protected] | www.helmholz.com
PN/CAN gateway, PROFINET/CANopen®
Manual
Version 3 / 27.01.2017
Manual order number 900-670-PNC01/de
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Notes
All rights reserved, including those related to the translation, reprinting, and reproduction of this
manual or of parts thereof.
No part of this manual may be reproduced, processed, duplicated, or distributed in any form
(photocopy, microfilm, or any other methods), even for training purposes or with the use of
electronic systems, without written approval from Helmholz GmbH & Co. KG.
All rights reserved in the event of the granting of a patent or the registration of a utility model.
To download the latest version of this manual, please visit our website at www.helmholz.de.
We welcome all ideas and suggestions.
Copyright © 2016 by
Helmholz GmbH & Co. KG
Hannberger Weg 2 | 91091 Großenseebach
Revision Record
Version Date Change
1 12/16/2015 First version
2 8/16/2016
SDO communication flags explained in more detail;
Various corrections arising from the system test
PROFINET Certificate
3 1/24/2017
change of company name
corrections for firmware V. 1.04
Master-Status errors added (7.1.2)
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Contents
1 General ............................................................................................................. 5
1.1 Target audience for this manual............................................................................................... 5
1.2 Safety instructions ................................................................................................................... 5
1.3 Note symbols and signal words ............................................................................................... 6
1.4 Intended use ........................................................................................................................... 7
1.5 Improper use ........................................................................................................................... 7
1.6 Installation ............................................................................................................................... 8
1.6.1 Access restriction ................................................................................................................. 8
1.6.2 Electrical installation ............................................................................................................ 8
1.6.3 Protection against electrostatic discharges ........................................................................... 8
1.6.4 Overcurrent protection ........................................................................................................ 8
1.6.5 EMC protection ................................................................................................................... 8
1.6.6 Operation ............................................................................................................................ 8
1.6.7 Liability ................................................................................................................................ 9
1.6.8 Disclaimer of liability ............................................................................................................ 9
1.6.9 Warranty .............................................................................................................................. 9
2 System overview ............................................................................................. 10
2.1 General/area of application ................................................................................................... 10
2.2 Properties des PN/CAN-Gateways CANopen® ......................................................................... 10
3 Installation and removal ................................................................................. 11
3.1 Installation position ............................................................................................................... 11
3.2 Minimum clearance ............................................................................................................... 11
4 Setup and wiring ............................................................................................ 12
4.1 EMC/safety/shielding ............................................................................................................. 12
4.2 Wiring of the PN/CAN gateway .............................................................................................. 13
4.2.1 Voltage supply ................................................................................................................... 13
4.2.2 CAN bus connection .......................................................................................................... 13
4.2.3 PROFINET connection ........................................................................................................ 13
4.2.4 USB interface ..................................................................................................................... 13
5 CAN bus .......................................................................................................... 14
5.1 Wiring a CAN Bus .................................................................................................................. 14
5.2 CAN bus plug ........................................................................................................................ 14
5.3 The CANopen® protocol ........................................................................................................ 15
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5.3.1 CANopen® objects ............................................................................................................. 15
5.3.2 CANopen® functions .......................................................................................................... 16
5.3.3 Network management ....................................................................................................... 17
6 Setup and use ................................................................................................. 19
6.1 Install GSDML file .................................................................................................................. 19
6.2 Configuring gateway ............................................................................................................. 19
6.2.1 Configure gateway master ................................................................................................. 20
6.2.2 Add and configure CANopen® device ................................................................................. 21
6.2.3 Minimum requirements of a CANopen® slave .................................................................... 22
6.2.4 Configure PDOs ................................................................................................................. 23
6.2.5 COB-IDs of the PDOs ......................................................................................................... 24
6.2.6 Detection and initialization of a slave ................................................................................. 25
6.3 Assign the gateway a PROFINET name ................................................................................... 26
7 Programming in the PLC ................................................................................ 27
7.1 Master control ....................................................................................................................... 27
7.1.1 Master control ................................................................................................................... 27
7.1.2 Master status ..................................................................................................................... 28
7.2 CANopen® device .................................................................................................................. 30
7.2.1 CANopen® Device Status .................................................................................................... 30
7.2.2 CANopen® Device Control ................................................................................................. 31
7.3 PDO data ............................................................................................................................... 31
7.4 SDO communication ............................................................................................................. 32
7.4.1 SDO transmission example ................................................................................................ 33
7.5 Emergency messages ............................................................................................................. 34
7.6 Layer Setting Service (LSS) ..................................................................................................... 35
7.7 PROFINET diagnosis alarm ..................................................................................................... 37
8 LED-based diagnosis ....................................................................................... 38
9 PROFINET Certificate ...................................................................................... 39
10 Technical data.............................................................................................. 40
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1 General
This operating manual applies only to devices, assemblies, software, and services of Helmholz GmbH
& Co. KG.
1.1 Target audience for this manual
This description is only intended for trained personnel qualified in control and automation
engineering who are familiar with the applicable national standards. For installation, commissioning,
and operation of the components, compliance with the instructions and explanations in this
operating manual is essential.
Configuration, execution, and operating errors can interfere with the proper operation of the PN/CAN
gateways and result in personal injury, as well as material or environmental damage. Only suitably
qualified personnel may operate the devices!
Qualified personnel must ensure that the application and use of the products described meet all the
safety requirements, including all relevant laws, regulations, provisions, and standards.
1.2 Safety instructions
The safety instructions must be observed in order to prevent harm to living creatures, material goods,
and the environment. The safety notes indicate possible hazards and provide information about how
hazardous situations can be prevented.
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1.3 Note symbols and signal words
If the hazard warning is ignored, there is an imminent danger to life and health of people from electrical
voltage.
If the hazard warning is ignored, there is a probable danger to life and health of people from electrical
voltage.
If the hazard warning is ignored, people can be injured or harmed.
Draws attention to sources of error that can damage equipment or the environment.
Gives an indication for better understanding or preventing errors.
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1.4 Intended use
The PN/CAN gateway connects CANopen® devices in a PROFINET network. The PN/CAN gateway
represents a full-fledged CANopen® master.
All components are supplied with a factory hardware and software configuration. The user must carry
out the hardware and software configuration for the conditions of use. Modifications to hardware or
software configurations which are beyond the documented options are not permitted and nullify the
liability of Helmholz GmbH & Co. KG.
The PN/CAN gateway may not be used as the only means for preventing hazardous situations on
machinery and systems.
Problem-free and safe operation of the PN/CAN gateway presumes proper transport, storage, setup,
assembly, installation, commissioning, operation, and maintenance.
