Pilz PSSnet GW1 MOD-CAN User Manual
PSSnet GW1 MOD-CAN
Gateways
Operating Manual-1002693-EN-02
Preface
This document is a translation of the original document.
All rights to this documentation are reserved by Pilz GmbH & Co. KG. Copies may be made
for internal purposes. Suggestions and comments for improving this documentation will be
gratefully received.
Pilz®, PIT®, PMI®, PNOZ®, Primo®, PSEN®, PSS®, PVIS®, SafetyBUS p®, SafetyEYE®,
SafetyNET p®, the spirit of safety® are registered and protected trademarks of Pilz GmbH
& Co. KG in some countries.
SD means Secure Digital
Content
Section 1 Introduction 5
1.1 Validity of documentation 5
1.2 Retaining the documentation 5
1.3 Definition of symbols 5
Section 2 Overview 6
2.1 Module features 6
2.2 Unit view 7
2.2.1 Front 7
2.2.2 Top 8
2.2.3 Right-hand side 8
2.2.4 Bottom 9
Section 3 Safety 10
3.1 Intended use 10
3.1.1 Electromagnetic compatibility 10
3.1.1.1 Connecting the earth cables 11
3.1.1.2 Cable routing 12
3.1.1.3 Equipotential bonding 12
3.1.1.4 Shielding 13
3.1.1.5 Lighting in the control cabinet 13
3.1.1.6 Testing the EMC-compliance of an installation 13
3.2 Safety regulations 14
3.2.1 Use of qualified personnel 14
3.2.2 Warranty and liability 15
3.2.3 Disposal 15
3.3 Safety during installation 15
Section 4 Function description 16
4.1 Operation 16
4.1.1 Block diagram 17
4.2 Modbus/TCP 17
4.2.1 Modbus/TCP data ranges (Server connections) 17
4.2.2 Data transfer limits 18
4.2.3 Function codes (Client connections) 18
4.3 CANopen 20
4.4 Translation tables 20
4.4.1 Payload 20
4.4.2 Diagnostic data 21
4.5 Interfaces 24
Section 5 Installation 25
5.1 General installation guidelines 25
5.1.1 Dimensions 26
5.2 Mounting distances 27
5.3 Supply voltage 27
5.4 Install Gateway 28
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Content
Section 6 Commissioning 29
6.1 General wiring guidelines 29
6.2 Wiring the units 29
6.2.1 Cable requirements 29
6.2.2 Terminals 30
6.3 Terminal configuration 30
6.4 Interfaces 30
6.4.1 CANopen interface 30
6.4.2 CANopen termination 31
6.4.3 RJ45 interface 31
6.4.3.1 RJ45 connection cable 31
6.5 Set addresses and transmission rate 32
6.5.1 Set IP address 32
6.5.2 Set device address 33
6.5.3 Setting the transmission rate 34
Section 7 Operation 35
7.1 Display elements 35
7.1.1 Display elements for device diagnostics 35
7.2 Web server 36
7.2.1 Call web server 36
7.2.2 Password management 36
7.3 Exchange Gateway 37
Section 8 Technical details 38
Section 9 Order reference 41
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Introduction
1
1.1
1.2
1.3
Introduction
Validity of documentation
This documentation is valid for the product PSSnet GW1 MOD-CAN. It is valid until new
documentation is published.
This operating manual explains the function and operation, describes the installation and
provides guidelines on how to connect the product.
Retaining the documentation
This documentation is intended for instruction and should be retained for future reference.
Definition of symbols
Information that is particularly important is identified as follows:
DANGER!
This warning must be heeded! It warns of a hazardous situation that poses
an immediate threat of serious injury and death and indicates preventive
measures that can be taken.
WARNING!
This warning must be heeded! It warns of a hazardous situation that could
lead to serious injury and death and indicates preventive measures that can
be taken.
ATTENTION!
This refers to a hazard that can lead to a less serious or minor injury plus
material damage, and also provides information on preventive measures
that can be taken.
CAUTION!
This describes a situation in which the product or devices could be damaged and also provides information on preventive measures that can be taken. It also highlights areas within the text that are of particular importance.
Information
This gives advice on applications and provides information on special features.
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Overview
2
2.1
Overview
Module features
The PSSnet GW1 MOD-CAN
} operates as a protocol converter between Modbus/TCP and CANopen,
} can be used to exchange data between products that support Modbus/TCP or CAN-
open . For example, this may be a control system from the automation system
PSS 4000 from Pilz on one side and a third-party product on the other. The third party
product must support CANopen .
Features of the PSSnet GW1 MOD-CAN:
} Can be used with Pilz products that support Modbus/TCP:
– Control systems from the automation system PSS 4000 (e.g. PSSu H)
– Compact/modular 3rd generation PSS-range programmable safety systems (e.g.
