SST Automation GT200-DP-CO User Manual
CANopen / PROFIBUS DP Gateway
GT200-DP-CO
User Manual
V 5.3 REV A
SST Automation
E-mail: SUPPORT@SSTCOMM.COM
WWW.SSTCOMM.COM
User Manual
CANopen/PROFIBUS DP Gateway
GT 200 -DP -CO
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Catalog
1 About This Document................................................................................................................................................ 4
1.1 General............................................................................................................................................................4
1.2 Important user information.............................................................................................................................4
1.3 Terms...............................................................................................................................................................4
2 Product Overview...................................................................................................................................................... 5
2.1 Product Function.............................................................................................................................................5
2.2 Product Feature............................................................................................................................................... 5
2.2.1 CANopen Acts as Master.................................................................................................................... 5
2.2.2 CANopen Acts as Slave.......................................................................................................................5
2.3 Technical Specifications................................................................................................................................. 6
2.4 Attention..........................................................................................................................................................7
2.5 Related Products............................................................................................................................................. 7
2.6 Revision History............................................................................................................................................. 8
3 Hardware Descriptions.............................................................................................................................................. 9
3.1 Indicators.......................................................................................................................................................10
3.2 DIP Switch.................................................................................................................................................... 10
3.3 Communication Interface............................................................................................................................. 11
3.3.1 PROFIBUS DP Connector.................................................................................................................11
3.3.2 CANopen Connector..........................................................................................................................11
3.4 Other Interface.............................................................................................................................................. 12
3.4.1 Power Interface..................................................................................................................................12
3.4.2 LED Display...................................................................................................................................... 13
3.4.3 PROFIBUS DP Address Setting Button............................................................................................13
4 Use Method..............................................................................................................................................................15
4.1 Quick Start Guide......................................................................................................................................... 15
4.2 Hardware Wiring...........................................................................................................................................15
4.3 Run................................................................................................................................................................16
4.3.1 Data Exchange Mode.........................................................................................................................16
4.3.2 PROFIBUS DP Data Module............................................................................................................ 18
4.3.3 How Step7 Read and Write Gateway Data....................................................................................... 23
4.3.4 How Step7 Select Data Module........................................................................................................ 25
5 Software Instructions............................................................................................................................................... 26
5.1 CANopen Acts as Master..............................................................................................................................26
5.1.1 Notes before Configuration............................................................................................................... 26
5.1.2 User Interface.....................................................................................................................................27
5.1.3 Device View Operation......................................................................................................................29
5.1.4 Configuration View Operation.......................................................................................................... 31
5.1.5 Hardware Configuration.................................................................................................................... 35
5.1.6 Load and Save Configuration............................................................................................................ 37
5.1.7 Auto Mapping.................................................................................................................................... 38
5.1.8 Export Excel File...............................................................................................................................38
5.1.9 Monitor.............................................................................................................................................. 38
5.2 CANopen Acts as Slave................................................................................................................................40
5.2.1 Notes before Configuration............................................................................................................... 40
5.2.2 User Interface.....................................................................................................................................41
5.2.3 Device View Operation......................................................................................................................43
5.2.4 Configuration View Operation.......................................................................................................... 44
5.2.5 Hardware Communication.................................................................................................................48
5.2.6 Load and Save Configuration............................................................................................................ 50
5.2.7 Auto Mapping.................................................................................................................................... 50
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5.2.8 Export Excel File...............................................................................................................................51
5.2.9 Monitor.............................................................................................................................................. 51
6 Installation................................................................................................................................................................54
6.1 Mechanical Dimension................................................................................................................................. 54
6.2 Installation.....................................................................................................................................................54
7 Failures and Suggestions......................................................................................................................................... 56
Appendix: Using STEP7 Set PROFIBUS DP............................................................................................................ 57
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1 About This Document
CAN: CAN bus is a kind of serial data communication protocol being developed by German BOSH from
CANopen: CANopen protocol is one of the standard being defined by CAN-in-Automation (CiA),
1.1 General
This document describes every parameters of the gateway GT200-DP-CO and provides using methods and
some announcements that help users use the gateway. Please read this document before using the gateway.