The ambient conditions provided in the technical specifications must be adhered to.
The PV/CAN gateway has a protection rating of IP20 and must be installed in an electrical operating
room or a control box/cabinet in order to protect it against environmental influences. To prevent
unauthorized access, the doors of control boxes/cabinets must be closed and possibly locked during
operation.
1.5 Improper use
The consequences of improper use may include personal injuries of the user or third parties as well as
property damage to the control system, the product, or the environment. Use the PN/CAN gateway only
as intended!
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1.6 Installation
1.6.1 Access restriction
The modules are open operating equipment and must only be installed in electrical equipment
rooms, cabinets, or housings.
Access to the electrical equipment rooms, cabinets, or housings must only be possible using a tool or
key, and access should only be granted to trained or authorized personnel.
1.6.2 Electrical installation
Observe the regional safety regulations.
1.6.3 Protection against electrostatic discharges
To prevent damage through electrostatic discharges, the following safety measures are to be followed
during assembly and service work:
• Never place components and modules directly on plastic items (such as polystyrene, PE film) or in
their vicinity.
• Before starting work, touch the grounded housing to discharge static electricity.
• Only work with discharged tools.
• Do not touch components and assemblies on contacts.
1.6.4 Overcurrent protection
Overcurrent protection isn't necessary as the PN/CAN gateway transports no load current. The power
supply of the PN/CAN gateway electronics is to be secured externally with a fuse of maximum 1 A
(slow-blowing).
1.6.5 EMC protection
To ensure electromagnetic compatibility (EMC) in your control cabinets in electrically harsh
environments, the known rules of EMC-compliant configuration are to be observed in the design and
construction.
1.6.6 Operation
Operate the PN/CAN gateway only in flawless condition. The permissible operating conditions and
performance limits must be adhered to.
Retrofits, changes, or modifications to the device are strictly forbidden.
The PN/CAN gateway is a piece of operating equipment intended for use in industrial plants. During
operation, all covers on the unit and the installation must be closed in order to ensure protection
against contact.
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1.6.7 Liability
The contents of this manual are subject to technical changes resulting from the continuous
development of products of Helmholz GmbH & Co. KG. In the event that this manual contains
technical or clerical errors, we reserve the right to make changes at any time without notice.
No claims for modification of delivered products can be asserted based on the information,
illustrations, and descriptions in this documentation. Beyond the instructions contained in the
operating manual, the applicable national and international standards and regulations must also be
observed in any case.
1.6.8 Disclaimer of liability
Helmholz GmbH &Co. KG is not liable for damages if these were caused by use or application of
products that was improper or not as intended.
Helmholz GmbH & Co. KG assumes no responsibility for any printing errors or other inaccuracies
that may appear in the operating manual, unless there are serious errors about which Helmholz
GmbH & Co. KG was already demonstrably aware.
Beyond the instructions contained in the operating manual, the applicable national and
international standards and regulations must also be observed in any case.
Helmholz GmbH & CO. KG is not liable for damage caused by software that is running on the user’s
equipment which compromises, damages, or infects additional equipment or processes through the
remote maintenance connection and which triggers or permits unwanted data transfer.
1.6.9 Warranty
Report any defects to the manufacturer immediately after discovery of the defect.
The warranty is not valid in case of:
• Failure to observe these operating instructions
• Use of the device that is not as intended
• Improper work on and with the device
• Operating errors
• Unauthorized modifications to the device
The agreements met upon contract conclusion under “General Terms and Conditions of Helmholz
GmbH & Co. KG” apply.
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2 System overview
2.1 General/area of application
The PN/CAN gateway integrates a CANopen® network into a PROFINET network. It is a full-fledged
CANopen® master and enables the incorporation of the process and service data of CANopen® slave
devices into the IO area of a PROFINET CPU.
2.2 Properties des PN/CAN-Gateways CANopen®
The PN/CAN gateway CANopen® has the following properties:
• PROFINET IO as defined in IEC 61158-6-10
• Integrated two-port Ethernet switch
• Full-duplex transmission rate of 100 Mbps
• PROFINET Conformance Class C
• Media redundancy (MRP client)
• CANopen® protocol according to DSP 301
• Up to 126 CANopen® participants
• Up to 16 TPDOs / 16 RPDOs per slave
• Up to 1 Mbps CAN bit rate
• Heartbeat and node guarding
• SYNC object
• Configuration using GSDML file
• No handling blocks or parameterization software necessary
• 24 V DC power supply
• 3 LEDs, bi-color
• USB device interface for online diagnosis and firmware update
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3 Installation and removal
Bus connections are interrupted when the PN/CAN gateway is switched off!
Before commencing with any kind of work on the PN/CAN gateway, ensure that no unpermitted
disruptions of connected systems occur following interruption of the bus connections.
Installation must be carried out according to VDE 0100/IEC 364 and performed in accordance with
applicable national standards. The PN/CAN gateway has protection rating IP20. If a higher protection
rating is required, the system must be installed in a housing or control cabinet. In order to ensure safe
operation, the ambient temperature must not exceed 60 °C.
3.1 Installation position
The PN/CAN gateway can be installed in any position. The front plate must be accessible in order to
plug in bus lines.
3.2 Minimum clearance
It is recommended to adhere to the minimum clearances specified when installing devices. Adhering
to these minimum clearances will ensure that:
• The modules can be installed and removed without having to remove any other system
components
• There will be enough space to make connections to all existing terminals and contacts using
standard accessories
• There will be enough space for cable management systems (if needed)
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4 Setup and wiring
4.1 EMC/safety/shielding
The PN/CAN gateway complies with EU Directive 2004/108/EC (“Electromagnetic Compatibility”).
One effective way to protect against disturbances caused by electromagnetic interference is to shield
electric cables, wires, and components.
When setting up the system and routing the required cables, make sure to fully comply with all
standards, regulations, and rules regarding shielding. Precisely observe the corresponding texts of the
PROFIBUS user organization for setting up PROFINET and the setup guidelines of CANopen®. All work
must be done professionally!
Shielding faults can result in serious malfunctions, including the system’s failure.
To ensure electromagnetic compatibility (EMC) in your control cabinets in electrically harsh
environments, the following EMC rules are to be observed in the design:
• All metal parts of the cabinet are to be connected with each other over a large area with good
conductivity (no paint on paint). Where necessary, use contact washers or serrated washers.
• The cabinet door must be connected to the ground straps (top, middle, bottom) over as short a
distance as possible.
• Signal cables and power cables are to be laid separated spatially by a minimum distance of 20 cm
from each in order to avoid coupling paths.
• Run signal lines only from one level into the cabinet if possible.