PSS SB 3006-3 ETH-2, PSS(1) SB CPU3 ETH-2)
– Operator terminals PMI with Modbus/TCP interface (e.g. PMI 5)
– Motion control systems (e.g. PMCprimo Drive3, PMCprimo DriveP, PMCprimo 16+)
} 1 x RJ45 socket for connection to Modbus/TCP,
} Can manage up to 8 Modbus/TCP connections
} Can operate as a Modbus/TCP connection Server,
} Web server for managing and configuring the Gateway,
} Supports CiA 301 V4.2.0,
} Operates as a Slave in the CANopen network,
} Transmission rate 10 MBit/s (10BaseT) and 100 MBit/s (100BaseTX),
} 1 x male 9-pin D-Sub connector for connection to CANopen,
} supports autonegotiating,
} LEDs for displaying the communication status and errors,
} input/output data
– up to 512 Bytes acyclical data (SDO),
– in total (RxPDO and TxPDO) max. 512 Bytes,
– additionally it is possible to transfer data between the control systems,
} supply voltage
– 20 ms buffer in case of supply interruptions,
– plug-in connection terminals (either spring-loaded terminal or screw terminal).
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Overview
2.2
2.2.1
Unit view
Front
22,5 (0,88“)
Front view
: LEDs for displaying the communication status and faults
: Rotary switch DR for setting the transmission rate
: Rotary switch X10 for setting the tens digit of the device address; this is the address
used to address the Gateway of the CANopen Master. This address must be set in the software for the CANopen Master
: Rotary switch X1 for setting the units digit of the device address for this Gateway
: CANopen interface (male 9-pin D-Sub connector)
: Barcode with the item number, serial number and version of the Gateway
: MAC address
: 2D code with the MAC address
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Overview
2.2.2
Top
Top
: Modbus/TCP interface (RJ45)
OFFON
128
64
32
16
IP-ADDRESS
8
4
2
1
2.2.3
: DIP switch for IP address
Right-hand side
4,25 (0,17“)
1
2
4
8
16
32
64
128
110 (4,33“)
IP-Address
Right-hand side
: QR code with a link to the Pilz homepage with further information on the Gateway
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8
Overview
2.2.4
Bottom
Bottom
: Supply voltage connection
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Safety
3
3.1
Safety
Intended use
The product serves as a protocol converter between Modbus/TCP and CANopen. It can be
used with various Pilz products as well as third-party products, provided they support the
documented properties and requirements.
} Modbus/TCP
The Gateway can be used with products that operate as connection Client during data
exchange. The product must support at least one of the documented function codes .
} CANopen
The Gateway can be used as a passive subscriber (Slave) in a CANopen network. The
basic functions of communication via CANopen correspond to the System Description
published by the CANopen User Group.
The Gateway may not be used for safety-related functions.
Intended use includes making the electrical installation EMC-compliant. The product is designed for use in an industrial environment. It is not suitable for use in a domestic environment, as this can lead to interference.
The following is deemed improper use in particular:
} Any component, technical or electrical modification to the product
} Use of the product outside the areas described in this manual
} Use of the product outside the technical details (see chapter entitled “Technical De-
tails”)
3.1.1
Electromagnetic compatibility
To ensure electromagnetic compatibility the correct procedures must be carried out during
installation.
A device is electromagnetically compatible if:
} It functions without error in a given electromagnetic environment
} It does not adversely affect its own environment.
Electromagnetic interference can reach the devices through:
} Fields
} Power supplies
} Earth cabling
} Bus connections
} Interfaces
} Input and output cables
The interference can be transferred from the producer (source) to the receiver (interference
sink) via the coupling routes.
Interference reaches the interference sink (e.g. the control system devices) in various ways:
} DC coupling:
DC coupling occurs if the source and sink of interference have common cable connec-
tions. The common cable presents complex resistances, inducing potential differences.
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Safety
Typical sources of interference are switches/relays, running motors or varying potentials
for other systems on the same power supply.
} Capacitive (electrical) coupling:
A different potential between the source and interference sink (e.g. two cables) creates
an electrical field. Coupling is proportional to the rate of voltage change.
Typical sources of interference are contactors, static discharge, parallel signal cables.
} Inductive (magnetic) coupling:
A live cable produces a magnetic field which also surrounds adjacent cables. Interfer-
ence voltage is induced. Coupling is proportional to the rate of current change.
Typical sources of interference are mains cables running in parallel, live cables, high
frequency cables, inductors, transformers, motors.
} Electromagnetic coupling:
A cable can emit a signal as a radio wave. This wave is then picked up by another ca-
ble.
Typical sources of interference are transmitters such as radios, sparks from spark
plugs, welding equipment, etc.
3.1.1.1
CAUTION!
Powerful HF transmitters should only be operated at a distance of more
than 0.6 m.
} Static discharge:
Static discharge occurs where there are very high differences in potential between two
points. If the two points are brought closer together or if the potential difference is increased, discharges can occur in the air gaps.