For further information, documentation etc., please visit the SSTCOMM website: http://www.sstcomm.com.
1.2 Important user information
The data and examples in this document cannot be copied without authorization. SSTCOMM may upgrade
the product without notifying users.
is the registered trade mark of SST Automation.
The product has many applications. The users must make sure that all operations and results are in
accordance with the safety of relevant field, and the safety includes laws, rules, codes and standards.
1.3 Terms
early 1980s for solving the data exchange method between modern car control and test instruments.
CANopen defined application layer (Application layer), communication description (CiA DS-301), device
description (CiA DSP-4XX), all cable and port (CiA DSP-303) and so on. In OSI model, the relationship
between CAN standard and CANopen protocol is shown as follow:
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2 Product Overview
Supports one CANopen master interface;
CANopen interface: 1KV photoelectric isolation;
Acts as a slave at the side of PROFIBUS DP network, PROFIBUS baud rate is self-adaptive, and up to
PROFIBUS input and output bytes can be selected, the maximum number is:
Supports one CANopen slave interface;
CANopen interface: 1KV photoelectric isolation;
Acts as a slave at the side of PROFIBUS DP network, PROFIBUS baud rate is self-adaptive, and up to
PROFIBUS input and output bytes can be selected, the maximum number is:
2.1 Product Function
CANopen side of GT200-DP-CO can be a master or a slave. When acting as a master, it supports connecting
multiple standard devices with CANopen slave interface to PROFIBUS DP bus; while acting as a slave, it
supports connecting CANopen master device to PROFIBUS DP bus.
2.2 Product Feature
2.2.1 CANopen Acts as Master
12M;
Max Input Bytes+ Max Output Bytes≤488 Bytes
①Max Input Bytes ≤244 Bytes
②Max Output Bytes ≤244 Bytes
2.2.2 CANopen Acts as Slave
12M;
Max Input Bytes+ Max Output Bytes≤488 Bytes
①Max Input Bytes ≤244 Bytes
②Max Output Bytes ≤244 Bytes
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2.3 Technical Specifications
CANopen baud rate: 50kbit/s, 100kbit/s, 125kbit/s, 250kbit/s, 500kbit/s, 1Mbps
PROFIBUS DP baud rate is self-adaptive and can be up to 12M
Supports at most 8 bytes of TPDO, 8 bytes of RPDO, fast Download SDO and fast Upload SDO;
Every CANopen node has default 4 TPDOs and 4 RPDOs. COB-ID of TPDO and RPDO has default value.
Every CANopen node also can have a self-defining COB-ID, but the COB-ID cannot be conflicting with
Supports maximum commands No. :(84)
Supports NMT management, TPDO time-out reset and SYNC function, besides, it also supports function
Supports connecting slaves with heartbeat and Guard life;
Same command can be mapped to different input or output buffer address of PROFIBUS DP;
Supports at most 8 bytes of TPDO, 8 bytes of RPDO
[1] Communication baud rate:
[2] CAN: ISO 11898-compatible CAN interface is CAN2.0A type with an 11-bit identification
[3] DS-301 V4.01 and CiA Draft Recommendation 303 compliant
CANopen master features:
Default value of Transmit PDO:
384 + node address (0x180+node address)
640 + node address (0x280+node address)
896 + node address (0x380+node address)
1152 + node address (0x480+node address)
Default value of Receive PDO:
512 + node address (0x200+node address)
768 + node address (0x300+ node address)
1024 + node address (0x400+ node address)
1280 + node address (0x500+node address).
CANopen protocol.