• Unshielded cables in the same circuit (outgoing and incoming conductors) must be twisted if
possible.
• Contactors, relays, and solenoid valves in the closet, or in adjacent cabinets if applicable, must be
provided with quenching combinations; e.g., with RC elements, varistors, diodes.
• Do not lay wires freely in the closet; instead, run them as closely as possible to the cabinet housing
or mounting panels. This also applies to reserve cables. These must be grounded on at least one
end, and it is better if they are grounded at both ends (additional shielding effect).
• Unnecessary line lengths should be avoided. Coupling capacitances and inductances are kept low
this way.
• Analog signal lines and data lines must be shielded.
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4.2 Wiring of the PN/CAN gateway
4.2.1 Voltage supply
The PN/CAN gateway is supplied with 24 V DC voltage via the 3-pin power supply plug.
4.2.2 CAN bus connection
Pin CAN bus D-sub connector
1
-
2
CAN low
3
CAN GND
4
-
5
- 6 -
7
CAN high
8
-
9
-
PN/CAN gateway contains no terminating resistor for the CAN bus!
4.2.3 PROFINET connection
Pin Signal RJ45 plug PROFINET Color Wire pair
1
TD+
Transmission data +
Yellow
1
2
TD- Transmission data - Orange 1
3
RD+
Receive data +
White
2
4
- - -
-
5
- - -
- 6 RD-
Receive data -
Blue
2
7
- - - -
8
- - -
-
4.2.4 USB interface
The service USB interface is only required for the firmware update and for diagnoses in the event of
support.
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5 CAN bus
CAN bus (Control Area Network) is an international open fieldbus standard for building,
manufacturing, and process automation applications. CAN bus communications are defined in
standard ISO 11898-2.
5.1 Wiring a CAN Bus
A CAN bus cable requires at least three wires: CAN high, CAN low, and CAN ground. Only linear bus
topologies are allowed, A terminating resistor of 120 ohms must be connected between CAN high and
CAN low at both ends of the CAN bus cable. The PN/CAN gateway has no installed bus terminating
resistor.
The maximum cable lengths will depend mainly on the bit rate being used.
Bit rate Bus length Bit time
1 Mbps
30 m 1 µs
800 kbps
50 m
1.25 µs
500 kbps
100 m
2 µs
250 kbps
250 m
4 µs
125 kbps
500 m
8 µs
50 kbps
1500 m 20 µs
The cable lengths specified above should only be used as reference values. The maximum cable length
will also depend on the number of connected participants, on the use and the number of repeaters
and on the cable type.
5.2 CAN bus plug
Helmholz offers a comprehensive range of CAN bus connectors that can be used with the PN/CAN
gateway. All Helmholz CAN bus connectors come with a terminating resistor that can be switched on
and off.
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5.3 The CANopen® protocol
The CANopen® protocol is a layer 7 (application layer) protocol based on the CAN bus. CAN bus layers
1 and 2 (physical layer and data link layer) are used by the CAN bus unchanged.
The service elements provided by the application layer make it possible to implement applications
that are distributed throughout the network. CANopen® communication profiles and standards are
administered by the CIA (CAN in Automation e.V.). The standard DS 301 "CANopen® application
layer and communication profile" is relevant for the PN/CAN gateway. This is available at CAN in
Automation's website (http://www.can-cia.org).
The CANopen® standards assign a fixed definition to the 11-bit identifier and the 8 data bytes of a
CAN bus frame. Each device in a CANopen® network has a configurable node ID (module number, 1–
127).
5.3.1 CANopen® objects
Data exchange with a CANopen® slave takes place either via established service data objects (SDOs) or
freely configurable process data objects (PDOs).
Every CANopen® slave has a fixed directory of SDOs (object directory) that are addressed with an
index (16 bits) and a sub-index (8 bits).
Example: Index 0x1000 / sub-index 0 = "Device type", 32-bit unsigned
SDOs with a width of 8/16/32 bits can be read and written with one CANopen® frame, Longer SDOs
(e.g. strings) are transferred using multiple frames.
SDOs can be processed as soon as a CANopen® slave is ready for operation. The "SDO request" and
"SDO response" functions are available for SDOs. The object number (index and sub-index), the access
mode and type are stored in the first four bytes of the CAN frame. The last four bytes of the CAN frame
then contain the value for the SDO.
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Command
specifier
16 SDO index
8 bit SDO
sub-index
1-4 bytes of parameter data
PDOs contain the operating values of a CANopen® slave for cyclical process operations. Each
CANopen® slave can manage multiple PDOs (normally up to four transmission PDOs and four
reception PDOs).
Each of these PDOs will have its own COB-ID. Any information of the CANopen® slave can be
mapped for reading and writing in the 8 data bytes. The values from the object dictionary (SDOs) are
always the values mapped.
PDOs are automatically mapped at the startup by most CANopen® slaves (default mapping). The
assignment can generally be changed via defined SDOs when the device supports this.
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5.3.2 CANopen® functions
The CANopen® functions are subdivided into the following basic types:
• SDO read and SDO write operations
• PDO read and PDO write operations
• Network management
• Emergency messages
The function code is stored in the upper four bits of the CAN identifier, which, together with the node
ID, forms the communication object identifier, or COB-ID. CANopen normally uses CAN bus frames
with 11-bit identifiers (CAN 2.0A).
COB identifier (COB-ID):
10 9 8 7 6 5 4 3 2 1 0
Function Node ID
Broadcast functions:
Function Function code (binary) Resulting COB-ID
NMT 0000 0
hex
SYNC 0001 80
hex
TIME STAMP 0010 100
hex
Node functions:
Function Function code (binary) Resulting COB-ID
EMERGENCY 0001 81
hex
– FF
hex
TPDO1 (tx) 0011 181
hex
– 1FF
hex
RPDO1 (rx) 0100 201
hex
– 27F
hex
TPDO2 (tx) 0101 281
hex
– 2FF
hex
RPDO2 (rx) 0110 301
hex
– 37F
hex
TPDO3 (tx) 0111 381
hex
– 3FF
hex
RPDO3 (rx) 1000 401
hex
– 47F
hex
TPDO4 (tx) 1001 481
hex
– 4FF
hex
RPDO4 (rx) 1010 501
hex
– 57F
hex
SDO (tx) 1011 581
hex
– 5FF
hex
SDO (rx) 1100 601
hex
– 67F
hex
NMT error control 1110 701
hex
– 77F
hex
"tx" = transmitted by the slave
"rx" = received by the slave
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5.3.3 Network management
Network status (NMT states):
Each CANopen® device can have various system states. After the device is switched on, an internal
system initialization is carried out (hardware initialization, RAM test, setup of the basic objects). After
successful initialization, a boot up frame [COB-ID: 700
hex
+ node ID / data (1 byte): 00
hex
].