Typical sources of interference are people who are statically charged from a synthetic
carpet, for example.
Connecting the earth cables
Please note:
} A conductor cross section of at least 2.5 mm
2
should be used for the connection to the
central earth bar. Connections should be kept as short as possible.
} Connections to the earth bar should always be in star form.
} Connect together the 0V connections on all the 24 V power supplies and earth the 0 V
mains at a single point, or ensure that measures are in place to monitor for earth faults.
Earthed supply voltages offer the best noise immunity.
} The connection of the 0 V supply to the central earth bar or earth fault monitor must be
in accordance with relevant national regulations (such as EN 60204-1, NFPA 79:17-7,
NEC: Article 250).
} Connections should be protected from corrosion.
} Flexible earthing straps should be used on moving earth parts (e.g. machine parts,
gates). Ensure these earthing straps are as short and wide as possible.
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Safety
3.1.1.2
Cable routing
It is possible to differentiate between cables according to their function. The
following groups exist:
}
Group 1: Data and supply lines for DC voltages below 60 V and AC voltages below 25 V
} Group 2: Data and supply lines for DC voltages from 60 V to 400 V and AC voltages
from 25 V to 400 V.
} Group 3: Supply lines above 400 V
Cabling inside buildings:
} The cable groups listed above should be laid separately.
} Cables of the same group can be laid within the same cable duct.
} Cables from group 1 and group 2 should be laid in separate groups or in cable ducts
which are at least 10 cm apart.
} Cables from group 1 and group 3 should be laid in separate groups or in cable ducts
which are at least 50 cm apart.
} Data and signal lines should be laid as close as possible to an earthed surface.
Cabling to open air systems:
} As far as possible use metal conduits. These should be electrically connected and
earthed.
} Ensure there is sufficient protection against lightning by using metal conduits earthed at
both ends, or concrete cable ducts with reinforcements connected across the joints.
3.1.1.3
Equipotential bonding
Potential differences can occur if the devices are connected to different earth or ground
connections. Even cable shields that are connected at either end and have different earth
connections can cause potential differences. In order to avoid interference, equipotential
bonding cables must be installed.
In doing so you must ensure the following:
} Select a low impedance equipotential bonding cable.
} Select the following as standard values for the cross section of the equipotential bond-
ing cables:
– 16 mm
– 25 mm
2
for equipotential bonding cable up to 200 m in length
2
for equipotential bonding cable over 200 m in length
} If the control system devices are connected with shielded signal cables which are
earthed at either end, the impedance is calculated as follows:
– Impedance equipotential bonding cable = 10 % of shield impedance
} Use copper or galvanised steel equipotential bonding cable.
} Connect equipotential bonding cables to the earth bar over as wide a surface area as
possible.
} As short a distance as possible should be kept between the equipotential bonding cable
and signal cable.
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Safety
3.1.1.4
Shielding
Interference currents must be diverted to cable shields via shield bars.
In doing so you must ensure the following:
} Connect the shields with low impedance to the shield bar or earth bar.
} Use cables with braided screening, with a minimum cover area of 80 %.
} When laying cables without equipotential bonding or using foil shields: Connect the
shield at one end.
} If possible, use metal or metallised plugs to connect cables for serial data transfer. Al-
ways refer to the regulations relating to the fieldbus systems.
} If the shield is not to be connected at the end of the cable, it must have no connection
to the connector housing.
} If the shield is to be connected, connect it to the shield bar at the point where the cable
enters the cabinet, without making a break in the cable. Use metal cable clamps which
cover the shield over a wide surface area. Route the shield as far as the units, but do
not connect it to the units.
Digital inputs and outputs do not need shielded cables.
However, if the connection cables have a shield, it should be connected at one end.
Analogue inputs and the incremental encoder inputs on speed monitors should always be
connected using shielded cables.
3.1.1.5
3.1.1.6
Lighting in the control cabinet
Use low interference panel lighting for inside the control cabinet.
Testing the EMC-compliance of an installation
You can use the list below to check that the installation of the Gateway is EMC-compliant.
Check Measures Done
Are there areas with a high
probability of interference?
EMC protection in these areas should be planned
with particular care.
(e.g. computers running,
process control areas, distribution cabinets, cable
casing, frequency converters, hand-held radios etc.).
Are areas where comput-
If necessary shield the whole area.
ers are running or areas
such as process control
rooms sufficiently shielded
from electromagnetic coupling?
Does the cable layout take
into account the principles
of EMC compliance?
Some important points: Lay cables close to earth,
keep clear of other electrical equipment, keep ca-
bles in ducts separate from other parts of the in-
stallation, keep cables as short as possible, avoid
multiple crossovers.
Is the supply voltage free
of interference?
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Supplies with interference voltages should be fit-
ted with a mains filter.
13
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