Max TPDO commands + Max RPDO commands + Max upload SDO commands + Max download SDO
commands≤84;
Max TPDO commands≤84;
Max RPDO commands≤84;
Max upload SDO commands≤84;
Max download SDO commands≤84;
of PROFIBUS DP controlling CANopen slave devices, etc.
CANopen slave features:
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fast Download SDO and fast Upload SDO;
Every CANopen node supports up to 42 TPDOs, 42 RPDOs. COB-ID of TPDO and RPDO has default
value or users can use self-defining COB-ID.
Support at most 42 TPDO and 42 RPDO;
Timeout clear function of RPDO and delay to start-up;
Supports SDO visiting input and output data exchange area;
Only support Heartbeat;
To prevent stress, prevent module panel damage;
To prevent bump, module may damage internal components;
Power supply voltage control in the prospectus, within the scope of the requirements to burn module;
To prevent water, water module will affect the normal work;
Please check the wiring, before any wrong or short circuit.
Default value of Transmit PDO:
384 + node address (0x180+node address)
640 + node address (0x280+node address)
896 + node address (0x380+node address)
1152 + node address (0x480+node address);
Default value of Receive PDO:
512 + node address (0x200+node address)
768 + node address (0x300+ node address)
1024 + node address (0x400+ node address)
1280 + node address (0x500+node address).
[4] Work circumstance temperature: -4℉~140℉(-20℃ to 60℃), REL Humidity: 5% to 95% (non-condensing);
[5] Power: 24VDC (11V~30V), maximum 90mA (24V);
[6] External dimensions size (W*H*D): 0.98 in*3.94 in*3.54 in (25mm*100mm*90mm);
[7] Installation: 35mm DIN RAIL;
2.4 Attention
2.5 Related Products
Related products include:
GT200-DP-CA, GT200-CO-EI and so on
More information about these products, please visit: http://www.sstcomm.com
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2.6 Revision History
Revision
Date
Chapter
Description
REV A
21/2/2017
All
First release V5.3, the
same with V5.2 REV A
REV A
3/3/2016
Chapter 5
First release V5.2 user
manual, add function of
SDO Send Concurrently,
Retries of SDO, SDO Poll
Delay Time
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3 Hardware Descriptions
CANopen Port
Power Port
PROFIBUS DP
Interface
PROFIBUS DP
Status Indicator
PROFIBUS DP
Address/Status
CANopen Status
Indicator
DIP Switch
DP Address
Setting Button
USB Config
Port
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3.1 Indicators
Indicators
Status
Description
PROFIBUS
Status
PBF
(red)
On
PROFIBUS DP connection has not been established
Off
PROFIBUS DP connection has been established
STA
(green)
Blinking
Exchanging data
Off
PROFIBUS DP status is abnormal
CANopen
Status
ERR
(bicolor)
Green on
The CAN network is normal
Red on
Bus Off
Red, Green and Off
alter alternately
The error counter of CAN controller reach or exceed alarm
value
RUN
(bicolor)
Green on
Node is in the run state
Green light on every
200ms, off every
1000ms
Node is in the stop state
Green light on every
200ms, off every
200ms
Node is in the pre-run state
Serial Port
TX
Red blinking
Serial port is sending data
Red off
Connection not established or goes wrong
RX
Green blinking
Receiving data
Green off
Connection not established or goes wrong
Off
On 1 2
3.2 DIP Switch
Run mode to Configuration mode: Set bit2 to ON, the gateway enter into Configuration mode and no need to
restart the gateway (power off and power on).
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Function (1)
Mode (2)
Description
Off
Off
Run Mode, allow setting DP address
OffOnConfiguration Mode
On
Off
Run mode with debug function, not allow
setting DP address
On
On
Run Mode, prohibit setting DP address
(Locked)
Notes: Except for the Locked status, the switch of other three statuses, no need to restart the gateway.