After this, the device is ready for operation and in the Pre-Operational state. Although the slave's
parameters can be configured in this state (SDOs can be read and written), it will not transfer process
data objects (PDOs).
With the NMT command "Operational" [COB-ID: 000
hex
/ data (2 bytes): 01
hex
node ID], a CANopen®
device can be switched to the operational status. Once in the Operational state, the coupler's process
data will be enabled (RPDO/TPDO communications will be running). The options available for
making changes to SDOs may be limited.
With the NMT command "Pre-Operational" [COB-ID: 000
hex
/ data (2 bytes): 80
hex
node ID], a
CANopen® device can be switched to the pre-operational status.
With the NMT command "Reset (Application)" [COB-ID: 000
hex
/ data (2 bytes): 81
hex
node ID], a
restart of a CANopen® device is triggered.
With the NMT command "Reset Communication" [COB-ID: 000
hex
/ data (2 bytes): 82
hex
node ID], the
CANopen® communication of the device is reset. The device is subsequently in the Pre-Operational
state.
SYNC:
The SYNC frame is a periodic "Broadcast" frame and is a trigger for CANopen® functions. The SYNC
frame makes it possible to transfer input data in a synchronized manner and to activate output data
simultaneously throughout the whole system. In order to ensure that the intervals at which the SYNC
frame are sent are equally spaced, the frame has a high priority level. [COB-ID: 80
hex
]
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Node guarding:
Node guarding means that the master monitors the CANopen® slaves with cyclically transmitted
frames. Each CANopen® slave must respond to the node guarding frame with a status frame.
[COB-ID: 700
hex
+ node ID / data: 1 byte with slave status]
Life guarding:
Life guarding means that each CANopen® slave will monitor to make sure that the master
continuously carries out the started node guarding within specific time limits. If the master's node
guarding frame is not sent, the CANopen® slave can detect this with the life guarding function and
switch all its outputs to a safe state, for example. The node guarding and life guarding functions
always run simultaneously.
Heartbeat:
Heartbeat monitoring works the same way as node guarding, with the exception that the CANopen®
master does not generate any request frames. Instead, the heartbeat frame is sent automatically by
each node (producer heartbeat) and can be evaluated in the master (consumer heartbeat).
[COB-ID: 700
hex
+ node ID / data: 1 byte with slave status]
Emergency message:
If one of the CANopen® slaves detects that something has gone wrong (e.g., life guarding times out), it
will send an emergency message on the bus.
[COB-ID: 80
hex
+ node ID / data: 8 bytes]
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6 Setup and use
6.1 Install GSDML file
The GSDML file can be found on the accompanying CD or in the download area of the PN/CAN
gateway at
www.helmholz.de.
6.2 Configuring gateway
The PN/CAN gateway can be found in the hardware catalogue under "PROFINET IO Other field
devices Gateway Helmholz PN/CAN gateways". Add the "PN/CAN gateway CANopen®" to the
project and connect it with your PROFINET network.
By calling up the object properties, the PN/CAN gateway should be assigned a unique PROFINET
name and the IP address be checked for plausibility.
The name of the configured device must later be assigned to the physical device (see Ch. 6.3).
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6.2.1 Configure gateway master
The first slot entry after the ports is the slot for the CANopen® master parameters.
CAN bit rate: 10, 50, 100, 125, 250, 500, 800 Kbps and 1 Mbps are available as bit rates.
CAN master node ID: Node ID under which the PN/CAN gateway at the CAN bus is active.
In some applications, a SYNC frame is necessary for operation.
Cyclical heartbeat frames of the master for operation monitoring by the slaves are recommended.
Boot up timeout defines the waiting time in which the boot up message of a slave is expected
following a reset. If the message doesn't arrive on time, the slave is marked as non-existent.
SDO response timeout: A response is expected from the slave for each SDO job. If the response is not
provided within this configured period of time, the job is cancelled and an SDO abort error is reported
to the PLC.
In the case of PLC stop -> Master reset: If the PLC goes to stop and this option is chosen, the CAN
bus is set to Pre-Operational or Stop and the master carries out an internal reset. The CAN bus is
initialized again when the PLC restarts.
If this option is deactivated, no reaction takes place at the CAN bus for a PLC stop. This setting is
useful when debugging is carried out in the PLC.
Note: If the PLC is restarted and the CAN bus is not stopped at stop, the CAN bus is stopped at the PLC
start of the CAN bus and reinitialized.
In the case of master reset, NMT stop instead of NMT PreOp.: When the master carries out a reset
(due to PLC stop, interruption of connection or user request), an "NMT Pre-Operational" is usually
transmitted. With this option an NMT Stop is transmitted instead.
The other slot entries "Master Status", "Master Control", "SDO Communication" and "Emergency
Messages" receive no parameters.
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6.2.2 Add and configure CANopen® device
A "CANopen® device" is a CANopen® slave participant. An entry must be created for each CANopen®
slave.
The device node ID of the CANopen® slave must be set absolutely correctly and uniquely.
When the option Slave must be present (mandatory device) is selected, all CANopen® participants
on the CAN bus of the PN/CAN gateway are first switched to Operational when this device is present
and configured. When this option is selected for several devices, all devices must first be Operational
before the PN/CAN gateway goes Operational.
If such a slave isn't present, the start procedure is interrupted and the CAN bus doesn't start (not set to
Operational). If a mandatory slave fails, the master switches the entire CAN bus to a safe state.
CANopen® profile
The profile of a slave is found in the lower 2 bytes of the SDO 1000.. If the profile is indicated in the
configuration and the CANopen® profile: check option has been switched on, then the device at the
CAN bus must also have this profile for initialization. The initialization is otherwise cancelled with an
error.
Heartbeat producer repetition time
With the time set here, the heartbeat of the slave is transmitted when this is supported by the slave.
The heartbeat frame is required by the master for the monitoring of the slave. Alternatively, the node
guarding can also be used when this is supported.
Node guarding repetition time / Node guarding lifetime factor
Node guarding, like heartbeat, also serves the purpose of monitoring the slave and the master. It may
not be configured simultaneously with the heartbeat.
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Heartbeat consumer monitoring time
If a monitoring time is entered here, the heartbeat of the master is monitored with this time. If the
heartbeat of the master doesn't occur (connection interruption, failure of the master), the slave can go
to a safe state (depending upon configuration: Pre-Operational, Stop or no change of state).
