Helmholz 700-670-PNC01 Manuel utilisateur

Helmholz GmbH & Co. KG | Hannberger Weg 2 | 91091 Großenseebach | Germany 05.10.2023

Phone +49 9135 7380-0 | Fax +49 9135 7380-110 | info@helmholz.de | www.helmholz.de

Quickstart Guide

PN/CAN Gateway CANopen Master

Order number: 700-670-PNC01

Version

Quickstart Guide PN/CAN-Gateway CANopen Master | Version 4 | 05.10.2023 2

Content

1Safety instructions ................................................................................................ 3

2Introduction ......................................................................................................... 3

3Function of PN/CAN Gateway CANopen Master ................................................... 4

4Connection........................................................................................................... 4

4.1 Power supply ............................................................................................................................... 4

4.2 CAN-Bus....................................................................................................................................... 4

4.3 PROFINET ..................................................................................................................................... 4

4.4 USB interface ................................................................................................................................ 4

5Download and Installation of GSDML file ............................................................. 5

5.1 Install GSDML file in TIA Portal...................................................................................................... 5

6Configuring the PN/CAN-Gateway ....................................................................... 6

6.1 Parameterize CANopen Master ..................................................................................................... 6

6.2 Add and configure a CANopen Device.......................................................................................... 7

6.3 Add and configure PDOs (process data object)............................................................................. 8

7Assign a PROFINET device name to the PN/CAN gateway..................................... 9

8Programming in the PLC ....................................................................................10

8.1 Master Control (2 Bytes Output)................................................................................................. 10

8.2 Master Status (4 Bytes Output) ................................................................................................... 11

8.3 CANopen Device Status (3 Bytes Output) ................................................................................... 11

8.4 PDO-Data ................................................................................................................................... 11

8.5 SDO Communication ................................................................................................................. 12

8.6 Emergency messages.................................................................................................................. 12

9LED-based diagnosis...........................................................................................12

10 Technical data .................................................................................................13

Quickstart Guide PN/CAN-Gateway CANopen Master | Version 4 | 05.10.2023 3

1Safety instructions

Target audience

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. The specialist personnel are to ensure that

the application or the use of the products described fulfills all safety requirements, including all applicable

laws, regulations, provisions, and standards.

Intended use

The device has a protection rating of IP 20 (open type) and must be installed in an electrical

operating room or a control box/cabinet to protect it against environmental influences. To

prevent unauthorized operation, the doors of control boxes/cabinets must be closed and

possibly locked during operation. The consequences of improper use may include personal

injury to the user or third parties, as well as property damage to the control system, the product, or the

environment. Use the device only as intended!

Operation

Successful and safe operation of the device requires proper transport, storage, setup, assembly,

installation, commissioning, operation, and maintenance. Operate the device only in flawless

condition. The permissible operating conditions and performance limits (technical data) must

be adhered to. Retrofits, changes, or modifications to the device are strictly forbidden.

Security

The device is a network infrastructure component and therefore an important element in the

security consideration of a plant. When using the device, therefore, observe the relevant

recommendations to prevent unauthorized access to installations and systems.

2Introduction

This document explains the initial commissioning of the PN/CAN-Gateway

CANopen Master. The latest version of the documentation can be found at

www.helmholz.de or scan the QR code directly.

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3Function of PN/CAN Gateway CANopen Master

The "PN/CAN Gateway, PROFINET/CANopen Master" integrates a CANopen network into a PROFINET

network. It works on the CANopen network as a fully-fledged CANopen master and enables the

integration of process and service data from CANopen slave devices into the IO area of a PROFINET CPU.

4Connection

4.1 Power supply

The PN/CAN gateway must be supplied with DC 18 ... 30 V must be supplied

with DC 24 V via the supplied connector plug.

The housing of the PN/CAN-Gateway Coupler is not grounded.

Please connect the functional earth terminal of the PN/CAN-Gateway

properly to the reference potential.

The device is intended to be supplied by an isolated Limited Energy Source according to UL61010-1

(3rd ed cl. 9.4) or according to UL60950-1/UL62368-1 or Class 2 according to NEC. Please use Cu

power supply wires, AWG 28-12. Maximum length of removed insulation is 10 mm. Temperature

cable rating is 87 °C.

4.2 CAN-Bus

The CAN bus is connected to the "CAN" interface using a SUB-D

plug (e.g. Helmholz CAN bus connector) to the "CAN" interface.

The PN/CAN gateway does not contain a CAN terminating

resistor. If the PN/CAN gateway is connected to the end of a

CAN stub line, the terminating resistor in the CAN connector

must be activated.

"CAN-GND" is isolated from the operating voltage and USB.

4.3 PROFINET

The RJ45 Ethernet sockets "X1 P1" and "X1 P2" are used to connect the PROFINET network.

The PROFINET Ethernet sockets are only intended for connection to computer networks (LANs) and

must not be connected to telephone networks or telecommunications lines.

4.4 USB interface

The service USB interface is only required for the firmware update and for diagnoses in the event of

support. The USB interface is isolated potential-free from the supply voltage.

Pin CAN bus D-sub-connector

CAN Low

CAN GND

4 -

CAN High

9 -

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5Download and Installation of GSDML file

The latest GSDML file is available on the website www.helmholz.de. Go to the product

page of the "PN/CAN Gateway CANopen Master" and then to the download area or

follow the link stored in the QR code. There you can download the GSDML file of the

“PN/CAN Gateway CANopen Master” in zipped form. Before installation, the zipped

files must be unzipped accordingly.