DB9 pin
Function
3
PROFI_B, Data positive
5
GND (optional)
8
PROFI_A, Data negative
5
1
PROFI_A (Pin 8)
GND (Pin 5)
PROFI_B (Pin 3)
3.3 Communication Interface
3.3.1 PROFIBUS DP Connector
PROFIBUS DP interface uses DB9 connector, and the pins are defined as follows:
3.3.2 CANopen Connector
5-pin connector:
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V+
GND
CAN-L
Shield
CAN-H
5
1
Open five-pin connector at the side of CAN:
Pin
Connection
1
V+ (Optional)
2
CAN-H
3
Shield (Optional)
4
CAN-L
5
GND
Note 1: Connections of V+ and shield are optional, but connections of CAN-H, CAN-L and GND are necessary;
Note 2: GND, V+ of CANopen interface interlinks V+, GND of power interface internally. You can only power on
one of the two interfaces.
3.4 Other Interface
3.4.1 Power Interface
Note 1: 24V+, GND of power interface interlinks V+, GND of CANopen interface. You can only power on one of
the two interfaces.
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3.4.2 LED Display
In the configuration mode, LED display CF;
In the debug mode, LED displays “db”;
In the run mode, LED displays PROFIBUS DP slave address.
3.4.3 PROFIBUS DP Address Setting Button
The configuration button on the panel can set the PROFIBUS DP slave address.
In run mode of GT200-DP-CO, LED display is always on and displaying the current PROFIBUS DP address.
Quickly press (double-click) the button twice in succession, the high bit starts to flash, and the low bit is always
on, click the button to add 1 to start setting the high bit of PROFIBUS DP address. Long-press the button for 3
seconds, the high bit is always on, and the low bit starts to flash. Click the button to add 1 to start setting the low
bit of PROFIBUS DP address. At last, long-press the button again for 3 seconds, the address flashing three times
shows that the address is set successfully. If no button action within ten seconds, the gateway exits the status of
setting address and continues to display the original address. The configurable range of PROFIBUS DP address is
0 to 99 (Decimal).
PROFIBUS DP address setting method is as follow:
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4 Use Method
4.1 Quick Start Guide
1. This gateway has two modes: configuration mode and run mode, you can select different mode through DIP
switch. Set “mode” bit of DIP switch to “on”, the gateway is in the configuration mode, and turn off the “mode”
bit, the gateway is in the run mode;
2. Use USB cable to connect to the USB port of PC and set “mode” bit of DIP switch to “on”, then power on the
device;
3. In the configuration mode, set CANopen baud rate, CANopen node ID, SDO commands (CANopen master
mode), PDO commands and data mapping between CANopen and PROFIBUS DP through gateway configuration
software SST-CP-CFG. (See chapter 4.3 for details).
4. Set "mode" bit of DIP switch to “off” state, configure PROFIBUS DP address through DP address setting
button, power on again and the module go into run mode.
5. Set the address of the PROFIBUS DP by pressing the button, note that this address must be the same as the
address of this slave in the DP master configuration; otherwise DP connection will be failed.
6. In run mode, users can debug data in input and output buffer through setting “function” bit of DIP switch to
“ON” status. Users can see the data in debug interface of SST-CP-CFG through USB interface; Users can use the
function at the beginning of network communication, when the network is OK, please close the debug function,
that is to set “function” bit of DIP switch to “off”.
4.2 Hardware Wiring
1. According to the PROFIBUS port instructions, properly connect with DB9. It is suggested to use standard
PROFIBUS DP connector.
2. According to the CAN port instructions, properly connect the pin 2 and 4 at least.
3. Check all connections whether they comply with the instructions.
4. Set “mode” bit of DIP switch to “Off”, power on the module, and the module go into run status.
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4.3 Run
4.3.1 Data Exchange Mode
CANopen acts as master
Communication mode between CANopen and PROFIBUS DP is asynchronous mode, as shown below:
“Data 1” shows the data transfer process from PROFIBUS to CAN; “Data 2” shows the data transfer process
from CAN to PROFIBUS.