It should be ensured that the monitoring time be somewhat longer than the master heartbeat time, as
monitoring can be triggered prematurely in the case of transmission jitters of the master.
No communication reset
The slave is not additionally reset by an "NMT reset" when starting up or restarting. The slave is
switched directly to Pre-Operational.
Ignore SDO errors during initialization
Several SDOs are described during the startup dependent upon the configuration of the slave. The
startup procedure is cancelled when SDO aborts occur while writing (error responses). The SDO errors
are ignored with this option.
6.2.3 Minimum requirements of a CANopen® slave
1. Slave transmits "NMT boot up" or another heartbeat message
(can be switched off with the option Do not transmit communication reset)
2. SDO 1000 is answered
When the setting Do not transmit communication reset is deactivated (default setting), an
individual "NMT reset" is transmitted and a boot up frame must arrive within the boot up timeout;
"NMT reset" is otherwise transmitted again.
If the Do not transmit communication reset option is active, no "NMT reset" is transmitted and the
receipt of "NMT boot up" is not waited for.
A response must come no later than by the 3rd reading of the SDO 1000, otherwise 3 times SDO
0x1000 are read again upon expiration of the boot up timeout.
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6.2.4 Configure PDOs
Each CAN device (each CANopen® slave) should have at least one PDO (process data object).
TPDOs (transmit process data objects) are data sent by the CANopen® slave to the PLC (input data
from PLC view). RPDOs (receive process data objects) are sent by the PLC to the CANopen® slave
(output data from PLC view). The data size of the PDOs depends upon the data found in the PDO
(PDO mapping) and can range between one and 8 bytes.
The sequence of the TPDO and RPDO entries in the configuration can be selected as desired. All TPDO
and RPDO entries following a CANopen® device entry belong precisely to this device.
Which PDOs of which sizes the connected CAN device contains can generally be determined in the
manual of the respective CANopen® slave or you can ask the manufacturer.
A maximum of 32 PDOs per slave can be configured; 16 TPDOs and 16 RPDOs.
The mapping of the PDOs cannot be prescribed by the PN/CAN gateway configuration in the hardware
configurator. If the default mapping is changed, the slave can be initialized to Pre-Operational and the
mapping then be changed with the SDO frames.
PDO 1..16: With the specification of the PDO number (1..16), all necessary settings for the PDO are
made automatically by the PN/CAN at the start. The default COB-ID of the slave is set, the
transmission type and the inhibit time are set, and the PDO activated.
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PDO COB-ID: It is also possible to define a device-specific COB-ID (PDO number must then be '0'). In
this case it is presumed that all PDO settings have already been set in the CAN device in advance. The
PN/CAN gateway will then not alter the PDO settings when starting up.
PDO TTYPE: Transmission type of the PDO as defined by the CANopen® standard.
Only the TTYPEs 0 – 240 (synchronous), 254, and 255 (event-driven) are supported. The TTYPEs 241
to 253 should not be set.
When the TTYPEs 0 – 240 are used, the SYNC frame should be configured in the master configuration
(see Ch. 6.2.1) when the SYNC signal is not generated by one of the slaves.
Inhibit time PDO: In order to prevent PDOs with rapidly changing data from overloading the CAN
bus with frames, a minimum transmission pause can be indicated for each PDO.
In the case of TPDOs, the time is written in the slave. In the case of RPDOs, the master considers the
time when sending the frame. An Inhibit Time only makes sense for asynchronous PDOs (TTYPE 254
or 255).
6.2.5 COB-IDs of the PDOs
When a PDO is configured with a PDO number 1-16, a suitable COB-ID from the following table is
initialized.
Default COB-IDs for PDOs 1-4:
TPDO 1 = 180
hex
+ node ID RPDO 1 = 200
hex
+ node ID
TPDO 2 = 280
hex
+ node ID RPDO 2 = 300
hex
+ node ID
TPDO 3 = 380
hex
+ node ID RPDO 3 = 400
hex
+ node ID
TPDO 4 = 480
hex
+ node ID RPDO 4 = 500
hex
+ node ID
Expanded COB-IDs for PDOs 5-16:
TPDO 5 = 180
hex
+ node ID + 1 RPDO 1 = 200
hex
+ node ID + 1
TPDO 6 = 280
hex
+ node ID + 1 RPDO 2 = 300
hex
+ node ID + 1
TPDO 7 = 380
hex
+ node ID + 1 RPDO 3 = 400
hex
+ node ID + 1
TPDO 8 = 480
hex
+ node ID + 1 RPDO 4 = 500
hex
+ node ID + 1
TPDO 9 = 180
hex
+ node ID + 2 RPDO 9 = 200
hex
+ node ID + 2
TPDO 10 = 280
hex
+ node ID + 2 RPDO 10 = 300
hex
+ node ID + 2
TPDO 11 = 380
hex
+ node ID + 2 RPDO 11 = 400
hex
+ node ID + 2
TPDO 12 = 480
hex
+ node ID + 2 RPDO 12 = 500
hex
+ node ID + 2
TPDO 13 = 180
hex
+ node ID + 3 RPDO 13 = 200
hex
+ node ID + 3
TPDO 14 = 280
hex
+ node ID + 3 RPDO 14 = 300
hex
+ node ID + 3
TPDO 15 = 380
hex
+ node ID + 3 RPDO 15 = 400
hex
+ node ID + 3
TPDO 16 = 480
hex
+ node ID + 3 RPDO 16 = 500
hex
+ node ID + 3
When the PDOs 5-16 are used, the COB-IDs of the following device addresses are used. An additional
slave should have the node ID + 4 for the previous slave as an address.
It should be noted that, in the case of devices with node IDs as of 125 and the use of more than 4 PDOs,
an overflow of the COB-IDs may occur.
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6.2.6 Detection and initialization of a slave
The master always attempts to find, to initialize and to bring configured slaves to the desired state
(Pre-Operational or Operational depending upon the master state).
Initialization process for a slave
1. Trigger "NMT reset" for each slave or set slave to Pre-Operational
2. Wait for "NMT boot up" or another heartbeat or node guarding message
3. Read SDO 1000 "Device type" and check profile as required
4. Read SDO 1001
5. Describe SDO 1017 "Producer heartbeat" (if configured)
6. Describe SDO 1016 "Consumer heartbeat"
(if master heartbeat monitoring has been configured)
7. Initialize all configured TPDOs
(COB-ID, Activate PDO, Transmission Type, Inhibit Time)
8. Initialize all configured RPDOs
(COB-ID, Activate PDO, Transmission Type, Inhibit Time)
9. Set slave to operational when NMT state control = 2 (Operational) has been selected
If user-defined SDOs still need to be described for the slave or the mapping needs to be changed, the
gateway can be set by the PLC to the Pre-Operational (1) state in the first step
(see Ch. 7.1.1 "Master Control"). The CANopen® slave can then be configured as desired with the SDO
commands (see Ch. 7.4 "SDO Kommunikation").