The GSDML file is required for integration into an engineering tool for the PROFINET side. It has the file

extension "xml" and is delivered together with an image file in BMP format. The installation of the

GSDML file in the TIA Portal is described below as an example.

5.1 Install GSDML file in TIA Portal

You can install the GSDML file of the PN/CAN-Gateway in the TIA Portal by selecting the directory with

the unzipped GSDML file as the source path in the "Extras / Manage station description file (GSD)" menu.

Then the GSDML file is displayed for selection and can be installed via the corresponding button.

After successful installation, the

PN/CAN-Gateway is listed in the

hardware catalog of the TIA Portal

under „ Other field devices 

PROFINET IO Gateway 

Helmholz PN/CAN Gateways“.

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6Configuring the PN/CAN-Gateway

Add the "PN/CAN-Gateway CANopen" to the project and connect it to your PROFINET network.

By calling the properties a unique PROFINET name should be assigned to the PN/CAN gateway and the IP

address should be checked for plausibility.

The name of the configured device must be assigned to the physical device later (see Chap. 7).

6.1 Parameterize CANopen Master

The first slot entry "Parameter" contains the module parameters for the behavior of the CANopen master.

Quickstart Guide PN/CAN-Gateway CANopen Master | Version 4 | 05.10.2023 7

Set the CAN bit rate and the CAN master node ID. In some applications a SYNC telegram or heartbeat

telegrams of the master is necessary for operation. The other "PN/CAN CO" slot entries do not contain

any parameters.

6.2 Add and configure a CANopen Device

A "CANopen Device" is a CANopen slave station that is to be managed on the CAN network by the

CANopen master. An entry must be created for each CANopen slave.

The parameters of the CANopen slave can be specified under the properties of the CANopen device entry.

The device node ID of the CANopen slave must be set correctly.

If the option "Slave is mandatory" is selected, all CANopen nodes on the CAN bus of the PN/CAN-

Gateway are not switched to operational until this device is present and parameterized.

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6.3 Add and configure PDOs (process data object)

TPDOs (Transmit Process Data Objects) are data that are sent from the CANopen slave to the PLC (input

data from PLC view). RPDOs (Receive Process Data Objects) are data sent from the PLC to the CANopen

slave (output data from PLC view). The data size of the PDOs depends on the data in the PDO (PDO

mapping) and can be between one and 8 bytes.

The order of the TPDO and RPDO entries in the configuration can be chosen arbitrarily. All TPDO and

RPDO entries that follow a CANopen device entry belong exactly to this device.

Which PDOs with which lengths the connected CAN device contains can usually be found in the manual

of the respective CANopen slave or can be requested from the manufacturer.

By specifying the PDO number (1..16), the PN/CAN gateway automatically send all the necessary settings

for the PDO during startup.

Alternatively, it is also possible to specify a device-specific COB-ID (PDO number must then be '0'). In

this case, it is assumed that all PDO settings have already been made in the CAN device in advance.

The PN/CAN gateway will then not change the PDO settings during startup.

A maximum of 32 PDOs can be configured per slave, 16 TPDOs and 16 RPDOs.

Quickstart Guide PN/CAN-Gateway CANopen Master | Version 4 | 05.10.2023 9

7Assign a PROFINET device name to the PN/CAN gateway

When the configuration of the PN/CAN gateway in the PROFINET Engineering Tool is complete, it can

be imported into the PLC.

So that the PN/CAN gateway can be found by the PROFINET controller, the PROFINET device name must

be assigned to the PN/CAN gateway. To do this, use the "Assign device name" function which you can

access with the right mouse button or in the Online menu when the PN/CAN gateway is selected.

Use the "Update list" button to search the network for PROFINET stations. With "Assign Name" the

PROFINET device name can be assigned to the device.

The clear identification of the PN/CAN gateway is ensured here by the MAC address of the device. The

MAC address of the device is on the front of the PN/CAN gateway.

If the PN/CAN gateway has been assigned the correct PROFINET device name, it is recognized by the PLC

and configured. When the configuration has run correctly, the blue "Mode" LED should blink.

To set the PROFINET name, the Helmholz “IPSet” Tool can also be used, which can be

downloaded free of charge from the Helmholz website. Scan the following QR code to

download IPSet Tool

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8Programming in the PLC

No handling blocks are required in the PLC for simple operation. The control and status query of the

PN/CAN gateway can be performed directly via the I/O image.

For the startup of the example project, the value 2 must be written in the output word in "Master

Control" ("NMT-State Control"). After start-up of the PN/CAN gateway and initialization of the CANopen

slave, the gateway also reports a 2 in the 4th byte of the master status ("NMT-State", see below).

The CANopen system is operational, and the I/O data of the slave can be read and written.

8.1 Master Control (2 Bytes Output)

The two master control bytes in the output image of the PLC can be used to control the behavior of the

PN/CAN gateway.

Byte/Bit

Out 0

Out 1 User reset activate

LSS mode

Clear

emergency

FIFO error

Send

SYNC

frame

reserved

Clear CAN

Rx overflow

error

NMT state control

The NMT-State Control bits are used to control the state of the CANopen network:

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 Pre-

Operational" or "NMT Stop" depending upon the configuration).

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.

For more information, please refer to the manual.

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