The gateway runs in CANopen network independently, and transmits read/write commands of CANopen
parameters periodically according object dictionary, also transmits and receives PDO commands. When receiving
I/O request from PROFIBUS DP, the gateway will instantly respond with the latest CANopen data to realize the
matching of network speed. This is asynchronous mode.
TPDO and RPDO applies producer/consumer mode, and often be used in the occasion with high requirement
about speed; Upload SDO and Download SDO applies client/server mode, the mode can guarantee safety of data,
and often be used in the occasion with low requirement about speed.
The data in output buffer of GT200-DP-CO (PROFIBUS DP) is the data being mapped to RPDO or
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Download SDO commands of CANopen slave. Outputting mode of GT200-DP-CO is change of value, that is,
until the DP output data is changed, GT200-DP-CO transmits corresponding commands (RPDO or Download
SDO) to CANopen network; For DP input data, GT200-DP-CO receives data through TPDO or Upload SDO
commands configured in the configuration software SST-CP-CFG and save the data to DP input buffer.
When the “Control&Status” bit is “Enable” in configuration software (SST-CP-CFG), there are two bytes in
the end of input and output buffer of GT200-DP-CO showing status of CANopen slaves and controlling status of
CANopen slave.
The last two bytes of input buffer (PROFIBUS DP) shows the status of CANopen slaves. The first byte of
this two bytes is address of CANopen slave and the second byte is status of CANopen slave (i.e. Pre-run status,
run status, stop status, for detailed information, please refer to CANopen protocol). One time it only shows status
of one CANopen slave, GT200-DP-CO applies FIFO mechanism to save all status of every CANopen slave and
output to PROFIBUS DP master in FIFO order.
The last two bytes of output buffer (PROFIBUS DP) is the status that DP master controls CANopen slaves.
The first byte of this two bytes is address of CANopen slave, the second byte is command controlling CANopen
slave (i.e. go into pre-run status, go into run status, go into stop status, reset node, reset application and reset
communication, for specific command format, please refer to NMT of CANopen protocol).
CANopen acts as slave
Communication mode between CANopen and PROFIBUS DP is asynchronous mode, as shown below:
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“Data 1” shows the data transfer process from PROFIBUS to CAN; “Data 2” shows the data transfer process
from CAN to PROFIBUS.
The gateway runs in CANopen network independently, and transmits read/write commands of CANopen
parameters periodically according object dictionary, also transmits and receives PDO commands. When receiving
I/O request from PROFIBUS DP, the gateway will instantly respond with the latest CANopen data to realize the
matching of network speed. This is asynchronous mode.
TPDO and RPDO applies producer/consumer mode, and often be used in the occasion with high requirement
about speed; Upload SDO and Download SDO applies client/server mode, the mode can guarantee safety of data,
and often be used in the occasion with low requirement about speed.
4.3.2 PROFIBUS DP Data Module
CANopen acts as master
The parameters the gateway provides are listed below:
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Number
Input
Output Instance
1
112 bytes
112 bytes
2
96 bytes
96 bytes
3
48 bytes
48 bytes
4
16 bytes
16 bytes
5
Setting through Hardware Configuration of PROFIBUS DP
Configure fixed input and output bytes in the software:
The data module of length consistent GT200-DP-CO supports is listed below:
The data module of byte consistent GT200-DP-CO supports is listed below:
The data module of word consistent GT200-DP-CO supports is listed below:
16 Byte In, 16 Byte Out: one 8 words Consistent
96 Byte In, 96 Byte Out: three 16 words Consistent
During Step7 programming, it needs to use package sending and receiving. Package sending and receiving
mainly adopts SFC15 (package sending) and SFC14 (package receiving). (Please refer to chapter 5 for details)
48 Byte In, 48 Byte Out
112 Byte In, 112 Byte Out
For the data module of byte and word consistent, users can use MOVE command to read/write data during
Step7 programming.
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