The gateway is only switched to the Operational (2) state subsequent to this.
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6.3 Assign the gateway a PROFINET name
When the configuration of the PN/CAN gateway has been completed in the hardware configurator, it
can be loaded into the PLC.
In order that the PN/CAN gateway can be found on the PROFINET of the PLC (the PROFINET
controller), the PROFINET name and possibly the IP address must be set.
One possibility for this is the function "Process Ethernet participant" in the Simatic Manager. With
the "Browse…" button, the network can be browsed for PROFINET participants.
The clear identification of the PN/CAN gateway is ensured here by the MAC address of the device.
The assigned name must agree with the name established in the hardware configurator (see Ch. 6.2.1).
If the PN/CAN gateway has been assigned the correct PROFINET name, it is recognized by the PLC and
configured.
When the configuration has run correctly, the blue "Mode" LED should blink.
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7 Programming in the PLC
7.1 Master control
No handling blocks for operation are required in the PLC. The control and status query of the
PN/CAN gateway can be carried out directly via the I/O map.
7.1.1 Master control
The conduct of the PN/CAN gateway can be controlled with the two master control bytes in the initial
map of the PLC.
Byte/bit 7 6 5 4 3 2 1 0
Out 0
- - - - - - -
-
Out 1
User reset
activate
LSS mode
Clear
emergency
FIFO error
Send
SYNC
frame
Clear CAN
Tx
overflow
error
Clear CAN
Rx
overflow
error
NMT state control
NMT state control: State control of the CANopen® master
Boot up (0) = The CANopen® master has been switched off. No CAN frames are being transmitted or
received. If the state was previously Operational (value 2), the CANopen® slaves are stopped ("NMT PreOperational" or "NMT Stop" depending upon the configuration, see Ch. 6.2.1).
Pre-Operational (1) = If the previous state was 0, all CANopen® slaves are initialized. The status 1 is
subsequently displayed in the master state. If the previous state was Operational (2) or Stop (3), only an
"NMT Pre-Operational" is transmitted.
Operational (2) = If the previous status was 0, all CANopen® slaves are initialized and "NMT
Operational" subsequently transmitted. The PDO data is only exchanged in status 2. If the previous
state was Pre-Operational (1) or Stop (3), only an "NMT Operational" is transmitted.
Stop (3) = An NMT-Stop is transmitted to all slaves.
Clear CAN Rx/Tx Overflow Error:
Resetting of CAN Rx/Tx Overflow error displays.
Send SYNC frame:
When no cyclical SYNC frame has been configured at the CANopen® master (see Ch. 6.2.1), a SYNC
frame can be triggered by the program of the PLC as an alternative. A SYNC frame is transmitted for
each increasing flank at the master control "Send SYNC frame" (byte, 1 bit 4). An acknowledgment of
the transmitted SYNC frame is can be detected in the master status "SYNC transmitted" (byte 1, bit 4).
Clear Emergency FIFO-Error:
A FIFO Overflow display of the emergency message buffer can be reset with this bit (see Ch. 7.5).
Activate LSS mode:
The PN/CAN gateway is to be switched to the LSS operating mode. This is only permitted if the master
is in the state 0 (bootup). Whether the gateway is in LSS mode can be read off bit 6 of byte 1 of the
master status. See chapter 7.6 for more information about LSS.
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User reset:
The PN/CAN gateway is reset by writing the value 0080
hex
onto the master control value. An "NMT
stop" is transmitted to the CAN bus and the PN/CAN gateway is re-initialized. The "Bit user reset
requested" in the master status (byte 1, bit 7) shows the carried out reset. The bit "User reset" can now
be reset. The desired NMT state (1 or 2 in the NMT State Control) can subsequently be requested and
the PN/CAN gateway initializes the bus again.
7.1.2 Master status
The master status consists of 4 input bytes.
Byte/bit 7 6 5 4 3 2 1 0
In 0
Gateway
configured
- - - - - - -
In 1
User reset
requested
LSS
mode
active
Emergency
Lost
SYNC
transmitt
ed
CAN Tx
overflow
CAN Rx
overflow
CAN bus
error
CAN bus
offline
In 2
- - General error bits of the slave errors
In 3
Master error 0 0
NMT state
Gateway configured indicates that the PN/CAN gateway has been configured. The bit is also set for
an incorrect configuration.
NMT state indicates the current status of the CANopen® master. Principally an attempt is made to
assume the state called for in the NMT State Control. However, this can be prevented by the absence
of slaves configured as mandatory (necessary).
Boot up (0) = The master has been switched off. No CAN frames are being transmitted or received.
Pre-Operational (1) = The master is found at the end of the slave configuration; at least all mandatory
slaves are initialized and in Pre-Operational.
Operational (2) = The master is in the Operational state; all mandatory slaves are in Operational.
Stop (3) = The master is in the Stop state; all accessible slaves have been brought to the Stop state.
Continuous attempts are made to find missing slaves by reading the SDO 1000. Slaves that have been
newly detected at the CAN bus are automatically initialized and switched to the state wished by the
NMT State.
Master error:
Error 1: Sync request not possible, as bus load is too great to be able to send all PDOs
Error 3: COB-ID assigned twice
Error 4: internal memory error
Error 5: no devices configured
Error 6: PDO instead of device in slot 1
Error 7: too many PDOs configured at one slave
Error 8: Node guarding and heartbeat are configured parallel on at least one slave
Error 11: Slave Node-ID used twice
Error 12: Slave Node-ID and Master-Node-ID are equal
Error 13: RPDO COB-ID and TPDO COB-ID are equal
Error 14: RPDO or TPDO COB-IDs used twice
Error 15: COB-ID used twice (general)
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Collective error bits of the slave errors: "Or"-ing of all CANopen® slave error bits (see Ch. 7.2.1, Byte
0 of the device status)
LSS Mode active: The PN/CAN-Gateway is in LSS mode (see Ch. 7.6)
Emergency Lost: The bit indicates the overflow of the emergency message buffer
(see also Ch. 7.5).
User reset requested: User reset request (master control, byte 0, bit 7) has been detected and NMT
Reset transmitted to the CAN bus.
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7.2 CANopen® device
3 bytes of input data with the status information of the slave exist for each configured CANopen®
slave and one output byte for slave control.
7.2.1 CANopen® Device Status
Byte/bit 7 6 5 4 3 2 1 0
In 0
Restart of
slave
active
Resend
RPDOs
CANopen
profile
false
Slave
transmittin
g false
TPDO
length
Slave not
answerin
g
SDO
abort
Slave
timeout
Incorrect
configuration
In 1
SDO 1001 value of the slave
In 2
Configuration error
0
0
Slave state
Slave state:
0 = Slave is still in the boot up, not present or cannot be addressed
1 = Slave has been initialized, node guarding or heartbeat are running and it is in the
Pre-Operational state
2 = Slave is in Operational state
3 = Slave is in Stop state
Configuration error:
The CANopen® slave device cannot start up as there is an error in the configuration. Possible causes
are duplicate COB-IDs of the PDOs or heartbeat and node guarding are configured parallel. The bit can
only be deleted by transmitting a correct configuration.
Error 3: A COB-ID has been issued twice to the PDOs
Error 7: more than 16 TPDOs or 16 RPDOs configured
Error 8: Node guarding and heartbeat configured parallel
Slave timeout:
Failure of slave monitoring (node guarding or heartbeat).
SDO abort:
Initialization is interrupted when an SDO abort occurs during initialization of the slave by the master.
If the Ignore SDO error option has been selected (see Ch. 6.2.2), the error is ignored at this point and
the initialization continues.
Slave not answering:
Neither a boot up message nor a response to the reading of the SDO 0x1000 has been received. The
initialization of the slave cannot be continued.
CANopen profile false:
The profile read from the SDO 1000 does not correspond to the planned profile. The initialization of
the slave cannot be continued.
SDO 1001:
The SDO 1001 "Error Index" is read by the slave and the state entered here.
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7.2.2 CANopen® Device Control
Byte/bit 7 6 5 4 3 2 1 0
Out 0
Restart
Slave
Resend all
RPDOs
- - - - - -
Restart Slave:
The CANopen® slave is restarted and initialized.
Depending upon the global parameter "No communication-Transmit reset" (see Ch. 6.2.2), an NMT
reset or only an NMT PreOperational command will initially be transmitted to the slave device before
it is reinitialized.
Resend all RPDOs:
The RPDOs are normally only transmitted when a value in the initial map of the PN/CAN gateway has
been changed. With this bit it is possible to have unchanged data sent again.
7.3 PDO data
The PDO data is found as inputs (TPDOs) or as outputs (RPDOs) directly in the process map. Each PDO
entry in the hardware configuration has input and output bytes in accordance with the size of the
PDO data (1-8 bytes).
The inputs always show the last received data of the TPDO.
When changed values are written onto the outputs, RPDO frames are sent to the corresponding
CANopen® slave. Depending upon the transmission type (TTYPE) of the PDO, immediately (eventdriven) or directly prior to the SYNC frame (SYNC).
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7.4 SDO communication
SDO communication with the slaves can take place following the initialization phase of the PN/CAN
gateway both in the Pre-Operational (NMT state = 1) and Operational (NMT state = 2).
Only one SDO job can be carried out at a time. Both the reading and writing of SDOs is possible.
Byte/bit
7 6 5 4 3 2 1
0
In 0
"Status"
1 = Job
in
progres
s
Job type:
0 = read
1 = write
1 = Job
complet
ed
1 = Job
completed
with errors
- -
SDO size:
1 = BYTE (8 bit)
2 = WORD (16 bit)
3 = DWORD (32 bit)
In 1
Receive data of the SDO transmission
In 2
In 3
In 4
In 5
SDO abort code for incorrect job
In 6
In 7
In 8
Byte/bit 7 6 5 4 3 2 1 0
Out 0
"Control"
0 -> 1
Start job
Job type:
0 = read
1 = write
- - - -
SDO size:
0 = Reading job
1 = Write BYTE (8 bit)
2 = Write WORD (16 bit)
3 = Write DWORD (32 bit)
Out 1
Node ID of the slave
Out 2
SDO index
Out 3
Out 4
SDO sub-index
Out 5
Transmission data for SDO job
Out 6
Out 7
Out 8
All data/values must be written in Big Endian (highest address first) in the IO area.
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7.4.1 SDO transmission example
In hardware configuration represented above, the SDO communication area is configured to the IO
addresses 110 to 118:
EB 110: SDO status
ED 111: SDO receive data
ED 115: SDO abort code
AB 110: SDO control
AB 111: Node ID of the SDO slave
AW 112: SDO index
AB 114: SDO sub-index
AD 115: SDO transmission data
Process for an SDO reading job:
1. Describe node ID, SDO index and SDO sub-index (AB 111, AW 112, AB 114)
2. Set SDO size to 0 (AB 110, bits 1+2 = 0)
3. Set "Job type" to 0 (read) (AB 110, bit 6 = 0)
4. Set "Start job" (AB 110, bit 7 = 1)
5. Wait for SDO status "Job completed" (EB 110, bit 5 = 1?)
6. "Job completed without errors" (EB 110, bit 4) = 0 ? Copy receive data
7. "Job completed with errors" (EB 110, bit 4) = 1 ? Evaluate abort code
8. Reset "Start job" (AB 110, bit 7 = 0)
9. Wait until EB 110 = 0
Process for an SDO writing job:
1. Describe node ID, SDO index and SDO sub-index (AB 111, AW 112, AB 114)
2. Write value (AD 115, 4 bytes)
3. Set SDO size (AB 110, bits 1+2)
4. Set "Job type" to 1 (write) (AB 110, bit 6 = 1)
5. Set "Start job" (AB 110, bit 7 = 1)
6. Wait for SDO status "Job completed" (EB 110, bit 5) = 1 ?
8. "Job completed with errors" (EB 110, bit 4) = 1 ? Evaluate abort code
9. Reset "Start job" (AB 110, bit 7 = 0)
9. Wait until EB 110 = 0
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7.5 Emergency messages
Emergency messages from the slaves are always received by the PN/CAN gateway and made available
to the PLC. The PN/CAN gateway does not itself react actively to the emergency messages. The
messages must be evaluated by the application program.
Byte/bit 7 6 5 4 3 2 1 0
In 0
Emergency message indication
In 1
Emergency node ID
In 2
Emergency message data (8 bytes)
In 3
In 4
In 5
In 6
In 7
In 8
In 9
Byte/bit 7 6 5 4 3 2 1 0
Out 0
Emergency message acknowledge
Emergency message indication is set to 0 during the startup or following a master reset. The PLC
program must also set the emergency message acknowledge entry to 0.
If an emergency message is received, emergency message indication is set higher (+ 1) and the message
is available in the input area (Node ID + 8 bytes message data).
When additional messages are received by the PN/CAN gateway, these are stored in an internal FIFO.
In order to receive the next emergency message, the PLC must also increase the byte emergency
message acknowledge or write the same value currently displayed for emergency message indication.
An overflow of the emergency message indication takes place at 255 and a jump directly to 1 once
again takes place. By writing a 0 into the "Emergency Message Acknowledge", the entire emergency
messages buffer can be deleted.
The PN/CAN gateway can buffer up to 32 emergency messages. If the emergency message buffer
overflows, this is shown in the master status in the bit "Emergency lost" (see Ch. 7.1.2). The oldest
message is discarded.
The error display can be reset in the master control with the bit Clear emergency FIFO error (see Ch.
7.1.1).
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7.6 Layer Setting Service (LSS)
The PN/CAN makes it possible to carry out LSS functions on the CAN bus (as of firmware version
1.04). With the LSS protocol, the node ID and the Baud rate of CANopen slave participants, among
other things, can be set, insofar as these support the LSS protocol.
Details on the LSS protocol are described in the "CiA® 305 Draft Standard Proposal - Layer setting
services (LSS) and protocols" or can be found in the manual of the slave.
LSS mode and CANopen mode exclude one another mutually. LSS can only be used in the bootup
status of the gateway.
In order to be able to transmit and receive LSS frames, the "LSS module" must be plugged into slot 1 in
the hardware configuration of the PN/CAN gateway.
The LSS module has as its only parameter the timeout time for responding to LSS requests:
In order to carry out the LSS functions on the CAN bus, these must be programmed in the PLC.
To this purpose, the LSS module makes available the following command interface in the IO map.
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LSS control:
Byte / Bit 7 6 5 4 3 2 1 0
Out 0
LSS control
Set LSS
Baud rate*
Set LSS Baud rate:
0: 10 Kbit; 1: 50 Kbit; 2: 100 Kbit;
3: 125 Kbit; 4: 250 Kbit; 5: 500 Kbit;
6: 800 Kbit; 7: 1 Mbit
Set Baud rate
from
configuration*
-
Transmit
LSS-frame
with
response
Transmit
LSS frame
without
response
Out 1
LSS command (see CiA DSP 305 "command specifier")
Out 2
Transmission data for the LSS frame (7 Bytes)
Out 3
Out 4
Out 5
Out 6
Out 7
Out 8
* Only one of the two Baud rate options can be chosen; the respective other option must then be 0.
LSS-Status:
Byte / Bit 7 6 5 4 3 2 1 0
In 0
LSS status
LSS Baud
rate is
active
currently active Baud rate:
0: 10 Kbit; 1: 50 Kbit; 2: 100 Kbit;
3: 125 Kbit; 4: 250 Kbit; 5: 500 Kbit;
6: 800 Kbit; 7: 1 Mbit
Baud rate
from
configuration
is active
Timeout:
no
response
received
LSS-frame
with
response
processed
LSS frame
transmitted
In 1
LSS command (see CiA DSP 305 "command specifier")
In 2
Received data of the LSS frame (7 Bytes)
In 3
In 4
In 5
In 6
In 7
In 8
Transmit LSS-frame without response: An LSS frame is transmitted without a response frame being
expected. The 0 bit in the LSS status shows that the frame has been transmitted. The 0 bit can then be
reset in LSS control.
Transmit LSS-frame with response: An LSS frame is transmitted and a response from the LSS slave is
waited for. When an LSS response has been received or when the configured timeout has expired, the
bit 1 is set in the LSS status. Bit 2 is also set for a timeout.
In the LSS protocol, the COB IDs 7E5
hex
(LSS master transmitting) and 7E4
hex
(LSS slave responding)
are used.
Ask support for the example of handling blocks for the LSS functions.
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7.7 PROFINET diagnosis alarm
The PN/CAN gateway supports the following diagnosis alarms:
18 Configuration error
19 SDO 0x1001 in the same is no longer equal to 0 *
20 Configuration error at the slave (e.g. same PDO numbers)
23 Alarm for master transition due to missing mandatory slave *
24 Slave has node guarding or heartbeat failure *
30 CAN bus error (RX overflow, bus error, bus off event) *
* these alarms can be locked through configuration (in progress)
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8 LED-based diagnosis
MODE
Off No power supply or device defective
Blue on
PN/CAN gateway is correctly configured via PROFINET &
all CANopen® slaves are in Operational state
Flashing blue
PN/CAN gateway is correctly configured via PROFINET &
at least one CANopen® slave is in Pre-Operational or Stop state
Red on No connection with PROFINET controller (PLC)
Flashing red Connection with the PROFINET controller (PLC) exists, but a configuration error exists
CAN RX
Flashing green CAN frame is received without errors
Red CAN bus error in the recipient or PN/CAN gateway hasn't been configured yet
CAN TX
Flashing green CAN frames are being transmitted
Red
Transmission not possible (e.g. false Baud rate, CAN bus disrupted) or the PN/CAN gateway
has not yet been configured
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9 PROFINET Certificate
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10 Technical data
Order no. 700-670-PNC01
Name PN/CAN gateway CANopen®
PROFINET interface
Protocol PROFINET IO as defined in IEC 61158-6-10
Transmission rate 100 Mbps full duplex
I/O image size 1440 bytes
Connection 2x RJ45, integrated switch
Features
PROFINET Conformance Class C,
Media redundancy (MRP client),
Automatic addressing,
Topology detection (LLDP, DCP),
Diagnosis alarms
CAN interface
Type ISO/DIN 11898-2 CAN High-speed physical layer
Connection 9-pin D-sub male connector
Protocol CANopen® master as defined in DSP301 V4.2
Baud rate 50, 100, 125, 250, 500, 800, 1000 kbps
Number of slaves 126
TPDOs/RPDOs per slave 16 / 16
USB interface
Protocol Full-speed USB 2.0 device
Connection Mini-USB
Electrically isolated from USB Yes; insulation 15 kV
Voltage supply 24 V DC, 18–28 V DC
Current draw Max. 250mA
Dimensions (D x W x H) 35 mm x 83 mm x 72 mm
Weight Approx. 160 g
Certifications CE, PROFINET certification
Noise immunity DIN EN 61000-6-2 “EMC Immunity”
Interference emission DIN EN 61000-6-4 “EMC Emission”
Vibration and shock resistance
DIN EN 60068-2-8:2008 “Vibration”
DIN EN 60068-27:2010 “Shock”
Protection rating IP 20
Relative humidity 95% without condensation
Installation position Any
Permissible ambient temperature 0° C to 60° C
Transport and storage temperature -20° C to 80° C
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